Vision-based collaborative robot logistics sorting system

Abstract

The utility model belongs to the technical field of logistics intelligent sorting, and discloses a vision-based collaborative robot logistics sorting system which comprises an operation table, a conveying belt conveyor is arranged at the top end of the operation table, supporting frames are fixedly mounted on the front side and the rear side of the conveying belt conveyor correspondingly, and a movable groove and a material distributing mechanism are mounted between the two supporting frames; according to the logistics piece conveying device, logistics pieces are separated through the telescopic plate and the partition plate in the conveying process, and after bar codes are recognized and detected through the visual detection device, the grabbing mechanical arm is controlled to grab the logistics pieces; and by limiting the moving space of the grabbing manipulators, the situation that interference is caused between the two grabbing manipulators, and the working efficiency is reduced is avoided.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of intelligent logistics sorting, in particular to a vision-based collaborative robot logistics sorting system. BACKGROUND

[0002] In the process of logistics sorting, in order to improve the sorting efficiency and reduce the labor cost, a collaborative robot logistics sorting system is often used to sort logistics pieces and improve the work efficiency.

[0003] According to the search, the publication (announcement) No. CN210546473U discloses a vision-based collaborative robot logistics sorting system, which comprises a logistics conveying line, a sub-container, a three-degree-of-freedom vision detection device, a collaborative robot and a control system. The vision detection device is movably arranged above the logistics conveying line, which can further improve the sorting efficiency and automation level of the logistics pieces, and reduce the grabbing error of the collaborative robot.

[0004] However, in actual use, when two collaborative robots grab the logistics pieces on the logistics conveying line, they need to follow a front-to-back working order to avoid contact with each other, that is, one collaborative robot needs to stop grabbing during the working process of the other collaborative robot, which reduces the working efficiency and needs to be improved.

[0005] To solve the above problems, the application provides a vision-based collaborative robot logistics sorting system. CONTENT OF THE UTILITY MODEL

[0006] The vision-based collaborative robot logistics sorting system provided by the application adopts the following technical scheme:

[0007] A vision-based collaborative robot logistics sorting system comprises an operation table, the top end of the operation table is provided with a conveyor belt conveyor, the front and rear sides of the conveyor belt conveyor are both fixedly installed with support frames, an activity slot and a material distribution mechanism are installed between the two support frames, the material distribution mechanism is located below the activity slot, two electric push rods are arranged in the activity slot, the side of each electric push rod close to the other is provided with a vision detection device, a grabbing manipulator is installed on the front and rear sides of the operation table, and a plurality of material placing frames are placed around the operation table.

[0008] Through the above technical scheme, it is convenient for two grabbing manipulators to perform grabbing and sorting operations in use.

[0009] Further, the material distribution mechanism comprises two discs, two connecting plates are fixedly installed on the outer walls of the two discs, and a support frame is fixedly connected to the side of the connecting plate away from the disc, threaded holes are arranged at the upper and lower ends of the disc, adjusting screws are arranged in the threaded holes, mounting blocks are connected to the bottom ends of the adjusting screws, openings are arranged on the front and rear sides of the mounting blocks, pull-out plates are arranged in the openings, through holes are arranged on the pull-out plates, and pressing suction cups are arranged in the through holes.

[0010] Through the above technical scheme, the position of the partition plate can be fixed during use.

[0011] Further, the material distribution mechanism further comprises two partition plates, openings are arranged on the front and rear sides of the partition plates, and telescopic plates are arranged in the openings, and the two partition plates are connected through two telescopic connecting rods.

[0012] Through the above technical scheme, the logistics pieces can be distributed.

[0013] Further, the material distribution mechanism further comprises two baffle plates, two second telescopic connecting rods are arranged at the top ends of the baffle plates, and the top ends of the second telescopic connecting rods are fixedly connected with the connecting plates.

[0014] Through the above technical scheme, the logistics pieces can be prevented from falling off the conveyor belt conveyor.

[0015] Further, the telescopic connecting rod is composed of a positioning rod and a telescopic rod, an opening matching the diameter of the telescopic rod is arranged on the positioning rod, a plurality of arc-shaped grooves are arranged on the inner wall of the positioning rod, spring plungers matching the arc-shaped grooves are arranged on the outer wall of the telescopic rod, and the telescopic connecting rod has the same structure as the second telescopic connecting rod.

[0016] Through the above technical scheme, the telescopic connecting rod can be adjusted to the required length for use.

[0017] Further, hemispherical grooves are arranged at the bottom ends of the partition plates, and balls are arranged in the hemispherical grooves.

[0018] Through the above technical scheme, the friction between the partition plate and the conveyor belt conveyor can be avoided.

[0019] Further, the pressing suction cup is composed of a movable rod and a suction cup, the suction cup is fixedly connected to the bottom end of the movable rod, and the diameter of the movable rod is the same as the diameter of the through hole on the pull-out plate.

