Automatic feeding and discharging equipment based on three-dimensional scanning

Abstract

The utility model discloses automatic feeding and discharging equipment based on three-dimensional scanning, and relates to the technical field of feeding and discharging equipment, in particular to a base, a vertical frame body is arranged at the top of the base, and a first linear driving mechanism is arranged on one side of the vertical frame body; a horizontal frame body is arranged on one side of the vertical frame body, one end of the horizontal frame body is connected with a first linear driving mechanism, and the horizontal frame body is driven by the first linear driving mechanism to move up and down; a second linear driving mechanism is arranged at the top of the horizontal frame body, an L-shaped frame body is installed on the second linear driving mechanism, the L-shaped frame body is driven by the second linear driving mechanism to do horizontal reciprocating motion, a mechanical arm is arranged at the other end of the L-shaped frame body, and a mechanical hand is arranged at the bottom of the mechanical arm. When the mechanical arm is used, the mechanical arm can carry goods of different heights, large-span operation can be generated in the horizontal direction, and the working area of the mechanical arm is increased in a disguised mode.

Description

Technical Field

[0001] The utility model relates to the technical field of loading and unloading equipment, in particular to an automatic loading and unloading equipment based on three-dimensional scanning. Background Art

[0002] A flow sorting line is an automated sorting system that transports goods from one endpoint to another via conveyor belts, automatically sorting them along the way. This line can sort goods based on size, shape, and weight, significantly improving logistics sorting efficiency.

[0003] With the development of technology, logistics sorting has also improved sorting efficiency through the use of robots. However, existing robots are unable to achieve self-height adjustment and large-span handling. For example, document CN209663764U proposes a loading and unloading device using a 3D scanner. The description in paragraph

[0024] states that the gripping assembly (robotic arm and manipulator) is placed within a frame, with a mounting bracket at the top and the gripping assembly positioned below the mounting bracket.

[0004] The frame in the above solution limits the operating space of the grabbing component, and it is inconvenient to load and unload materials within the frame during use. The height adjustment of the grabbing component is limited. When the transmission component moves goods with a high height, the grabbing component cannot grab them. Utility Model Content

[0005] In response to the shortcomings of existing sorting and loading and unloading robots that are unable to achieve self-height adjustment and large-span transportation, the utility model provides an automatic loading and unloading equipment based on three-dimensional scanning, which has the advantages of allowing the manipulator to move up and down and horizontally, and achieve large-span and height adjustment of the manipulator, solving the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an automatic loading and unloading device based on three-dimensional scanning is designed, comprising a base, a vertical frame is provided on the top of the base, and a first linear drive mechanism is provided on one side of the vertical frame;

[0007] A horizontal frame is provided on one side of the vertical frame, and one end of the horizontal frame is connected to the first linear drive mechanism, so that the horizontal frame can move up and down under the drive of the first linear drive mechanism;

[0008] A second linear drive mechanism is provided on the top of the horizontal frame, an L-shaped frame is installed on the second linear drive, and the L-shaped frame is driven by the second linear drive mechanism to achieve horizontal reciprocating motion. A robotic arm is provided at the other end of the L-shaped frame, and a robotic hand is provided at the bottom of the robotic arm; and

[0009] It also includes a scanning camera group arranged on the horizontal frame.

[0010] Preferably, the scanning camera group is mounted on a bracket, one end of the bracket is provided with a mounting seat, and the mounting seat is connected to the horizontal frame.

[0011] Preferably, the first linear drive mechanism includes first guide rails provided on both sides of the vertical frame, and a first transmission screw is provided on the surface of the vertical frame between the two first guide rails;

[0012] Both ends of the first transmission screw are rotatably arranged in the first bearing seat, and the first bearing seat is fixed on the vertical frame. One end of the first transmission screw is connected to the first reducer, and the other end of the first reducer is connected to the first drive motor.

