Visual guidance robot unstacking and stacking machine

Abstract

The utility model relates to a visual guidance robot unstacking and stacking machine which comprises a conveying belt. The mechanical arm is arranged on one side of the conveying belt, and a clamp is installed at the lower end of the mechanical arm; the camera is arranged above the mechanical arm; and the control box is in signal connection with the mechanical arm and the camera. A product is photographed through the camera, a photographing result is sent to the mechanical arm through the camera, the mechanical arm grabs a box at a corresponding position after receiving information and then places the box on the conveying belt, through recognition and analysis of attributes such as the shape, the size and the position of the object, the object can be accurately positioned and operated, manual intervention is not needed, and the working efficiency is improved. And the labor intensity and the human resource cost are reduced.

Description

Technical Field

[0001] This utility model relates to the field of depalletizing and palletizing machines, specifically to a vision-guided robot depalletizing and palletizing machine. Background Technology

[0002] Traditional cargo loading and unloading relies on manual labor, such as carrying on shoulders and pulling with carts. This results in high labor intensity and low work efficiency. In addition, the working environment is often dusty, which has a significant impact on the physical and mental health of workers.

[0003] With the rapid development of science and technology, the traditional manufacturing industry, which relied on human-controlled machines to produce products, has been replaced by computer-controlled robots. This has significantly improved production efficiency, ensured more reliable product quality, and reduced manufacturing costs. However, most robots lack the ability to perceive their surroundings, which hinders their operations such as handling, gripping, depalletizing, and stacking. Utility Model Content

[0004] Based on the above description, this utility model provides a vision-guided robot depalletizing and palletizing machine to solve the problem in related technologies that robots lack the ability to perceive their surrounding environment, which is detrimental to a series of robot operations.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A vision-guided robot depalletizing and palletizing machine, comprising: a conveyor belt; a robotic arm disposed on one side of the conveyor belt, with a clamp installed at the lower end of the robotic arm; a camera disposed above the robotic arm; and a control box that is signal-connected to the robotic arm and the camera.

[0006] Based on the above technical solution, the present invention can be further improved as follows.

[0007] Furthermore, the robotic arm is mounted on a guiding device, which includes an X-axis guide rail, a Y-axis guide rail, and a Z-axis guide rail. The X-axis guide rail is slidably mounted on the Z-axis guide rail, the Y-axis guide rail is slidably mounted on the X-axis guide rail, and the robotic arm is mounted on the Y-axis guide rail.

[0008] Furthermore, a display is provided on one side of the conveyor belt, and the display signal is connected to the control box.

[0009] Furthermore, the robotic arm is connected to the clamp via a detachable mechanism.

[0010] Furthermore, the detachable mechanism includes: a mounting plate with bolt holes, on which the clamp is mounted; and a connecting plate connected to the mounting plate via a connecting rod, wherein the connecting plate is detachably mounted inside the robotic arm.

[0011] Furthermore, a limit block is installed at the lower end of the robotic arm. The limit block includes two movable blocks connected by hinges, and a limit hole is formed between the two movable blocks. The connecting rod is accommodated in the limit hole, and the two movable blocks are locked together by bolts.

[0012] Furthermore, the diameter of the connecting plate is larger than the diameter of the limiting hole.

[0013] Furthermore, the robotic arm has mounting holes inside, and the diameter of the connecting plate is equal to the diameter of the mounting holes.

[0014] Furthermore, the thickness of the limiting block is equal to the length of the connecting rod.

[0015] Furthermore, the camera is a binocular camera.

[0016] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:

[0017] The product is photographed and processed by a camera. The camera then sends the processed image to a robotic arm. Upon receiving the information, the robotic arm picks up the box at the appropriate location and places it on a conveyor belt. By recognizing and analyzing the object's shape, size, position, and other attributes, the robotic arm can accurately locate and manipulate the object without human intervention, thus reducing labor intensity and human resource costs. Attached Figure Description

[0018] Figure 1 A schematic diagram of the overall structure of the vision-guided robot depalletizing and palletizing machine provided in this embodiment of the utility model;

[0019] Figure 2 This is a schematic diagram of the detachable mechanism provided in an embodiment of the present utility model;

[0020] Figure 3 This is a schematic diagram of the overall structure of the detachable mechanism provided in an embodiment of the present utility model.

