CN107697649A - The Mechanical arm control method and device of a kind of multiple pipeline - Google Patents
The Mechanical arm control method and device of a kind of multiple pipeline Download PDFInfo
- Publication number
- CN107697649A CN107697649A CN201710772843.7A CN201710772843A CN107697649A CN 107697649 A CN107697649 A CN 107697649A CN 201710772843 A CN201710772843 A CN 201710772843A CN 107697649 A CN107697649 A CN 107697649A
- Authority
- CN
- China
- Prior art keywords
- streamline
- pallet
- mechanical arm
- pile
- control method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
Abstract
The invention discloses a kind of Mechanical arm control method of multiple pipeline, sets the pile part for piling up region to pile up technique first；Then the operating condition and working condition of streamline are detected, when the operating condition or working condition of the streamline reach standard, carries out in next step, previous step otherwise is performed to next streamline；Then the pallet state on tray position corresponding to the streamline is detected, when the pallet state reaches standard, in next step, otherwise detect next streamline；The pickup portion of the mechanical arm is finally controlled to capture pile part from the streamline, and according to the precalculated position piled up technique and the pile part is moved on the pallet.The invention also discloses a kind of manipulator control device of multiple pipeline, can effectively reduce the stand-by period of the mechanical arm at work, improves operating efficiency.
Description
Technical field
The present invention relates to the Mechanical arm control method and device of mechanical arm control field, more particularly to a kind of multiple pipeline.
Background technology
Carry and palletizing operation occupies critical role in the logistics management of modern enterprise.In palletizing technology, using list
Mechanical arm unit puts the scheme of output, i.e., single mechanical arm corresponds to the stacking position of single fixation, from the fixed bit on streamline
Crawl pile part is put, is piled up on the pallet onto fixed position.The pallet on fixed position is not put or tray position
When incorrect, easily there is pile part and be damaged, or even cause the generation of accident because pile part is piled up built on the sand.Prior art is to this
Solution be that pallet is detected on the robotic arm, control the mechanical arm temporary in the case where the pallet is not in place
Stop work and make, cause the mechanical arm in the case where the pallet is not in place often in wait state, operating efficiency is by shadow
Ring.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of Mechanical arm control method of multiple pipeline, can effectively reduce the machine
The stand-by period of tool arm at work, improve operating efficiency.
To achieve the above object, the embodiments of the invention provide a kind of Mechanical arm control method of multiple pipeline, including step
Suddenly：
The pile part that S1, setting pile up region piles up technique；
S2, the operating condition and working condition for detecting streamline, reach in the operating condition or working condition of the streamline
During to standard, step S3 is carried out, step S2 otherwise is performed to next streamline；
Pallet state corresponding to S3, the detection streamline on tray position, when the pallet state reaches standard,
Step S4 is carried out, step S2 otherwise is performed to next streamline；
S4, the pickup portion of the control mechanical arm capture pile part from the streamline, and will according to the technique of piling up
The precalculated position that the pile part is moved on the pallet；
S5, technique is piled up according to, be placed into the pile part with predetermined posture described predetermined on the pallet
Position, after the completion of return to step S2.
As the improvement of such scheme, the step S2 is specifically included：
S21, the operating condition for detecting streamline, if the streamline is in normal operation, carry out step S22；
Otherwise step S2 is performed to next streamline；
S22, the detection streamline working condition, if during the flow work is normally carried out, carrying out step S3；
Otherwise step S21 is performed to next streamline.
As the improvement of such scheme, the step S3 is specifically included：
Whether there is pallet placement on tray position corresponding to S31, the detection streamline, if having support on the tray position
Disk correct placement, then carry out step S32；Then send alarm and step S2 is performed to next streamline；
Whether the posture for the pallet placed on S32, the detection tray position is correct, if the posture of the pallet is just
Really, then step S4 is carried out；Then send alarm and step S2 is performed to next streamline.
As the improvement of such scheme, the streamline operating condition information includes normal operation, shut down shape
State or abnormal operation state.
As the improvement of such scheme, during the flow work state is included in Job readiness, work is carried out or work
Complete.