[0013] Preferably, the horizontal frame is connected to two sides of one end close to the vertical frame with connecting seats extending toward the vertical frame, and the ends of the connecting seats are respectively connected to connecting plates, which are respectively located on the sides of the first guide rail, and the connecting plates are connected to the first guide rail through sliders;

[0014] The first transmission screw is located between the two connecting seats. The first transmission screw is threadedly connected to the second connecting frame. The other end of the second connecting frame is connected to the horizontal frame body.

[0015] Preferably, the second linear drive mechanism includes a second guide rail and a second transmission screw provided on the top of the horizontal frame, the two being provided in parallel, and both ends of the second transmission screw being rotatably provided in a second bearing seat, and the second bearing seat being connected to the horizontal frame;

[0016] One end of the second transmission screw is connected to the second reducer, and the other end of the second reducer is connected to the second drive motor;

[0017] The second transmission screw is threadedly connected to the first connecting frame, and the other end of the first connecting frame is connected to the L-shaped frame body. The L-shaped frame body is located above the second guide rail, and the L-shaped frame body is connected to the second guide rail through a slider.

[0018] Preferably, it further includes a control cabinet, in which a controller is provided, and the controller is electrically connected to the first linear drive mechanism, the second linear drive mechanism, the scanning camera group, the robotic arm, and the robotic hand respectively.

[0019] Compared with the prior art, when the present invention is in use, the manipulator can move up and down driven by the first transmission screw, so that the manipulator can carry goods of higher heights, that is, when carrying goods of lower heights, the manipulator is lowered, and when carrying goods of higher heights, the manipulator is relatively raised. After the manipulator clamps the goods, the second transmission screw drives the manipulator to move horizontally, allowing the manipulator to carry the goods to a preset location. Therefore, the manipulator can carry goods of different heights, and can also operate in a large span in the horizontal direction, which in disguise increases the working area of ​​the manipulator arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the utility model Figure 1 .

[0021] Figure 2 This is a schematic diagram of the structure of the utility model Figure 2 .

[0022] Figure 3 This is a schematic diagram of the structure of the utility model Figure 3 .

[0023] Figure 4 The main structure of this utility model Figure 1 .

[0024] Figure 5 The main structure of this utility model Figure 2 .

[0025] Figure 6 This is a schematic diagram of the utility model during transportation Figure 1 .

[0026] Figure 7 This is a schematic diagram of the utility model during transportation Figure 2 .

[0027] In the figure: 1. Base; 2. First drive motor; 3. First reducer; 4. Manipulator; 5. Robotic arm; 6. Mounting seat; 7. Scanning camera group; 8. Bracket; 9. First connecting frame; 10. L-shaped frame; 11. Second guide rail; 12. Connecting plate; 13. First guide rail; 14. First transmission screw; 15. First bearing seat; 16. Vertical frame; 17. Second bearing seat; 18. Second transmission screw; 19. Second drive motor; 20. Second reducer; 21. Horizontal frame; 22. Connecting seat; 23. Second connecting frame; 24. Control cabinet. DETAILED DESCRIPTION

[0028] 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 embodiments described 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 making creative efforts are within the scope of protection of the present invention.

[0029] See also Figures 1 to 7The present invention provides a technical solution: an automatic loading and unloading device based on three-dimensional scanning, comprising a base 1 fixed to the ground, a vertical frame 16 provided on the top of the base 1, first guide rails 13 provided on both sides of the vertical frame 16, a first transmission screw 14 provided on the surface of the vertical frame 16 located between the two first guide rails 13, the two ends of the first transmission screw 14 are respectively rotatably arranged in a first bearing seat 15, and the first bearing seat 15 is fixed to the vertical frame 16, one end of the first transmission screw 14 is connected to a first reducer 3, and the other end of the first reducer 3 is connected to a first drive motor 2. During use, the first drive motor 2 drives the first transmission screw 14 to rotate after increasing the torque through the first reducer 3. The first drive motor 2 and the first reducer 3 are mounted on the base 1.

