Mechanical arm unstacking system for customs

Abstract

The utility model is applicable to the technical field of logistics, and provides a mechanical arm unstacking system for customs, which comprises a three-dimensional (3D) visual module comprising a support base, a camera support and a 3D camera, the support base is arranged on one side of a stack, the camera support is arranged on the support base, and the 3D camera is arranged on the camera support; the goods conveying module is used for conveying goods; the mechanical arm module is used for grabbing the goods on the stacks onto the goods conveying module; and the safety protection module comprises a safety fence, an alarm device and a sensing device, the safety fence surrounds the 3D vision module, the goods conveying module, the mechanical arm module and the stack, and the sensing device and the alarm device are arranged on the safety fence. The 3D vision module captures three-dimensional data of the goods, the accurate grabbing position and angle of the mechanical arm module are determined, and the grabbing precision and efficiency are guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of logistics technology especially relates to a mechanical arm system for customs. BACKGROUND

[0002] In modern customs logistics processing, with the continuous increase of the number of goods, traditional manual unstacking, sorting and carrying operation is not only inefficient, but also is easily affected by human factors, leading to a higher probability of error, and the work intensity is big. In order to cope with the growing demand for cargo processing, in order to improve work efficiency and accuracy, customs needs to introduce more advanced and efficient automation technology.

[0003] The mechanical arm is widely used in industrial automation, warehousing logistics and sorting system as an important equipment of automatic handling and operation. In the process of unstacking and sorting of goods in customs, the mechanical arm can realize the automatic handling, unstacking and stacking of goods through precise motion control. Although the mechanical arm can improve work efficiency, the positioning and grasping precision of traditional mechanical arm is limited by the accuracy of sensor, and it is difficult to adapt to goods of various shapes and sizes, so the efficiency and flexibility are insufficient. SUMMARY

[0004] The purpose of the embodiment of the utility model is to provide a mechanical arm unstacking system for customs, which aims at solving the problem of insufficient efficiency and flexibility of traditional mechanical arm.

[0005] The embodiment of the utility model is realized in this way, a mechanical arm unstacking system for customs, the mechanical arm unstacking system for customs includes:

[0006] 3D vision module, including support base, camera support and 3D camera, the support base is arranged on one side of the stack, the camera support is arranged on the support base, and the 3D camera is arranged on the camera support;

[0007] Cargo conveying module, for conveying goods;

[0008] Mechanical arm module, for grabbing the goods on the stack to the cargo conveying module;

[0009] Safety protection module, including safety fence, alarm device and sensor device, the safety fence encloses the 3D vision module, the cargo conveying module, the mechanical arm module and the stack, and the sensor device and the alarm device are arranged on the safety fence;

[0010] Control module, for real-time regulation and control of the 3D vision module, the cargo conveying module, the mechanical arm module and the safety protection module.

[0011] Further, a wire slot is arranged below the safety fence, and the sensing device is a pair of infrared beams arranged at the bottom of the safety fence.

[0012] Further, the alarm device comprises a warning light and a reset button, which are arranged on the safety fence.

[0013] Further, the mechanical arm unstacking system for customs further comprises a driving module, wherein the driving module comprises an air compressor;

[0014] The mechanical arm module comprises a robot base, a six-axis mechanical arm and a vacuum chuck assembly, the six-axis mechanical arm is arranged on the robot base, the six-axis mechanical arm is provided with the vacuum chuck assembly at the end, and the air compressor is used to drive the vacuum chuck assembly.

[0015] Further, the vacuum chuck assembly comprises:

[0016] a chuck connecting piece connected with the output end of the six-axis mechanical arm;

[0017] a connecting surface, wherein the upper plane of the connecting surface is connected with the chuck connecting piece;

[0018] a vacuum interface arranged on the upper plane of the connecting surface and used to connect the air compressor;

[0019] a chuck body arranged on the lower plane of the connecting surface.

[0020] Further, the vacuum chuck assembly further comprises:

[0021] a sensor arranged on the upper plane of the connecting surface;

[0022] an adjusting valve arranged on the upper plane of the connecting surface.

[0023] Further, the cargo conveying module comprises:

[0024] a bull's eye platform for placing temporary cargo;

[0025] a belt conveyor, one side of which is provided with the bull's eye platform, and the other side is close to the safety fence, and the safety fence is provided with a window corresponding in position for cargo to enter or exit;

[0026] a pair of infrared sensors arranged above the belt conveyor in a diagonal manner.