[0021] The attached diagram lists the components represented by each number as follows:

[0022] 1. Conveyor belt; 2. Robotic arm; 21. Mounting hole; 3. Fixture; 4. Camera; 5. Control box; 6. Guide device; 61. X-axis guide rail; 62. Y-axis guide rail; 63. Z-axis guide rail; 7. Detachable mechanism; 71. Mounting plate; 72. Connecting plate; 73. Connecting rod; 74. Limiting block; 75. Limiting hole; 76. Bolt; 8. Display. Detailed Implementation

[0023] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0024] See Figure 1 As shown, a vision-guided robot depalletizing and palletizing machine provided in this embodiment of the present utility model includes: a conveyor belt 1; a robotic arm 2, disposed on one side of the conveyor belt 1, with a clamp 3 installed at the lower end of the robotic arm 2; a camera 4, which is a binocular camera, disposed above the robotic arm 2; and a control box 5, which is connected to the robotic arm 2 and the camera 4 via signals.

[0025] During operation, after the operator places the pallet at the depalletizing position, the camera takes a picture of the product and sends the result to robotic arm 2. After receiving the information, robotic arm 2 moves to the corresponding position, uses gripper 3 to pick up the box and place it on the conveyor belt. By recognizing and analyzing the shape, size, position and other attributes of the items, the robot can accurately locate and manipulate the items, increasing the robot's perception of the surrounding environment. It has advantages such as high precision, strong adaptability, high flexibility, high safety, good stability and high degree of automation, which can greatly improve production efficiency and quality. It should be noted that the process of identifying and analyzing the attributes of an item, such as shape, size, and position, is existing technology in this field. For example, existing patents such as CN118529506A "Control Method and System for Palletizing Robot Based on Image Recognition" and CN119399271A "Palletizing Positioning Recognition Method, Automated Palletizing Feeding Device and Cigarette Packaging Supply Line" disclose the identification and analysis of attributes such as shape, size, and position of an item. However, the identification and analysis of attributes such as shape, size, and position of an item is not a key improvement of this utility model, so it will not be elaborated here.

[0026] See Figure 1 As shown, in some embodiments, the robotic arm 2 is mounted on a guide device 6, which includes an X-axis guide rail 61, a Y-axis guide rail 62, and a Z-axis guide rail 63. The X-axis guide rail 61 is slidably mounted on the Z-axis guide rail 63, and the Y-axis guide rail 62 is slidably mounted on the X-axis guide rail 61. The robotic arm 2 is mounted on the Y-axis guide rail 62. The robotic arm 2 can move along the X-axis, Y-axis, and Z-axis, and is driven by a motor and transmitted by a synchronous pulley to realize movement actions, which facilitates position adjustment for depalletizing and stacking.

[0027] See Figure 1As shown, in some embodiments, a display 8 is provided on one side of the conveyor belt 1. The display 8 is signal-connected to the control box 5. The control box 5 is used for the integrated installation of electrical control components. The display 8 is connected to the camera 4 to display 3D camera image recognition information.

[0028] See Figure 2 As shown, in some embodiments, see Figure 1 As shown, in some embodiments, the robotic arm 2 is connected to the clamp 3 via a detachable mechanism 7. The clamp 3 can be detached from the robotic arm, so that different types of clamps 3 can be replaced according to the shape and size of the items, such as vacuum suction cups, robotic arms, etc., to realize automatic destacking and stacking of items of different shapes and sizes, which is highly flexible.

[0029] See Figure 2 As shown, in some embodiments, the detachable mechanism 7 includes: a mounting plate 71 with bolt holes, on which the clamp 3 is mounted; and a connecting plate 72 connected to the mounting plate 71 via a connecting rod 73. The connecting plate 72 is detachably mounted inside the robotic arm 2. Multiple detachable mechanisms 7 can be prepared before use, and different clamps 3 can be mounted on the mounting plate 71 of one detachable mechanism 7. When in use, the connecting plate 72 on the corresponding clamp 3 can be directly installed inside the robotic arm 2, which is convenient and quick to install.

[0030] See Figure 2 As shown, in some embodiments, a limiting block 74 is installed at the lower end of the robotic arm 2. The limiting block 74 includes two movable blocks connected by hinges, and a limiting hole 75 is formed between the two movable blocks. The connecting rod 73 is accommodated in the limiting hole 75. The two movable blocks are locked together by bolts 76. By using the limiting hole 75 to lock the connecting rod 73, the movement of the clamp 3 can be reduced while the clamp 3 is installed on the robotic arm 2, thus ensuring the stability of the clamp 3 during operation.

