A material turnover device

Abstract

This utility model belongs to the technical field of intelligent logistics and automated warehousing equipment, specifically relating to a material turnover device, including a material box and a material pallet. The top of the material pallet has a material box positioning structure based on a two-dimensional plane coordinate system for positioning and identification. The material box positioning structure includes several material box positioning units for one-to-one correspondence with detachable material boxes. The bottom of the material pallet has a pallet support column, and the geometric center of the bottom of the material pallet has a positioning QR code for scanning by an AGV (Automated Guided Vehicle). This technical solution achieves global positioning of the AGV through the positioning QR code on the bottom of the pallet. Combined with the two-dimensional coordinate system of the material box positioning structure on the top of the pallet, a dual calibration mechanism of "global positioning + local visual recognition" is constructed, effectively compensating for AGV positioning errors and cumulative effects, breaking through the limitations of traditional single positioning methods.

Description

Technical Field

[0001] This utility model belongs to the technical field of intelligent logistics and automated warehousing equipment, and specifically relates to a material turnover device. Background Technology

[0002] In the fields of modern intelligent manufacturing and logistics automation, Automated Guided Vehicles (AGVs) have become indispensable core equipment in production lines and warehousing logistics systems due to their efficient and flexible material handling capabilities. In the palletizing process, AGVs scan the positioning QR code on the bottom of the material pallet to locate and lift it, accurately transporting the material to the designated position for palletizing. This technology greatly improves the automation level of material handling and palletizing, effectively reduces labor costs, and increases production efficiency.

[0003] However, existing AGV (Automated Guided Vehicle) systems exhibit significant technical shortcomings in their practical application of positioning and lifting material pallets by scanning the positioning QR codes on the bottom. On one hand, due to the limitations of QR code recognition accuracy, AGV motion control precision, and environmental factors (such as ground flatness and lighting changes), AGVs inevitably introduce positioning errors when lifting material pallets. On the other hand, in continuous palletizing operations, the errors from each lifting operation accumulate with the number of operations, leading to a significant decrease in subsequent palletizing positioning accuracy and impacting the stability and reliability of the entire production line or logistics system. Inaccurate palletizing positioning not only causes material misalignment and tilting, increasing the risk of goods damage, but may also prevent subsequent equipment from properly grasping materials, causing production stoppages and substantial economic losses. Currently, existing technologies have not proposed effective solutions to eliminate or compensate for the errors and their cumulative effects during the AGV pallet positioning and lifting process. Therefore, there is an urgent need to develop a new technological approach to ensure high precision and stability in palletizing operations. Utility Model Content

[0004] The purpose of this invention is to propose a material turnover device that can effectively solve the problem of inaccurate palletizing positioning caused by the lifting and positioning error of the AGV trolley.

[0005] The above objectives are achieved through the following technical solutions:

[0006] A material turnover device includes a material box and a material tray; the top of the material tray is provided with a material box positioning structure for positioning and identification based on a two-dimensional plane coordinate system, and the material box positioning structure includes a plurality of material box positioning units for one-to-one correspondence of detachable material boxes; the bottom of the material tray is provided with a tray support column, and the geometric center of the bottom of the material tray is provided with a positioning QR code for scanning by an AGV trolley.

[0007] Preferably, the material bin positioning structure is set independently from the material pallet.

[0008] Preferably, the material box positioning structure is integrally molded from a malleable polymer synthetic material.

[0009] Preferably, the top of the material tray is provided with a locking structure I for preventing the material box positioning structure from shifting.

[0010] Preferably, the bin positioning structure includes an anti-slip positioning plate adapted to the top structure of the material tray, and four bin positioning units are provided on the anti-slip positioning plate, with the four bin positioning units forming a rectangular spatial layout based on the geometric center of the anti-slip positioning plate.

[0011] Preferably, each individual material box positioning unit includes four sets of strip-shaped protrusions that correspond one-to-one with the four edges of the bottom of the material box.

[0012] Preferably, the material tray is welded from alloy materials.

[0013] Preferably, the material box includes a box body and a box lid, the box lid being detachably installed on the top of the box body; the top of the box lid is provided with a locking structure II that is adapted to the bottom of the box body.