[0027] Further, the control module comprises:

[0028] a central control device connected with all electrical components of the whole system;

[0029] a robot control cabinet arranged on one side of the central control device and connected with the six-axis mechanical arm.

[0030] Further, the 3D camera bottom is fixedly provided with a destacking positioning support.

[0031] The utility model discloses a kind of mechanical arm destacking systems for customs, including 3D vision module, cargo conveying module, mechanical arm module, safety protection module and control module, by integrating multiple modules, accurately, efficiently complete the destacking, handling and stacking work of customs cargo.In the whole operation process, 3D vision module captures the three-dimensional data of cargo, control module calculates according to these real-time data, determines the accurate position and angle of mechanical arm module grabbing, guarantee the precision and efficiency of grabbing.At the same time, safety protection module provides necessary security for system, avoids the risk caused by human error or equipment failure.The implementation of the system not only improves work efficiency, but also reduces labor cost, improves the automation level of customs cargo processing. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a perspective view of a kind of mechanical arm destacking systems for customs provided by the utility model embodiment;

[0033] Figure 2 It is a top view of a kind of mechanical arm destacking systems for customs provided by the utility model embodiment;

[0034] Figure 3 It is a side view of a kind of mechanical arm destacking systems for customs provided by the utility model embodiment;

[0035] Figure 4 It is a perspective view of vacuum chuck assembly provided by the utility model embodiment;

[0036] REFERENCE NUMERALS

[0037] 1, the light barrier grating;2, wire slot;3, safety fence;4, warning light;5, reset button;6, central control device;7, robot control cabinet;8, belt conveyor;9, bull's eye platform;10, air compressor;11, robot base;12, six-axis mechanical arm;13, vacuum chuck assembly;14, destacking positioning support;15, camera support;16, 3D camera;17, the infrared sensor of light barrier type;18, support base;19, chuck connecting piece;20, vacuum interface;21, connecting surface;22, sensor;23, regulating valve;24, chuck body. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantage of the utility model more clearly, the following is combined with drawing and embodiment, and the utility model is further detailedly explained.It should be understood that the specific embodiments described here are only used to explain the utility model, and are not used to limit the utility model.

[0039] In one embodiment, as shown in Figures 1-3 Fig. 1, a mechanical arm de-stacking system for customs is proposed, which comprises:

[0040] a 3D vision module, including a bracket base 18, a camera bracket 15 and a 3D camera 16, the bracket base 18 is arranged on one side of the stack, the camera bracket 15 is arranged on the bracket base 18, and the 3D camera 16 is arranged on the camera bracket 15;

[0041] a cargo conveying module for conveying cargo;

[0042] a mechanical arm module for grabbing the cargo on the stack onto the cargo conveying module;

[0043] a safety protection module, including a safety fence 3, an alarm device and a sensing device, the safety fence 3 encloses the 3D vision module, the cargo conveying module, the mechanical arm module and the stack, and the sensing device and the alarm device are arranged on the safety fence 3;

[0044] a control module for real-time regulation and control of the 3D vision module, the cargo conveying module, the mechanical arm module and the safety protection module.

[0045] In this embodiment, the 3D vision module is arranged on one side of the stack as a whole, the lens of the 3D camera 16 directly faces the cargo on the stack, and is used to capture the three-dimensional data of the cargo, including the shape, size, position and attitude of the cargo. The control module controls all other modules of the system, calculates according to the real-time data obtained by the 3D camera 16, and determines the accurate position and angle of grabbing by the mechanical arm module. This enables the mechanical arm module to automatically adapt to cargo of different shapes and sizes in a complex operating environment, greatly improving the accuracy and efficiency of the operation. The mechanical arm module of the present embodiment can be a vacuum negative pressure suction disc device, a mechanical claw device or a forklift device, which is not specifically limited here, and its function is to grab the target cargo and transport it to the cargo conveying module. The safety fence 3 plays a protective role, and the sensing device is used to sense people or animals approaching the safety fence 3; if people or animals approach, the alarm device is started. The safety protection module provides necessary safety protection for the system, avoiding the risks caused by human errors or equipment failures.

