Goods shelf positioning and guiding mechanism based on intelligent camera and automatic loading goods shelf

Abstract

The utility model discloses a goods shelf positioning and guiding mechanism based on an intelligent camera and an automatic loading goods shelf, and relates to the technical field of goods shelves. A goods shelf positioning and guiding mechanism based on an intelligent camera comprises a bearing frame, a control device, a lifting device used for driving a goods shelf body to move in the vertical direction, a plurality of bar code stickers used for being connected with a supporting frame or a shelf board of the goods shelf body and the intelligent camera connected with the bearing frame, and the bar code stickers are provided with bar codes. The intelligent camera, the bar code, the control device and the lifting device are matched with one another, so that the vacant laminates can be accurately positioned, the corresponding laminates can automatically move to the position close to the bearing frame, and goods can be directly loaded to the goods shelf body.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of shelves, in particular to a shelf positioning and guiding mechanism based on an intelligent camera and an automatic loading shelf. BACKGROUND

[0002] The shelf body generally comprises a support frame and a plurality of shelves arranged along the height direction of the support frame; each shelf is used for placing goods to improve the utilization efficiency of warehouse space.

[0003] When loading the shelf, the operator needs to first find the empty shelf, and then use a forklift or climb a ladder to lift the goods to the corresponding shelf of the shelf body, so as to move the goods to the corresponding shelf. The operation is relatively troublesome, and thus needs to be improved. CONTENT OF THE INVENTION

[0004] The present application aims to provide a shelf positioning and guiding mechanism based on an intelligent camera and an automatic loading shelf to improve the convenience of shelf loading operation.

[0005] In the first aspect, the shelf positioning and guiding mechanism based on an intelligent camera provided by the present application adopts the following technical solution:

[0006] The shelf positioning and guiding mechanism based on an intelligent camera comprises a bearing frame, a control device, a lifting device for driving the shelf body to move in the up-down direction, a plurality of bar code stickers connected to the support frame or the shelves of the shelf body, and an intelligent camera connected to the bearing frame. The bar code stickers are provided with bar codes; the bar code stickers correspond one-to-one to the shelves of the shelf body, and each bar code sticker is located at the corresponding shelf; and the intelligent camera is used for scanning the bar codes on the bar code stickers.

[0007] Through the above technical solution, when loading, the control device controls the lifting device to move the shelf body in the up-down direction; during the movement of the shelf body, the intelligent camera scans the bar codes on each bar code sticker in turn; when the number of goods on the shelf recorded by the scanned bar code is zero, i.e., when the shelf is empty, the lifting device stops to allow the corresponding control shelf to stay at the position of the intelligent camera. The operator can move the goods from the bearing frame to the corresponding shelf, which is simple and fast. The intelligent camera, the bar code, the control device, and the lifting device cooperate with each other to accurately position the empty shelf, so that the corresponding empty shelf is automatically moved to the position close to the bearing frame, thereby facilitating direct loading of the shelf body.

[0008] Optionally, the lifting device comprises a fixed frame, a driving wheel rotationally connected to the fixed frame, a traction belt wound around the driving wheel, and a driving member for driving the driving wheel to rotate, wherein the driving member is controlled by the control device; the traction belt is used to drive the support frame of the shelf body.

[0009] By adopting the above technical scheme, the driving member drives the driving wheel to rotate, so that the driving wheel winds the traction belt, and the traction belt drives the shelf body to move upward; when the driving wheel reverses, the shelf body automatically moves downward.

[0010] Optionally, the fixed frame is rotationally provided with a plurality of guide wheels which are sequentially and spaced apart in the up-down direction; the outer peripheral wall of the guide wheel is used to abut against the peripheral wall of the support frame of the shelf body.

[0011] By adopting the above technical scheme, the guide wheels have a guiding and limiting effect on the support frame of the shelf body, which is conducive to improving the stability of the movement of the shelf body; at the same time, the guide wheels can reduce the friction between the support frame of the shelf body and the fixed frame, so as to facilitate the movement of the support frame of the shelf body relative to the fixed frame.