[0020] Through the above technical scheme, the position of the partition plate can be fixed during use by the suction cup.

[0021] In summary, the present application has the following beneficial technical effects:

[0022] The logistics pieces are separated by the telescopic plates and the partition plates during the conveying process, the bar code is detected by the visual detection device, the grabbing manipulator is controlled to grab the logistics pieces, and the activity space of the grabbing manipulator is limited, so that interference between two grabbing manipulators is avoided, and the work efficiency is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0024] Figure 2 It is a schematic diagram of the distribution mechanism structure of the present application;

[0025] Figure 3 It is a schematic diagram of the local structure of the distribution mechanism of the present application.

[0026] Explanation of reference numerals in the drawings:

[0027] 1, operation table; 2, conveyor belt conveyor; 3, support frame; 4, movable groove; 5, electric push rod; 6, visual detection device; 7, grabbing manipulator; 8, material placing frame; 9, distribution mechanism; 10, disc; 11, connecting plate; 12, adjusting screw; 13, mounting block; 14, pull-out plate; 15, pressing suction cup; 16, partition plate; 17, telescopic plate; 18, telescopic connecting rod; 19, second telescopic connecting rod; 20, baffle. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments of the present application, and all other embodiments obtained by those skilled in the art without creative labor on the basis of the embodiments in the present application are within the scope of protection of the present application.

[0029] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] Embodiments:

[0032] The embodiments of the present application disclose a visual-based collaborative robot flow sorting system, please refer to Figure 1 , including an operation table 1, the top end of the operation table 1 is provided with a conveyor belt conveyor 2, the front and rear sides of the conveyor belt conveyor 2 are both fixedly installed with support frames 3, two support frames 3 are installed with movable grooves 4 and material distribution mechanisms 9, and the material distribution mechanisms 9 are located below the movable grooves 4, two electric push rods 5 are arranged in the movable grooves 4, and the side of each electric push rod 5 close to the other is provided with a visual detection device 6, the visual detection device 6 is composed of a movable block, a rotary motor and an image acquisition device (a shooting camera), the movable block is connected with the electric push rod 5, so as to facilitate the adjustment of the position of the movable block, and the image acquisition device is located at the bottom end of the rotary motor, the rotary motor is installed at the bottom end of the movable block, and the control system between the visual detection device 6 and the electric appliances such as a grabbing manipulator 7 is not shown in the figure, please refer to the reference case for details, the front and rear sides of the operation table 1 are also installed with the grabbing manipulator 7, in the actual operation process, the grabbing manipulator 7 can only grab the logistics pieces in front and on the left side, so as to avoid that when the logistics pieces are separated by the separation plate 16 to the side far away from the corresponding material placing frame 8, the grabbing manipulator 7 is not convenient for grabbing operation, and a plurality of material placing frames 8 are placed around the operation table 1.

[0033] Please refer to Figure 2 and Figure 3 , the material distribution mechanism 9 includes two discs 10, two connecting plates 11 are fixedly installed on the outer walls of the two discs 10, and the side of each connecting plate 11 away from the disc 10 is fixedly connected with the support frame 3, threaded holes are arranged at the upper and lower ends of the disc 10, adjusting screws 12 are arranged in the threaded holes, the bottom ends of the adjusting screws 12 are connected with mounting blocks 13, the mounting blocks 13 and the adjusting screws 12 are connected through rotary connecting rings, openings are arranged on the front and rear sides of the mounting block 13, pull-out plates 14 are arranged in the openings, through holes are arranged on the pull-out plates 14, pressing suction cups 15 are arranged in the through holes, and the connection mode between the pull-out plate 14 and the mounting block 13 is the same as the working principle of the telescopic connecting rod 18, the separation plate 16 can be fixed at the required position for use by being adsorbed by the pressing suction cup 15.

[0034] Please refer to Figure 2 and Figure 3 The distribution mechanism 9 further comprises two partition plates 16, and the front and rear sides of the partition plates 16 are provided with openings, and the openings are provided with telescopic plates 17, and the two partition plates 16 are connected through two telescopic connecting rods 18. The connection mode between the partition plate 16 and the telescopic plate 17 is the same as the working principle of the telescopic connecting rod 18. The partition plate 16 and the telescopic plate 17 can effectively separate the logistics pieces and be grabbed by the grabbing manipulator 7, so as to avoid mutual interference between the two grabbing manipulators 7 and unable to operate.

[0035] Please refer to Figure 2 and Figure 3 The distribution mechanism 9 further comprises two baffle plates 20, and the top ends of the baffle plates 20 are provided with two second telescopic connecting rods 19, and the top ends of the second telescopic connecting rods 19 are fixedly connected with the connecting plate 11, so as to avoid the logistics pieces from falling off the conveyor belt conveyor 2 after being separated by the partition plate 16.