[0030] A horizontal frame 21 is provided on one side of the vertical frame 16. Connecting seats 22 are respectively connected to both sides of one end of the horizontal frame 21 close to the vertical frame 16. The connecting seats 22 extend toward the vertical frame 16. The ends of the two connecting seats 22 are respectively connected to the connecting plates 12. The connecting plates 12 are respectively located on the sides of the first guide rails 13. The connecting plates 12 are connected to the first guide rails 13 through sliders. It should be noted that a grabbing device needs to be installed on the top of the horizontal frame 21. One end of the horizontal frame 21 is supported by the two first guide rails 13 at the same time, making the horizontal frame 21 more stable.

[0031] The first transmission screw 14 is located between the two connecting seats 22. A second connecting bracket 23 is threadedly connected to the first transmission screw 14. The other end of the second connecting bracket 23 is connected to the horizontal frame 21. The first transmission screw 14 and the first guide rail 13 constitute a first linear drive mechanism. Driven by the first linear drive mechanism, the horizontal frame 21 can move linearly along the height direction of the vertical frame 16.

[0032] A second guide rail 11 and a second transmission screw 18 are provided at the top of the horizontal frame 21. The second guide rail 11 and the second transmission screw 18 are arranged in parallel. Both ends of the second transmission screw 18 are rotatably disposed in a second bearing seat 17. The second bearing seat 17 is connected to the horizontal frame 21. One end of the second transmission screw 18 is connected to a second reducer 20, and the other end of the second reducer 20 is connected to a second drive motor 19. Both the second reducer 20 and the second drive motor 19 are mounted on the horizontal frame 21. During use, the second drive motor 19 drives the second transmission screw 18 to rotate after increasing the torque through the second reducer 20.

[0033] The second transmission screw 18 is threadedly connected to the first connecting frame 9, and the other end of the first connecting frame 9 is connected to the L-shaped frame 10. The L-shaped frame 10 is located above the second guide rail 11 and is connected to the second guide rail 11 through a slider;

[0034] like Figure 1 and Figure 3 As shown, the other end of the L-shaped frame 10 extends below the horizontal frame 21, wherein the second guide rail 11 and the second transmission screw 18 constitute a second linear drive mechanism, which allows the L-shaped frame 10 to move left and right along the horizontal frame 21.

[0035] like Figure 1 and Figure 2 As shown, a robotic arm 5 is provided at the other end of the L-shaped frame 10, and a manipulator 4 is provided at the bottom of the robotic arm 5. The robotic arm 5 is a spider robotic arm, a two-axis, three-axis, four-axis, five-axis or six-axis robotic arm, so the robotic arm 5 and the manipulator can move with the movement of the L-shaped frame, that is, the robotic arm 5 and the manipulator can move in the horizontal and vertical directions. The manipulator 4 is used to carry goods, and the manipulator 4 is a pneumatic, hydraulic or electric manipulator.

[0036] The present application also proposes a scanning camera group 7, which is used to scan objects in a space, such as Figure 1 As shown, the scanning camera group 7 is installed on the bracket 8, and a mounting base 6 is provided at one end of the bracket 8. The mounting base 6 is connected to the horizontal frame 21. The scanning position of the scanning camera group 7 corresponds to the grasping position of the robotic arm 5, that is, the object scanned by the scanning camera group 7 is the object grasped by the robotic arm, and the data measured by the scanning camera group 7 includes the size of the object.

[0037] A control cabinet 24 is provided on the vertical frame 16 or the base 1, and a controller is provided inside the control cabinet 24. The controller is a host, a PLC logic controller or a PLB control mainboard. The controller is electrically connected to the first linear drive mechanism and the second linear drive mechanism respectively. Specifically, the controller is connected to the scanning camera group 7, the robotic arm 5, the robotic arm 4, the first drive motor 2, and the second drive motor 19 through wires and signal lines, thereby realizing the transmission of electrical energy and signals.

[0038] Specifically, the automatic loading and unloading equipment based on three-dimensional scanning proposed in this application is used, such as Figure 6 and Figure 7 As shown, for example, when transporting goods from point A to point B, the manipulator 4 can move up and down driven by the first transmission screw 14, so that the manipulator 4 can transport goods at a higher height;

[0039] Then the second transmission screw 18 drives the manipulator 4 to move horizontally, so that the goods carried by the manipulator 4 are placed at B. The manipulator 4 can operate back and forth in this way, so the manipulator can load and unload materials.