[0012] Optionally, one end of the traction belt away from the support frame of the shelf body is wound around the driving wheel and connected with a counterweight.

[0013] By adopting the above technical scheme, the driving wheel drives the traction belt to move by friction, and the counterweight can balance the gravity of a part of the shelf body, so as to facilitate the driving member to drive the driving wheel to rotate, so as to move the shelf body.

[0014] In the second aspect, the automatic loading shelf provided by the present application adopts the following technical scheme:

[0015] The automatic loading shelf comprises a shelf body and the shelf positioning and guiding mechanism based on an intelligent camera; the shelf body comprises a support frame and a plurality of layers of plates connected to the support frame; the support frame is connected to a lifting device, so that the lifting device drives the support frame to move; the support frame is provided with a transfer device for driving the goods to move to the empty layer of plates, and the transfer device is controlled by a control device.

[0016] By adopting the above technical scheme, when the empty layer of plates moves to the position of the support frame, the control device controls the transfer device, so that the goods can automatically move to the corresponding layer of plates, which is convenient and labor-saving.

[0017] Optionally, the support frame is provided with an abutting plate and a limiting plate at the position of each layer plate, the limiting plate is located at the side of the abutting plate close to the bearing frame; the limiting plate and the abutting plate are respectively used for abutting with the side wall of the corresponding side of the goods; the limiting plate is slidably connected with the support frame along the thickness direction or the width direction of the layer plate, the support frame is provided with a driving member for driving the limiting plate to move, and the driving member is controlled by the control device.

[0018] By adopting the above technical scheme, the limiting plate and the abutting plate cooperate with each other to clamp the goods on the layer plate, so as to limit the movement of the goods along the length direction of the layer plate, thereby reducing the possibility of goods falling during the movement of the support frame in the up-down direction.

[0019] Optionally, the limiting plate is provided with a guide plate for abutting with the goods, and the guide plate extends away from the limiting plate in the moving direction of the limiting plate and is obliquely arranged away from the abutting plate.

[0020] By adopting the above technical scheme, during the movement of the limiting plate towards the goods, the side wall of the side of the guide plate close to the abutting plate can abut against the goods, so that the goods can be relatively moved along the guide plate to the position between the limiting plate and the abutting plate, thereby reducing the possibility of the end wall of the limiting plate abutting against the goods and being stuck.

[0021] Optionally, the transfer device comprises two rotating rollers rotatably connected with the bearing frame, a conveying belt wound around the two rotating rollers, a rotating member for driving the rotating rollers to rotate, and a pushing rod connected with the conveying belt, the conveying belt is used for carrying the goods, and the pushing rod is used for abutting against the side wall of the side of the goods away from the layer plate; the rotating member is controlled by the control device.

[0022] By adopting the above technical scheme, the rotating member drives the rotating rollers to rotate, and the conveying belt can drive the goods to move towards the layer plate; after the goods are separated from the conveying belt, the pushing rod can continue to push the goods, so as to completely move the goods to the corresponding layer plate.

[0023] Optionally, the support frame is provided with an unloading assembly for driving the goods to move towards the bearing frame, and the unloading assembly is controlled by the control device.

[0024] By adopting the above technical scheme, when the layer plate carrying the goods moves to the position of the bearing frame during unloading, the unloading assembly drives the goods to move towards the bearing frame, so as to automatically move the goods to the bearing frame, thereby completing the unloading operation; the intelligent camera, the barcode sticker, the control device and the unloading assembly cooperate with each other, and the automation degree is high, the operation is convenient and labor-saving.

[0025] In summary, the present application has at least one of the following beneficial technical effects:

[0026] 1. The intelligent camera, barcode, and lifting device cooperate with each other to realize accurate positioning of the empty layer plate, so that the corresponding layer plate is automatically moved to the position close to the carrier frame, thereby facilitating direct loading to the shelf body.

[0027] 2. The limiting plate and the abutting plate cooperate with each other to limit the movement of the goods along the length direction of the layer plate, thereby reducing the possibility of goods falling.