[0014] This technical solution has the following beneficial effects:

[0015] 1) Supports dual positioning calibration for precise error compensation. Global AGV positioning is achieved through the positioning QR code on the bottom of the pallet. Combined with the two-dimensional coordinate system of the material box positioning structure on the top of the pallet, a dual calibration mechanism of "global positioning + local visual recognition" is constructed. Industrial vision systems can scan the material box positioning unit to obtain the corresponding unique coordinate parameters. A coordinate system transformation algorithm generates precise material box position data, directly driving the palletizing robot to complete high-precision grasping, effectively compensating for AGV positioning errors and cumulative effects, and breaking through the limitations of traditional single positioning methods.

[0016] 2) Modular design for flexible adaptation and cost reduction. The material bin positioning structure is independent and detachable from the pallet body, allowing for quick replacement via standardized interfaces. It adapts to different specifications of material bins, making it particularly suitable for multi-variety, small-batch production scenarios. When localized structural wear occurs, the entire pallet does not need to be replaced, significantly reducing maintenance costs. The integrated molding process using malleable polymer materials eliminates splicing errors, ensures the flatness of the positioning reference plane, and resists deformation caused by environmental changes, improving long-term accuracy.

[0017] 3) Physical constraints and visual recognition work together to enhance reliability. The strip-shaped protrusion structure of the bin positioning unit precisely fits the edge of the bin, forming a mechanical positioning constraint. Combined with the black-and-white contrast design, the industrial vision system achieves dual on-site verification of "geometric contour + grayscale features," preventing bin misalignment. Furthermore, the set-in locking structure (Ⅰ / Ⅱ) can ensure the stable installation of each component based on mortise and tenon joints, preventing displacement during stacking and further improving stacking accuracy.

[0018] 4) Rigid structure and symmetrical layout ensure benchmark stability. The material pallet is welded from alloy materials, providing strong load-bearing capacity and resistance to deformation, thus providing a stable coordinate benchmark plane for the positioning system. The symmetrical support column design at the bottom provides movement space for the AGV and ensures the flatness of the pallet's load-bearing surface through mechanical balance. The rectangular symmetrical layout of the bin positioning unit simplifies the vision system's calculation steps, improves coordinate system recognition efficiency, and ensures the reliability of the positioning benchmark from a hardware structure perspective. Attached Figure Description

[0019] Figure 1 A schematic diagram of a preferred material pallet structure;

[0020] Figure 2 This is a schematic diagram of a preferred material box structure.

[0021] in:

[0022] 1. Material pallet; 2. Pallet support column; 3. Positioning structure I; 4. Material box positioning unit; 4.1. Strip-shaped raised structure; 5. Anti-slip positioning plate; 6. Box body; 7. Box lid; 8. Positioning structure II. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments.

[0024] Therefore, the following detailed description of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0025] Example 1

[0026] This embodiment discloses a material turnover device, which is a preferred implementation of the technical solution and includes a material box and a material pallet 1.

[0027] The top of the material pallet 1 is equipped with a material box positioning structure based on a two-dimensional plane coordinate system for positioning and identification. The material box positioning structure contains several material box positioning units 4 for one-to-one correspondence of detachable material boxes. Based on this structure, an intelligent material turnover system can be constructed through the coordinate mapping positioning principle during the actual material turnover process in the workshop. That is, a two-dimensional plane coordinate system is constructed on the top surface of the material pallet 1, and the physical space is transformed into a digital coordinate grid, with each material box positioning unit 4 corresponding to a unique coordinate parameter.

[0028] The bottom of the material pallet 1 is designed with a symmetrical mechanical layout and is equipped with pallet support columns 2, which creates movement space for the AGV trolley. At the same time, the high-strength pallet support columns 2 transform the bearing surface of the material pallet 1 into a stable coordinate reference plane, ensuring that the coordinate system of the material box positioning unit 4 is not affected by the deformation of the material pallet 1.

[0029] A positioning QR code is set at the geometric center of the bottom of material pallet 1 for scanning by AGV vehicles. The positioning QR code serves as a physical space identification label, which is used by AGV vehicles to identify the global location coordinates of material pallet 1 in the warehousing and logistics system (such as the XY axis coordinates in a warehouse map) through visual or laser scanning, so as to realize the overall positioning and path planning of material pallet 1 in the warehousing environment.