As the improvement of such scheme, the pallet placement information on the tray position is obtained by pressure sensor.
As the improvement of such scheme, the edge of the pallet is detected by photoelectric sensor to judge the appearance of the pallet
Whether state is correct.
As the improvement of such scheme, the technique of piling up includes piling up posture, pile up position and piling up order for pile part.
As the improvement of such scheme, the pile part number that individual layer is piled up piles up the pile that region can carry to be described
The individual layer maximum quantity of part.
Compared with prior art, the Mechanical arm control method of a kind of multiple pipeline provided by the invention, sets pallet first
Upper pile part piles up technique, then detects the operating condition and working condition of streamline.When the streamline is not at normally transporting
When turning state or being not at during work is carried out, above-mentioned detection is performed to next streamline.Until the flowing water detected
Line runs well, and in the progress that works.Then the pallet for detecting tray position corresponding to the streamline is placed and the support
The posture of disk.When detecting there is not pallet placement on the tray position, or during the posture mistake of the pallet, send alarm simultaneously
Above-mentioned detecting step is carried out to next streamline.Until discovery is placed on the tray position and posture is correct
The pallet, pile part is captured from the ongoing streamline that works, is piled up the pile part according to default technique of piling up
On predeterminated position on to the pallet.Can be in the non-normal work of current pipeline or the corresponding pallet not in place or appearance
During state mistake, the streamline of stacking work can be carried out by controlling the mechanical arm to detect other, and pair can carry out stacking work
The pallet carry out stacking work, reduce the stand-by period of the mechanical arm at work, improve operating efficiency.
The embodiment of the present invention additionally provides a kind of manipulator control device of multiple pipeline, including technique setup module, uses
The setting of technique is piled up in control pile part；Streamline detection module, for detecting the operating condition and working condition of streamline；Support
Disk detection module, for detecting the placement information and attitude information of the pallet；Stacking control module, for controlling the machinery
Arm carries out stacking work according to default technique of piling up.
Compared with prior art, the manipulator control device of a kind of multiple pipeline provided by the invention, first by the work
Skill setup module sets pile part on pallet to pile up technique, then the operating condition of the streamline detection module detection streamline
And working condition.When the streamline is not at normal operation or is not at during work is carried out, to next flowing water
Line performs above-mentioned detection.Until the streamline normal operation detected, and in the progress that works.Then the pallet detection
Module detects pallet placement and the posture of the pallet of tray position corresponding to the streamline.When detecting the pallet position
Putting does not have pallet placement, or during the posture mistake of the pallet, sends alarm and next streamline is carried out
State detecting step.Until finding to be placed on the tray position and the correct pallet of posture, mould is controlled by the stacking
Block controls the mechanical arm to capture pile part from the ongoing streamline that works, according to default technique of piling up by the pile
Part is piled up on the predeterminated position on the pallet.Can it not arrived in the non-normal work of current pipeline or the corresponding pallet
Position or during posture mistake, the streamline of stacking work can be carried out by controlling the mechanical arm to detect other, and pair can carry out code
The pallet of pile work carries out stacking work, reduces the stand-by period of the mechanical arm at work, improves operating efficiency.
Brief description of the drawings
Fig. 1 is a kind of Mechanical arm control method flow chart of multiple pipeline in the embodiment of the present invention.
Fig. 2 is a kind of Mechanical arm control method step S2 of multiple pipeline in embodiment of the present invention flow chart.
Fig. 3 is a kind of Mechanical arm control method step S3 of multiple pipeline in embodiment of the present invention flow chart.
Fig. 4 is a kind of structural representation of the manipulator control device of multiple pipeline in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
A kind of Mechanical arm control method of multiple pipeline provided in an embodiment of the present invention, the mechanical arm are multi-joint machinery
Arm, including pickup portion and motion portion.The pickup portion, which is used to capture, to be transported the pile part come from streamline and puts the pile part
Put in specified location, the mode that the pickup portion obtains the pile part includes but is not limited to gripping, support takes and drawn；The motion
Portion links including multiple joints, for driving the pickup portion of the mechanical arm to realize three-D displacement.The mechanical arm is by the pile
Part is piled up on pallet, and the pallet is stacking pallet, and loading end is square, including but not limited to flat board pallet, pillar support
Disk and box pallet.