[0028] 3. The transfer device and the unloading assembly cooperate with each other, thereby facilitating automatic loading and unloading, and being simple, convenient, and labor-saving. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a schematic diagram of the overall structure of an automatic loading shelf according to an embodiment of the present application.

[0030] Figure 2 is an enlarged view of part A in Figure 1

[0031] Figure 3 is a schematic diagram for showing the structure of the carrier frame.

[0032] Figure 4 is a sectional view schematic diagram for showing the structure of the unloading assembly.

[0033] In the drawings, 1 is a shelf body; 11 is a support frame; 111 is a frame; 112 is an abutting plate; 113 is a limiting plate; 1131 is a guide plate; 114 is a driving member; 115 is an unloading assembly; 1151 is an unloading cylinder; 1152 is an unloading plate; 12 is a layer plate; 121 is a support plate; 2 is a lifting device; 21 is a fixed frame; 211 is a guide wheel; 22 is a driving wheel; 23 is a traction belt; 231 is a counterweight; 24 is a driving member; 3 is a carrier frame; 31 is a rack; 32 is a moving frame; 33 is a moving assembly; 4 is a barcode sticker; 5 is an intelligent camera; 6 is a transfer device; 61 is a rotating roller; 62 is a conveyor belt; 63 is a rotating member; and 64 is a pushing rod. DETAILED DESCRIPTION

[0034] The following will be described in detail in combination with the accompanying Figure 1 - the accompanying Figure 4 , the present application will be further described in detail.

[0035] An automatic loading shelf, referring to Figure 1 ​, comprising a shelf body 1 and a smart camera-based shelf positioning guide mechanism. The shelf body 1 comprises a support frame 11 and a plurality of layer plates 12; the support frame 11 is integrally formed with a plurality of frame grids 111, and all the frame grids 111 are arranged in a matrix; the number of the layer plates 12 is the same as that of the frame grids 111, and the layer plates 12 correspond to the frame grids 111 one by one. Each layer plate 12 comprises two support plates 121, and the corresponding two support plates 121 are arranged in sequence and spaced apart along the width direction of the corresponding frame grid 111, and each support plate 121 is fixed to the bottom wall of the corresponding frame grid 111 by a rivet, so that the support plate 121 supports the goods. In another embodiment, all the frame grids 111 can also be arranged in a column in sequence along the up-down direction.

[0036] With reference to Figure 1 , the smart camera-based shelf positioning guide mechanism comprises a control device (not shown in the figure) and a lifting device 2; the control device comprises a PLC, and the control device is installed in an electric control cabinet. The lifting device 2 comprises a fixed frame 21, a driving wheel 22, a traction belt 23 and a driving member 24; the driving wheel 22 is rotatably connected to the upper end of the fixed frame 21 through a bearing, one end of the traction belt 23 is fixedly connected with the support frame 11, the other end passes through the driving wheel 22 and is fixedly connected with a counterweight 231, and the counterweight 231 is in block shape.

[0037] With reference to Figure 1 , the driving member 24 comprises a motor, the driving member 24 is fixedly connected with the fixed frame 21, and the output shaft of the driving member 24 is connected with the rotating shaft of the driving wheel 22 through belt transmission, so as to drive the driving wheel 22 to rotate, that is, the traction belt 23 can be moved to drive the support frame 11 to move along the up-down direction. The driving member 24 is connected with the control device through a cable. In this embodiment, the driving wheel 22 is a belt wheel, and the traction belt 23 is a steel strand; in another embodiment, the driving wheel 22 can also be a chain wheel, and the corresponding traction belt 23 is a chain. In another embodiment, the end of the traction belt 23 away from the support frame 11 can also be directly wound on the driving wheel 22, and when the driving wheel 22 winds or unwinds the traction belt 23, the support frame 11 can be automatically moved upward or downward.

[0038] With reference to Figure 2 , the fixed frame 21 is rotatably connected with a guide wheel 211 through a pin shaft, and a plurality of guide wheels 211 are arranged in sequence and spaced apart along the up-down direction, and the peripheral wall of each guide wheel 211 is used to abut against the peripheral wall of the support frame 11, so as to improve the stability of the movement of the support frame 11.