[0031] See Figure 2 As shown, in some embodiments, the diameter of the connecting plate 72 is larger than the diameter of the limiting hole 75. After the connecting plate 72 is installed into the robotic arm 2, the connecting plate 72 can be restricted above the limiting block 74 by the blocking of the limiting block 74, thereby reducing the movement of the clamp 3.

[0032] See Figure 2 As shown, in some embodiments, the robotic arm 2 has a mounting hole 21 inside, the diameter of the connecting plate 72 is equal to the diameter of the mounting hole 21, and the outer wall of the connecting plate 72 abuts against the inner wall of the mounting hole 21, further reducing the shaking of the clamp 3 and ensuring stability.

[0033] See Figure 2As shown, in some embodiments, the thickness of the limiting block 74 is equal to the length of the connecting rod 73, which can just restrict the limiting block 74 between the mounting plate 71 and the lower end face of the robotic arm 2, thereby limiting the movement of the clamp and preventing it from moving up and down.

[0034] By recognizing and analyzing the shape, size, and position of items, the robot can accurately locate and manipulate them, achieving higher precision requirements. It can adapt to items of different shapes and sizes without requiring fixed shapes or dimensions. Through program modification and parameter adjustment, it can automatically depalletize and stack items of different shapes and sizes, offering high flexibility. Operators do not need to enter the robot's work area, avoiding safety hazards caused by operator error. The depalletizing and stacking processes are completed autonomously by the robot, avoiding the instability of manual operation and making the task more stable and reliable. The depalletizing and stacking processes are largely automated, requiring no human intervention, reducing labor intensity and human resource costs.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0036] It is understood that spatial relation terms such as "below," "under," "below," "below," "above," "above," etc., can be used here to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as "below" or "below" of the other element or feature will be oriented "above" the other element or feature. Therefore, the exemplary terms "below" and "below" can include both upper and lower orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0037] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. In the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have the transmission of electrical signals or data between them.

[0038] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0039] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A vision-guided robot depalletizing and palletizing machine, characterized in that, It includes: Conveyor belt (1); A robotic arm (2) is located on one side of the conveyor belt (1), and a clamp (3) is installed at the lower end of the robotic arm (2). A camera (4) is positioned above the robotic arm (2); The control box (5) is connected to the robotic arm (2) and the camera (4) via signal connection.

2. The vision-guided robot depalletizing and palletizing machine according to claim 1, characterized in that: The robotic arm (2) is mounted on a guide device (6), which includes an X-axis guide rail (61), a Y-axis guide rail (62) and a Z-axis guide rail (63). The X-axis guide rail (61) is slidably mounted on the Z-axis guide rail (63), the Y-axis guide rail (62) is slidably mounted on the X-axis guide rail (61), and the robotic arm (2) is mounted on the Y-axis guide rail (62).

3. The vision-guided robot depalletizing and palletizing machine according to claim 1, characterized in that: A display (8) is provided on one side of the conveyor belt (1), and the display (8) is connected to the control box (5) via a signal.

4. The vision-guided robot depalletizing and palletizing machine according to claim 1, characterized in that: The robotic arm (2) is connected to the clamp (3) via a detachable mechanism (7).

5. The vision-guided robot depalletizing and palletizing machine according to claim 4, characterized in that, The detachable mechanism (7) includes: Mounting plate (71) is provided with bolt holes, and the clamp (3) is mounted on the mounting plate (71); The connecting plate (72) is connected to the mounting plate (71) via the connecting rod (73), and the connecting plate (72) is detachably installed inside the robotic arm (2).

6. The vision-guided robot depalletizing and palletizing machine according to claim 5, characterized in that: The lower end of the robotic arm (2) is equipped with a limiting block (74). The limiting block (74) includes two movable blocks connected by a hinge. A limiting hole (75) is formed between the two movable blocks. The connecting rod (73) is accommodated in the limiting hole (75). The two movable blocks are locked together by bolts (76).

7. The vision-guided robot depalletizing and palletizing machine according to claim 6, characterized in that: The diameter of the connecting plate (72) is larger than the diameter of the limiting hole (75).

8. The vision-guided robot depalletizing and palletizing machine according to claim 6, characterized in that: The robotic arm (2) has an internal mounting hole (21), and the diameter of the connecting plate (72) is equal to the diameter of the mounting hole (21).

9. The vision-guided robot depalletizing and palletizing machine according to claim 6, characterized in that: The thickness of the limiting block (74) is equal to the length of the connecting rod (73).

10. The vision-guided robot depalletizing and palletizing machine according to claim 1, characterized in that: The camera (4) is a binocular camera.

Images