[0030] After the AGV (Automated Guided Vehicle) identifies the positioning QR code, it lifts and transports the material pallet 1 to the target location according to the planned path. During this process, positioning errors may occur due to factors such as the accuracy of the positioning QR code recognition, the AGV's motion control accuracy, and environmental factors. Therefore, when performing palletizing operations at the target location, precise control can be achieved through vision and coordinate linkage. Specifically, the industrial vision system first scans the bin positioning structure, combines the unique coordinate parameters corresponding to the bin positioning unit 4, and converts the physical structure of the bin positioning unit 4 into digital coordinate signals. Then, a coordinate system transformation algorithm generates the spatial position data of the material bin in the global position coordinate system of the warehousing and logistics system. Based on this, the palletizing robot can be directly driven to accurately grasp and place the corresponding material bin. This mechanism overcomes the limitations of traditional manual positioning or single-sensor positioning. Through multi-source data fusion (visual recognition + mechanical positioning), a dual calibration system is formed. It utilizes the flexible recognition capability of the vision system to adapt to complex layouts, while the mechanical positioning structure compensates for visual errors.

[0031] Example 2

[0032] This embodiment discloses a material turnover device. As a preferred implementation of this technical solution, based on Embodiment 1, the material bin positioning structure, as an independent functional structure, is detachably assembled with the material pallet 1 through standardized interfaces (such as snap-fit ​​or magnetic connections), forming a two-layer architecture of "pallet base + positioning structure". This structure allows the material bin positioning structure to be replaced or adjusted independently of the pallet body. Specifically, when the specifications of the material bin change, only the corresponding specification of the material bin positioning structure needs to be replaced, without modifying the pallet base, which is particularly suitable for the material turnover needs in multi-variety, small-batch production scenarios. In addition, the material bin positioning structure adopts an independent replacement design. When a local structure deforms due to long-term use, the material bin positioning structure can be quickly and individually replaced, significantly reducing the use and maintenance costs of the device.

[0033] Example 3

[0034] This embodiment discloses a material turnover device. As a preferred implementation of this technical solution, based on Embodiment 2, the material bin positioning structure is integrally molded from a malleable polymer synthetic material. Malleable polymer synthetic materials include plastics and rubber; this technical solution preferably uses polyurethane material. Based on its optimized balance of thermoplasticity and mechanical properties, a high-precision positioning carrier can be constructed. Polyurethane material supports injection molding technology, and the geometric accuracy of the material bin positioning unit 4 is controlled through a high-precision mold, eliminating the accumulated assembly errors of traditional spliced ​​structures and ensuring the coordinate system reference planeness of the material bin positioning structure, providing a stable physical positioning reference for industrial vision systems. Furthermore, the Shore hardness of polyurethane material balances rigidity and toughness, effectively resisting structural deformation caused by temperature and humidity changes in the storage environment, and avoiding positioning deviations caused by thermal expansion and contraction of the material.

[0035] Example 4

[0036] This embodiment discloses a material turnover device. As a preferred implementation of this technical solution, based on embodiment 2 or 3, the top of the material pallet 1 is provided with a locking structure I3 to prevent the material box positioning structure from shifting. Specifically, the locking structure I3 can be four "∟"-shaped corner locking structures respectively set at the four corners of the material pallet 1, whose 90° orthogonal design forms a mortise and tenon fit with the outer contour of the material box positioning structure. The four corner locking structures cooperate to achieve rapid positioning and installation of the material box positioning structure and prevent the material box positioning structure from shifting.

[0037] Example 5

[0038] This embodiment discloses a material turnover device. As a preferred implementation of this technical solution, based on embodiments 1, 2, 3, or 4, a standardized visual recognition model is constructed through symmetrical geometric constraints. Specifically, the bin positioning structure includes an anti-slip positioning plate 5 adapted to the top structure of the material tray 1. Four bin positioning units 4 are arranged on the anti-slip positioning plate 5, and the four bin positioning units 4 form a rectangular spatial layout based on the geometric center of the anti-slip positioning plate 5. That is, the outermost vertices of the four bin positioning units 4 are taken respectively, and the lines connecting the four vertices form a rectangle ABCD. This layout utilizes the orthogonal symmetry and coordinate solvability of the rectangle to establish a rapid positioning mathematical model for the vision system.