[0046] In one optimization scheme, as shown in Figure 1 Fig. 2, a wire slot 2 is arranged below the safety fence 3, the sensing device is a reflection grating 1, and the reflection grating 1 is arranged at the bottom of the safety fence 3. The alarm device includes a warning light 4 and a reset button 5, and the warning light 4 and the reset button 5 are arranged on the safety fence 3.

[0047] In this optimized solution, the safety protection module monitors the safety of the operating area throughout the entire process. When the photoelectric grating 1 detects personnel or obstacles entering the danger zone, the system will automatically shut down or issue an alarm to prevent accidents. The warning light 4 provides a visual signal to alert surrounding personnel to safety. In an emergency, the reset button 5 can quickly restore the system to a safe state.

[0048] In an optimization scheme, such as Figure 2 As shown, the robotic arm depalletizing system for customs also includes a drive module, which includes an air compressor 10.

[0049] The robotic arm module includes a robot base 11, a six-axis robotic arm 12, and a vacuum suction cup assembly 13. The six-axis robotic arm 12 is mounted on the robot base 11, and the vacuum suction cup assembly 13 is located at the end of the six-axis robotic arm 12. The air compressor 10 is used to drive the vacuum suction cup assembly 13.

[0050] In this optimized solution, the robotic arm module utilizes the principle of vacuum negative pressure to grasp goods, improving the efficiency and accuracy of goods grasping. The six-axis robotic arm 12 can operate flexibly, accurately moving the vacuum suction cup assembly 13 above the goods to be grasped according to control commands from the control module, thereby performing precise grasping and handling. The vacuum suction cup assembly 13 uses vacuum suction to attract the goods and transport them to the designated position above the goods conveying module before releasing the goods.

[0051] In an optimization scheme, such as Figure 4 As shown, the vacuum suction cup assembly 13 includes:

[0052] The suction cup connector 19 is connected to the output end of the six-axis robotic arm 12;

[0053] The upper surface of the connecting surface 21 is connected to the suction cup connector 19;

[0054] Vacuum interface 20 is disposed on the upper surface of the connecting surface 21 and is used to connect the air compressor 10;

[0055] The suction cup body 24 is disposed on the lower plane of the connecting surface 21;

[0056] Sensor 22 is disposed on the upper surface of the connection surface 21;

[0057] The regulating valve 23 is disposed on the upper surface of the connecting surface 21.

[0058] In the optimization scheme, the connecting surface 21 is a carrier on which the suction cup connecting piece 19, the vacuum interface 20, the suction cup body 24, the sensor 22 and the regulating valve 23 are arranged. The vacuum interface 20 is connected to the suction cup body 24, and negative pressure is provided by the air compressor 10 to suck the goods. The sensor 22 is used to sense the grabbing state of the suction cup body 24, and the regulating valve 23 is a regulator of the vacuum negative pressure mechanism.

[0059] In an optimization scheme, as shown in Figure 2 , the goods conveying module comprises:

[0060] The bull's eye table 9 is used to place the temporary storage goods.

[0061] The belt conveyor 8 is arranged on one side with the bull's eye table 9 and on the other side close to the safety fence 3, and the safety fence 3 is arranged with a window corresponding to the position for the goods to enter and exit.

[0062] The pair of infrared sensors 17 are arranged diagonally above the belt conveyor 8.

[0063] In the optimization scheme, the suction cup body 24 of the six-axis robot arm 12 adsorbs the goods by vacuum suction and carries them to the designated position above the belt conveyor 8 and falls to the height specified by the pair of infrared sensors 17 to release the goods. The six-axis robot arm 12 dynamically adjusts the action track according to the real-time feedback information to ensure the safety of the goods during the carrying process and no misoperation occurs. Finally, under the conveying of the belt conveyor 8, the goods enter the next system through the safety fence 3, and at this time the control module stores the goods information into the related system library.

[0064] In an optimization scheme, as shown in Figure 2 , the control module comprises:

[0065] The central control device 6 is connected with all electrical components of the whole system.

[0066] The robot control cabinet 7 is arranged on one side of the central control device 6 and connected with the six-axis robot arm 12.

[0067] In an optimization scheme, the 3D camera 16 is fixedly arranged at the bottom with a de-stacking positioning bracket 14.