[0039] With reference to Figure 1 and Figure 3, the smart camera based shelf positioning guiding mechanism further comprises a bearing frame 3, a barcode sticker 4 and a smart camera 5. The bearing frame 3 is located at one side of the fixed frame 21 along the depth direction of the frame 111; the bearing frame 3 comprises a machine frame 31, a moving frame 32 and a moving assembly 33, the moving frame 32 is slidably connected with the machine frame 31 along the width direction of the frame 111 through a slide rail; the smart camera 5 is fixedly installed at one end of the moving frame 32 close to the support frame 11, and the smart camera 5 is connected with the control device through a cable. In the embodiment, the machine frame 31 and the fixed frame 21 are installed at different floors respectively, and the floor where the machine frame 31 is installed is higher than the floor where the fixed frame 21 is installed, and the floor where the machine frame 31 is installed is provided with a gap for accommodating the fixed frame 21.

[0040] With reference to Figure 1 , the moving assembly 33 is a synchronous belt transmission structure, the synchronous belt of the moving assembly 33 is connected with the moving frame 32 through a bolt, that is, the synchronous belt drives the moving frame 32 to slide, so that the smart camera 5 is aligned with each column of the frame 111 of the support frame 11 in turn. In another embodiment, the moving assembly 33 can also be a lead screw nut structure or a hydraulic cylinder driving structure; the specific implementation mode of moving the moving frame 32 through the synchronous belt transmission structure, the lead screw nut structure or the hydraulic driving structure has been disclosed in the related art, and the embodiment will not be described here.

[0041] With reference to Figure 1 and Figure 3 , the barcodes of the barcode stickers 4 all record the quantity of goods on the corresponding layer plates through the control device, the quantity of the barcode stickers 4 is the same as the quantity of the frame 111, and the barcode stickers 4 correspond to the frame 111 one by one; each barcode sticker 4 is pasted on the side wall of the support frame 11 located at the corresponding frame 111. The barcode stickers 4 are printed with barcodes (not shown in the figure), the control device pre-records the quantity of goods on the support plate 121 in the frame 111 corresponding to each barcode sticker 4, and the quantity data of goods in the frame 111 corresponds to the barcode on the corresponding barcode sticker 4. The moving frame 32 is provided with a transfer device 6, and the transfer device 6 is controlled by the control device. The lens of the smart camera 5 is arranged in the direction of the barcode on the barcode sticker 4; during the movement of the support frame 11 or the moving frame 32, when the quantity data of goods corresponding to the barcode scanned by the smart camera 5 is “zero”, the frame 111 corresponding to the barcode is in an empty state, at this time, the control device makes the driving part 24 stop and transfers the goods to the corresponding frame 111 through the transfer device 6.

[0042] With reference to Figure 3The transfer device 6 comprises a rotating roller 61, a conveying belt 62, and a rotating member 63. The rotating roller 61 is in number of two, one of which is rotatably connected to the end of the moving frame 32 close to the intelligent camera 5, and the other is rotatably connected to the end of the moving frame 32 away from the intelligent camera 5; the conveying belt 62 is arranged around the two rotating rollers 61, and is in a tensioned state for carrying the goods; the rotating member 63 comprises a motor, is fixedly connected to the moving frame 32, and has an output shaft connected to the rotating roller 61 to drive the rotating roller 61 to rotate, so that the conveying belt 62 can drive the goods to move into the frame 111.

[0043] With reference to Figure 3 The transfer device 6 further comprises a pushing rod 64, one end of which is fixedly connected to the upper surface of the upper layer of the conveying belt 62 by a bolt, and the other end thereof extends in the length direction of the conveying belt 62 and is arranged towards the support frame 11. The goods are placed on the conveying belt 62 at a position on the side close to the support frame 11 of the pushing rod 64; during the movement of the goods into the frame 111, when the goods are separated from the conveying belt 62, the pushing rod 64 can continue to push the goods, so that the goods are completely moved into the corresponding frame 111.