[0036] Please refer to Figure 2 and Figure 3 The telescopic connecting rod 18 is composed of a positioning rod and a telescopic rod, and the positioning rod is provided with an opening matched in diameter with the telescopic rod. The inner wall of the positioning rod is provided with a plurality of arc-shaped grooves, and the outer wall of the telescopic rod is provided with spring plungers matched with the arc-shaped grooves. The telescopic connecting rod 18 has the same structure as the second telescopic connecting rod 19, so as to adjust the telescopic connecting rod 18 to the required position for use, and avoid that the logistics pieces are too large to pass through the space between the partition plate 16 and the baffle plate 20.

[0037] Please refer to Figure 2 and Figure 3 The bottom end of the partition plate 16 is provided with a hemispherical groove, and the hemispherical groove is provided with a ball, so as to avoid excessive friction between the bottom end of the partition plate 16 and the conveyor belt conveyor 2.

[0038] Please refer to Figure 2 and Figure 3 The pressing suction cup 15 is composed of a movable rod and a suction cup, and the suction cup is fixedly connected to the bottom end of the movable rod. The diameter of the movable rod is the same as that of the through hole on the pull plate 14. The movable rod is controlled to move downward to connect the partition plate 16 with the suction cup, so as to fix the position of the partition plate 16.

[0039] The implementation principle of the embodiment is as follows: in use, first, the electrical appliance on the operation table 1 is started through an external power supply. The identification barcode of the logistics piece is placed on the top end of the logistics piece and conveyed through the conveyor belt conveyor 2. The logistics piece is separated by the telescopic plate 17 and the partition plate 16 during the conveying process. After the identification barcode is detected by the visual detection device 6, the grabbing manipulator 7 is controlled to grab the logistics piece and put it into the corresponding material placing frame 8.

[0040] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application, so that: all equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A vision-based collaborative robot logistics sorting system, comprising an operating table (1), characterized in that: The top of the operating table (1) is provided with a conveyor belt (2). Support frames (3) are fixedly installed on both the front and rear sides of the conveyor belt (2). A movable groove (4) and a material distribution mechanism (9) are installed between the two support frames (3). The material distribution mechanism (9) is located below the movable groove (4). Two electric push rods (5) are provided in the movable groove (4). A visual inspection device (6) is provided on the side of the two electric push rods (5) that are close to each other. A gripping robot (7) is also installed on the front and rear sides of the operating table (1). Several material placement frames (8) are placed around the perimeter of the operating table (1).

2. The vision-based collaborative robot logistics sorting system according to claim 1, characterized in that: The material distribution mechanism (9) includes two discs (10). Two connecting plates (11) are fixedly installed on the outer walls of the two discs (10). The side of the connecting plate (11) that is not connected to the disc (10) is fixedly connected to the support frame (3). The upper and lower ends of the disc (10) are provided with threaded through holes, and the threaded through holes are provided with adjusting screws (12). The bottom end of the adjusting screws (12) is connected to the mounting block (13). The front and rear sides of the mounting block (13) are provided with openings, and the openings are provided with pull plates (14). The pull plates (14) are provided with through holes, and the through holes are provided with pressing suction cups (15).

3. The vision-based collaborative robot logistics sorting system according to claim 1, characterized in that: The material distribution mechanism (9) also includes two partition plates (16), and the partition plates (16) have openings on both the front and rear sides, and telescopic plates (17) are provided in the openings. The two partition plates (16) are connected by two telescopic connecting rods (18).

4. The vision-based collaborative robot logistics sorting system according to claim 1, characterized in that: The material distribution mechanism (9) also includes two baffles (20), and each baffle (20) has two second telescopic connecting rods (19) at its top end, and the top end of each second telescopic connecting rod (19) is fixedly connected to the connecting plate (11).

5. A vision-based collaborative robot logistics sorting system according to claim 3, characterized in that: The telescopic connecting rod (18) consists of a positioning rod and a telescopic rod. The positioning rod has an opening that matches the diameter of the telescopic rod. The inner wall of the positioning rod has several arc-shaped grooves. The outer wall of the telescopic rod has spring plungers that match the arc-shaped grooves. The structure of the telescopic connecting rod (18) is the same as that of the second telescopic connecting rod (19).

6. The vision-based collaborative robot logistics sorting system according to claim 3, characterized in that: The bottom end of each of the partition plates (16) is provided with a hemispherical groove, and each hemispherical groove is provided with a ball bearing.

7. A vision-based collaborative robot logistics sorting system according to claim 2, characterized in that: Each of the pressing suction cups (15) consists of a movable rod and a suction cup. The suction cup is fixedly connected to the bottom end of the movable rod, and the diameter of the movable rod is the same as the diameter of the through hole on the pull plate (14).

Images