Referring to Fig. 1 to Fig. 3, a kind of Mechanical arm control method of multiple pipeline provided in an embodiment of the present invention includes step：
The pile part that region is piled up described in S1, setting piles up technique.
Specifically, the area and shape data for piling up region are read, is piled up with reference to the single pile part and piles up area described
Area occupied and shape data on domain, calculate the individual layer maximum quantity for piling up the pile part that region can carry.It is logical
Heuritic approach, such as ant group algorithm or approximate data are crossed, region individual layer code can also piled up by the method for exhaustion described in satisfaction
The quantity for the pile part put is equal under conditions of the individual layer maximum quantity, calculates and piles up multiple pile parts described
The posture on region and position are piled up, and order is piled up for multiple pile part additions are arbitrary, by the institute of multiple pile parts
State and pile up posture, described pile up position and the combination for piling up order is recorded as piling up technique.
S2, the operating condition and working condition for detecting streamline, reach in the operating condition or working condition of the streamline
During to standard, step S3 is carried out, otherwise performs step S2 again.
Specifically, step S2 includes：
S21, the operating condition for detecting streamline, if the streamline is in normal operation, carry out step S22；
Otherwise step S21 is performed to next streamline.
The operating condition information of the streamline is read, and the operating condition of the streamline is judged.Institute
Operating condition information is stated to be used to represent that streamline is in normal operation, the state that shuts down or abnormal operation state.Work as institute
When stating streamline and being in normal operation, then into step S3；If the streamline is in the state that shuts down or abnormal fortune
When turning state, control the mechanical arm to enter and wait, and step S21 detection work is performed to next streamline.
In the present embodiment, by setting operating condition of the operating condition detector to the streamline in the streamline
Detected, to obtain the operating condition information.Detector is set in other cases or on the mechanical arm
The operating condition of the streamline is detected.
S22, the detection streamline working condition, if during the flow work is normally carried out, carrying out step S3；
Otherwise step S21 is performed to next streamline.
The work state information of the streamline is read, and the working condition of the streamline is judged.Institute
State work state information be used for represent the current work of streamline be in Job readiness, work carry out in or work completed.
Described when the streamline works in being normally carried out at present, then into step S4；If the streamline is described current
When work is in Job readiness or work has been completed, controls the mechanical arm to enter and wait, and to next streamline
Perform step S21 detection work.
Pallet state corresponding to S3, the detection streamline on tray position, when the pallet state reaches standard,
Step S4 is carried out, alarm is otherwise sent and step S3 is performed again to the pallet.
Specifically, step S3 includes：
Whether there is pallet placement on tray position corresponding to S31, the detection streamline, if having support on the tray position
Disk correct placement, then carry out step S32；Otherwise send alarm and step S31 is performed again to the pallet.
In the present embodiment, judge whether the pallet is correct by setting pressure sensor on the tray position
It is placed on the tray position.The pallet placement information that pressure sensor is got is read, the pallet placement information includes
The placement signal of pallet, when the placement signal reaches yard part standard, that is, judge there is pallet correctly to put on the tray position
Put, carry out step S5 operation；When the placement signal is not up to code part standard, that is, judge there is not support on the tray position
Disk correct placement, alarm is now sent, and again read off the pallet placement information, carry out step S31 detection.
In other cases or the pallet is detected by photoelectric sensor or ultrasonic detector etc. and place letter
Breath, the beneficial effect that the present invention obtains is not influenceed.
Whether the posture for the pallet placed on S32, the detection tray position is correct, if the posture of the pallet is just
Really, then step S4 is carried out；Otherwise send alarm and step S31 is performed again to the pallet.