[0044] With reference to Figure 4 The support frame 11 is provided with an abutting plate 112 and a limiting plate 113 at each frame 111; the abutting plate 112 and the limiting plate 113 are sequentially and spacedly arranged in the depth direction of the frame 111, and the limiting plate 113 is located on the side of the abutting plate 112 close to the moving frame 32. The abutting plate 112 is fixedly welded to the support frame 11 to abut against the side wall on the side of the goods away from the moving frame 32; the limiting plate 113 is connected to the support frame 11 through a driving member 114, and is arranged to abut against the side wall on the side of the goods away from the abutting plate 112 to limit the movement of the goods in the depth direction of the frame 111, so as to reduce the possibility of falling of the goods.

[0045] With reference to Figure 4 The driving member 114 comprises a double-rod pneumatic cylinder, and an electromagnetic valve for controlling the driving member 114 is connected to the control device through a cable; the cylinder body of the driving member 114 is fixedly connected to the support frame 11, and the piston rod of the driving member 114 is fixedly connected to the limiting plate 113, so that the driving member 114 drives the limiting plate 113 to move relative to the support frame 11 in the up-down direction, i.e. in the thickness direction of the support plate 121; when the limiting plate 113 moves upwards, the limiting plate 113 can abut against the side wall on the side of the goods away from the abutting plate 112. In another embodiment, the limiting plate 113 can also move relative to the support frame 11 in the width direction of the support plate 121 to abut against the side wall on the side of the goods away from the abutting plate 112.

[0046] With reference to Figure 4 The limiting plate 113 is provided with a guide plate 1131, one end of the guide plate 1131 is integrally connected with the upper end wall of the limiting plate 113, the other end extends upward and is bent in an inclined shape away from the abutting plate 112, so as to facilitate the movement of the limiting plate 113 to the position where the goods are away from the abutting plate 112.

[0047] With reference to Figure 4 The support frame 11 is provided with a discharging assembly 115 at the position of the abutting plate 112, the discharging assembly 115 includes a discharging cylinder 1151 and a discharging plate 1152; the moving direction of the piston rod of the discharging cylinder 1151 is arranged along the depth direction of the frame 111, and the electromagnetic valve for controlling the discharging cylinder 1151 is connected with the control device through a cable. The cylinder body of the discharging cylinder 1151 is fixedly connected with the support frame 11, and the discharging plate 1152 is fixedly connected with the piston rod of the discharging cylinder 1151, so that the discharging cylinder 1151 drives the discharging plate 1152 to move towards the goods, so as to push the goods towards the moving frame 32; when the goods contact with the upper surface of the conveying belt 62, the conveying belt 62 can pull the goods to the outside of the frame 111, that is, the unloading operation can be automatically completed.

[0048] The implementation principle of the embodiment of the present application is:

[0049] After the goods are placed on the conveying belt 62, the driving part 24 drives the driving wheel 22 to rotate, so that the support frame 11 moves in the up-down direction, so that the intelligent camera 5 scans the barcodes on the plurality of barcode stickers 4 located in the corresponding column in turn; when the barcode corresponding to the frame 111 in the control state is scanned, the control device stops the driving part 24, and drives the rotating part 63 to rotate the rotating wheel, so as to move the goods into the corresponding frame 111; then the control device drives the driving part 114 to drive the limiting plate 113 to move upward, so as to limit the movement of the goods to the outside of the frame 111, that is, the automatic loading operation is completed. If all the frames 111 in the corresponding column of the support frame 11 have goods, the moving assembly 33 drives the moving frame 32 to move, so that the lens of the intelligent camera 5 is aligned with the barcode on the barcode sticker 4 in the other column, so that the intelligent camera 5 scans the barcode in the corresponding column.

[0050] The intelligent camera 5, the control device, the barcode sticker 4 and the lifting device 2 cooperate with each other to automatically position the frame 111 in the empty state, so that the transfer device 6 automatically transfers the goods into the corresponding frame 111, which has high automation degree, simple, convenient and labor-saving operation.