[0068] The optimization schemes of the above-mentioned embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0069] The working principle of the scheme of all the features of the above-mentioned embodiments is as follows:

[0070] First, the workers will put the stacked goods into the position determined by the unstacking positioning bracket 14, capture the three-dimensional data of the goods through the 3D camera 16, and the central control device 6 calculates according to the real-time data to determine the accurate position and angle of the six-axis mechanical arm 12 to grasp, and the related control strategy is transmitted into the robot control cabinet 7. Then the six-axis mechanical arm 12 moves to the specified position according to the control instruction from the robot control cabinet 7, so as to accurately grasp and carry. The suction cup body 24 of the six-axis mechanical arm 12 adsorbs the goods by vacuum suction force, carries them to the specified position above the belt conveyor 8 and falls to the height specified by the infrared sensor 17, and releases the goods. The six-axis mechanical arm 12 dynamically adjusts the action track according to the real-time feedback information, ensures the safety of the goods in the carrying process and does not misoperate. Finally, under the conveying of the belt conveyor 8, the goods enter the next system through the safety fence 3, at this time the central control device 6 will store the goods information into the related system library. During this period, the safety protection module monitors the safety of the operation area. When the light barrier 1 detects that personnel or obstacles enter the dangerous area, the system will automatically stop or issue an alarm to prevent accidents. The warning light 4 provides a visual signal to remind the surrounding personnel to pay attention to safety. In an emergency, the reset button 5 can quickly restore the system to a safe state.

[0071] The above only describes the preferred embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mechanical arm de-palletizing system for customs, characterized in that, The mechanical arm unstacking system for customs comprises: a 3D vision module comprising a bracket base, a camera bracket and a 3D camera, the bracket base is arranged on one side of a stack, the camera bracket is arranged on the bracket base, and the 3D camera is arranged on the camera bracket; a cargo conveying module for conveying cargos; a mechanical arm module for grabbing cargos on the stack to the cargo conveying module; a safety protection module comprising a safety fence, an alarm device and a sensing device, the safety fence encloses the 3D vision module, the cargo conveying module, the mechanical arm module and the stack, and the sensing device and the alarm device are arranged on the safety fence; a control module for real-time regulation and control of the 3D vision module, the cargo conveying module, the mechanical arm module and the safety protection module.

2. The mechanical arm de-palletizing system for customs according to claim 1, wherein, A wire slot is arranged below the safety fence, the sensing device is a reflection grating, and the reflection grating is arranged at the bottom of the safety fence.

3. The mechanical arm de-palletizing system for customs according to claim 2, wherein, The alarm device comprises a warning light and a reset button, and the warning light and the reset button are arranged on the safety fence.

4. The mechanical arm de-palletizing system for customs according to claim 1, wherein, The mechanical arm unstacking system for customs further comprises a driving module, and the driving module comprises an air compressor; The mechanical arm module comprises a robot base, a six-axis mechanical arm and a vacuum chuck assembly, the six-axis mechanical arm is arranged on the robot base, and the six-axis mechanical arm is provided with the vacuum chuck assembly at the end thereof, and the air compressor is used to drive the vacuum chuck assembly.

5. The mechanical arm de-palletizing system for customs according to claim 4, wherein, The vacuum chuck assembly comprises: a chuck connecting piece connected with an output end of the six-axis mechanical arm; a connecting surface, wherein an upper plane of the connecting surface is connected with the chuck connecting piece; a vacuum interface arranged on the upper plane of the connecting surface and used to connect the air compressor; a chuck body arranged on a lower plane of the connecting surface.

6. The mechanical arm de-palletizing system for customs according to claim 5, wherein, The vacuum chuck assembly further comprises: a sensor arranged on the upper plane of the connecting surface; an adjusting valve arranged on the upper plane of the connecting surface.

7. The mechanical arm de-palletizing system for customs use of claim 1, wherein, The cargo conveying module comprises: a bull's eye platform for placing temporary cargos; a belt conveyor, one side of which is provided with the bull's eye platform, and the other side is close to the safety fence, and the safety fence is provided with a window corresponding in position for cargos to enter and exit; a reflection infrared sensor arranged above the belt conveyor in a diagonal manner.

8. The mechanical arm de-palletizing system for customs use of claim 1, wherein, The control module comprises: a central control device connected with all electrical components of the whole system; a robot control cabinet arranged on one side of the central control device and connected with the six-axis mechanical arm.

9. The mechanical arm de-palletizing system for customs use of claim 1, wherein, A unstacking positioning bracket is fixedly arranged at the bottom of the 3D camera.

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