[0039] Based on the above structure, a right-handed coordinate system (i.e., a two-dimensional planar coordinate system on the top of material tray 1) can be constructed with vertex A of rectangle ABCD as the origin, side AB as the X-axis, and side AD as the Y-axis. Alternatively, a coordinate system can be constructed based on the anti-slip positioning plate 5: specifically, with edge I (adjacent to and parallel to side AB) of the anti-slip positioning plate 5 as the X-axis, edge II (adjacent to and parallel to side AD) as the Y-axis, and the intersection of edge I and edge II as the origin (i.e., a two-dimensional planar coordinate system on the top of material tray 1). Each material box positioning unit 4 possesses unique coordinate parameters within the constructed right-handed coordinate system. The industrial vision system only needs to identify the structure corresponding to the two coordinate axes to quickly calculate the origin position, coordinate axis direction, and scale factor of the coordinate system, reducing the feature point calculation steps by half compared to irregular layouts.

[0040] Example 6

[0041] This embodiment discloses a material turnover device. As a preferred implementation of this technical solution, based on any of the embodiments 1-5, each individual material box positioning unit 4 includes four sets of strip-shaped protrusions 4.1 that correspond one-to-one with the four edges of the bottom of the material box (front, back, left, and right). The four sets of strip-shaped protrusions 4.1 cooperate to form a rectangular closed-loop constraint frame to achieve rapid positioning and placement of the material box and prevent the material box from shifting.

[0042] Furthermore, the material bin positioning structure is set to black, and the material bin itself is set to white. In this way, during the scanning and recognition process of the industrial vision system, the feature extraction efficiency of the industrial camera can be enhanced by the edge gradient change. Combined with the physical height difference of the strip-shaped protrusion structure 4.1, the industrial vision system can achieve dual verification of the "material bin's in-situ status" (geometric contour + grayscale features).

[0043] Example 7

[0044] This embodiment discloses a material turnover device. As a preferred implementation of this technical solution, based on any of the embodiments 1-6, the material pallet 1 is welded from alloy materials. For example, aluminum alloy or carbon structural steel can be laser-welded to form a rigid, integrated frame. Compared with traditional sheet metal riveting or plastic injection molding pallets, the core performance improvement of the alloy welded pallet is reflected in its doubled load-bearing capacity and enhanced environmental adaptability.

[0045] Example 8

[0046] This embodiment discloses a material turnover device. As a preferred implementation of this technical solution, based on any of embodiments 1-7, the material box includes a box body 6 and a box cover 7. The box cover 7 is detachably installed on the top of the box body 6. The top of the box cover 7 is provided with a locking structure II8 that is adapted to the bottom of the box body 6. Specifically, the locking structure II8 can be four "∟"-shaped corner locking structures respectively set at the four corners of the box cover 7. Their 90° orthogonal design forms a mortise and tenon joint with the bottom outer contour of the box body 6 of another material box. The four corner locking structures cooperate to achieve rapid positioning and stacking of the material boxes.

Claims

1. A material turnover device, characterized in that: It includes a material box and a material tray (1); the top of the material tray (1) is provided with a material box positioning structure for positioning and identification based on a two-dimensional plane coordinate system. The material box positioning structure contains several material box positioning units (4) for one-to-one correspondence of detachable material boxes; the bottom of the material tray (1) is provided with a tray support column (2), and the geometric center of the bottom of the material tray (1) is provided with a positioning QR code for AGV trolley to scan.

2. The material turnover device as described in claim 1, characterized in that: The material box positioning structure is set independently from the material pallet (1).

3. The material turnover device as described in claim 2, characterized in that: The material box positioning system is integrally molded from a malleable polymer synthetic material.

4. The material turnover device as described in claim 2, characterized in that: The top of the material tray (1) is provided with a locking structure I (3) to prevent the material box positioning structure from shifting.

5. The material turnover device as described in claim 1, characterized in that: The bin positioning structure includes an anti-slip positioning plate (5) adapted to the top structure of the material tray (1). Four bin positioning units (4) are provided on the anti-slip positioning plate (5), and the four bin positioning units (4) form a rectangular spatial layout based on the geometric center of the anti-slip positioning plate (5).

6. The material turnover device as described in claim 1, characterized in that: Each individual material box positioning unit (4) includes four sets of strip-shaped protrusions (4.1) that correspond one-to-one with the four edges of the bottom of the material box.

7. The material turnover device as described in claim 1, characterized in that: The material pallet (1) is made of alloy material welded together.

8. The material turnover device as described in claim 1, characterized in that: The material box includes a box body (6) and a box cover (7). The box cover (7) is detachably installed on the top of the box body (6). The top of the box cover (7) is provided with a locking structure II (8) that is adapted to the bottom of the box body (6).

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