[0040] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention. The terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, unless otherwise expressly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, they can be fixed connections, detachable connections, or integral connections; they can be mechanical connections or electrical connections; they can be direct connections, indirect connections through an intermediate medium, or internal connections between two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Furthermore, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0041] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic loading and unloading device based on three-dimensional scanning, comprising a base (1), characterized in that: A vertical frame (16) is provided on the top of the base (1), and a first linear drive mechanism is provided on one side of the vertical frame (16); A horizontal frame (21) is provided on one side of the vertical frame (16), and one end of the horizontal frame (21) is connected to the first linear drive mechanism, so that the horizontal frame (21) can achieve up and down movement under the drive of the first linear drive mechanism; A second linear drive mechanism is provided on the top of the horizontal frame (21), an L-shaped frame (10) is installed on the second linear drive mechanism, and the L-shaped frame (10) is driven by the second linear drive mechanism to achieve horizontal reciprocating motion. A mechanical arm (5) is provided at the other end of the L-shaped frame (10), and a mechanical hand (4) is provided at the bottom of the mechanical arm (5); and, It also includes a scanning camera group (7) arranged on the horizontal frame (21).

2. The automatic loading and unloading equipment based on three-dimensional scanning according to claim 1 is characterized in that: The scanning camera group (7) is mounted on a bracket (8). One end of the bracket (8) is provided with a mounting seat (6), and the mounting seat (6) is connected to the horizontal frame (21).

3. The automatic loading and unloading equipment based on three-dimensional scanning according to claim 1 is characterized in that: The first linear drive mechanism comprises first guide rails (13) arranged on both sides of a vertical frame (16), and a first transmission screw (14) is provided on the surface of the vertical frame (16) between the two first guide rails (13); The two ends of the first transmission screw (14) are rotatably arranged in the first bearing seat (15), and the first bearing seat (15) is fixed on the vertical frame (16). One end of the first transmission screw (14) is connected to the first reducer (3), and the other end of the first reducer (3) is connected to the first drive motor (2).

4. The automatic loading and unloading equipment based on three-dimensional scanning according to claim 3 is characterized in that: The horizontal frame (21) is connected to one end of the vertical frame (16) on both sides thereof with connection seats (22) extending toward the vertical frame (16), and the ends of the connection seats (22) are connected to the connection plates (12), which are located on the sides of the first guide rail (13), and the connection plates (12) are connected to the first guide rail (13) via a slider. The first transmission screw (14) is located between the two connecting seats (22). The first transmission screw (14) is threadedly connected to a second connecting frame (23). The other end of the second connecting frame (23) is connected to the horizontal frame body (21).

5. The automatic loading and unloading equipment based on three-dimensional scanning according to claim 4 is characterized in that: The second linear drive mechanism includes a second guide rail (11) and a second transmission screw (18) arranged on the top of the horizontal frame (21), the two being arranged in parallel, and the two ends of the second transmission screw (18) are respectively rotatably arranged in the second bearing seat (17), and the second bearing seat (17) is connected to the horizontal frame (21); One end of the second transmission screw (18) is connected to the second reducer (20), and the other end of the second reducer (20) is connected to the second drive motor (19); A first connecting frame (9) is threadedly connected to the second transmission screw (18), and the other end of the first connecting frame (9) is connected to an L-shaped frame body (10). The L-shaped frame body (10) is located above the second guide rail (11), and the L-shaped frame body (10) is connected to the second guide rail (11) through a slider.

6. The automatic loading and unloading equipment based on three-dimensional scanning according to any one of claims 1 to 5, characterized in that: The invention also includes a control cabinet (24), wherein a controller is provided inside the control cabinet (24), and the controller is electrically connected to the first linear drive mechanism, the second linear drive mechanism, the scanning camera group (7), the mechanical arm (5), and the mechanical hand (4).

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