[0051] The embodiments of the present application are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, wherein the same parts are denoted by the same reference numerals. Therefore, any equivalent changes made according to the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A smart camera based shelf positioning guidance mechanism characterized by: The application relates to a smart camera-based shelf positioning and guiding mechanism, which comprises a bearing frame (3), a control device, a lifting device (2) for driving a shelf body (1) to move in the up-down direction, a plurality of bar code stickers (4) connected with support frames (11) or layer plates (12) of the shelf body (1), and a smart camera (5) connected with the bearing frame (3), wherein the bar code stickers (4) are provided with bar codes; the bar code stickers (4) correspond to the layer plates (12) of the shelf body (1) one by one, and each bar code sticker (4) is located at a corresponding layer plate (12); the smart camera (5) is used for scanning the bar code on the bar code sticker (4); the lifting device (2) comprises a fixing frame (21), a driving wheel (22) rotationally connected with the fixing frame (21), a traction belt (23) wound around the driving wheel (22), and a driving member (24) for driving the driving wheel (22) to rotate, wherein the driving member (24) is controlled by the control device; and the traction belt (23) is used for being connected with the support frame (11) of the shelf body (1).

2. The smart camera based shelf location guidance mechanism of claim 1, wherein: The fixing frame (21) is rotationally provided with guide wheels (211), and a plurality of the guide wheels (211) are sequentially and spacedly arranged in the up-down direction; and the outer peripheral wall of the guide wheel (211) is used for abutting against the peripheral wall of the support frame (11) of the shelf body (1).

3. The smart camera based shelf location guidance mechanism of claim 1, wherein: One end of the traction belt (23) away from the support frame (11) of the shelf body (1) is wound around the driving wheel (22) and connected with a counterweight (231).

4. An automatic loading rack, characterized by: The application relates to a smart camera-based shelf positioning and guiding mechanism, which comprises a shelf body (1) and the smart camera-based shelf positioning and guiding mechanism according to any one of claims 1-3; the shelf body (1) comprises a support frame (11) and a plurality of layer plates (12) connected with the support frame (11); the support frame (11) is connected with the lifting device (2) so that the lifting device (2) drives the support frame (11) to move; and the bearing frame (3) is provided with a transfer device (6) for driving goods to move to the empty layer plate (12), wherein the transfer device (6) is controlled by the control device.

5. The automated stocking shelf of claim 4, wherein: The support frame (11) is provided with an abutting plate (112) and a limiting plate (113) at the position of each layer plate (12), the limiting plate (113) is located on the side of the abutting plate (112) close to the bearing frame (3), the limiting plate (113) and the abutting plate (112) are respectively used for abutting against the side wall of the corresponding side of the goods, the limiting plate (113) is slidably connected with the support frame (11) in the thickness direction or the width direction of the layer plate (12) of the shelf, the support frame (11) is provided with a driving member (114) for driving the limiting plate (113) to move, and the driving member (114) is controlled by the control device.

6. The automated stocking shelf of claim 5, wherein: The limiting plate (113) is provided with a guide plate (1131), one end of the guide plate (1131) away from the limiting plate (113) extends in the moving direction of the limiting plate (113) and is obliquely arranged away from the abutting plate (112).

7. The automated stocking shelf of claim 4, wherein: The transfer device (6) comprises two rotating rollers (61) rotatably connected with the carrier frame (3), a conveying belt (62) wound around the two rotating rollers (61), a rotating member (63) for driving the rotating rollers (61) to rotate, and a pushing rod (64) connected with the conveying belt (62), the conveying belt (62) being used for carrying the goods, and the pushing rod (64) being used for abutting against the side wall of the side of the goods away from the layer board (12); the rotating member (63) is controlled by the control device.

8. The automated stocking shelf of claim 4, wherein: The support frame (11) is provided with an unloading assembly (115) for driving the goods to move towards the carrier frame (3), and the unloading assembly (115) is controlled by the control device.

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