Specifically, in the present embodiment, by setting photoelectric sensor to detect the marginal position of the pallet to judge
Whether the posture for stating pallet is correct.Read the pallet attitude information that the photoelectric sensor detects, the attitude information
Include the edge location data of the pallet.When the edge location data of the pallet reaches yard part standard, then institute is judged
State that the posture of pallet is correct, carry out step S4 operation；When the edge location data of the pallet does not entirely reach a yard part standard
When, then judge the posture mistake of the pallet, now send alarm, and the pallet placement information is again read off, walked
Rapid S31 detection.
Detect the support in other cases or by ultrasonic position sensor or laser position sensors etc.
The marginal position of disk, do not influence not inventing the beneficial effect of acquirement.
S4, the pickup portion of the control mechanical arm capture pile part from the streamline, and will according to the technique of piling up
The precalculated position that the pile part is moved on the pallet.
Specifically, the pickup portion of the mechanical arm is controlled to capture pile part from the streamline, it is assumed that the institute currently captured
It is first pile part piled up to state pile part, is set to No. 1 pile part.Read 1 number and put 1 number corresponding to order and put position
Put, obtain the coordinate that 1 number puts position.Control the pickup portion of the mechanical arm to capture the pile part and be moved to described No. 1
Pile up position, i.e., the precalculated position on described pallet.
S5, technique is piled up according to, be placed into the pile part with predetermined posture described predetermined on the pallet
Position, after the completion of return to step S2.
From it is described pile up to obtain 1 number in technique and put 1 number corresponding to order put posture；Simultaneously according to described
1 number puts the posture for No. 1 pile part that pickup portion adjustment described in gesture stability currently captures.By the appearance of No. 1 pile part
State adjusts to being put with 1 number that posture is consistent, the pile part currently captured is placed on the pallet, completion is currently grabbed
The pile part taken piles up work.Step S2 is then back to, the current pipeline is detected again.
Compared with prior art, the Mechanical arm control method of a kind of multiple pipeline provided by the invention, sets pallet first
Upper pile part piles up technique, then detects the operating condition and working condition of streamline.When the streamline is not at normally transporting
When turning state or being not at during work is carried out, above-mentioned detection is performed to next streamline.Until the flowing water detected
Line runs well, and in the progress that works.Then the pallet for detecting tray position corresponding to the streamline is placed and the support
The posture of disk.When detecting there is not pallet placement on the tray position, or during the posture mistake of the pallet, send alarm simultaneously
Above-mentioned detecting step is carried out to next streamline.Until discovery is placed on the tray position and posture is correct
The pallet, pile part is captured from the ongoing streamline that works, is piled up the pile part according to default technique of piling up
On predeterminated position on to the pallet.Can be in the non-normal work of current pipeline or the corresponding pallet not in place or appearance
During state mistake, the streamline of stacking work can be carried out by controlling the mechanical arm to detect other, and pair can carry out stacking work
The pallet carry out stacking work, reduce the stand-by period of the mechanical arm at work, improve operating efficiency.
Referring to Fig. 4, the embodiment of the present invention additionally provides a kind of manipulator control device of multiple pipeline, including technique is set
Module 11, for controlling pile part to pile up the setting of technique；Streamline detection module 12, for detect streamline operating condition and
Working condition；Pallet detection module 13, for detecting the placement information and attitude information of the pallet；Stacking control module 14,
For controlling the mechanical arm to carry out stacking work according to default technique of piling up.
The operation principle and mistake of a kind of manipulator control device modules of multiple pipeline provided in an embodiment of the present invention
Journey refers to a kind of Mechanical arm control method of multiple pipeline of above-described embodiment, will not be described here.
Compared with prior art, the manipulator control device of a kind of multiple pipeline provided by the invention, first by the work
Skill setup module sets pile part on pallet to pile up technique, then the operating condition of the streamline detection module detection streamline
And working condition.When the streamline is not at normal operation or is not at during work is carried out, to next flowing water
Line performs above-mentioned detection.Until the streamline normal operation detected, and in the progress that works.Then the pallet detection
Module detects pallet placement and the posture of the pallet of tray position corresponding to the streamline.When detecting the pallet position
Putting does not have pallet placement, or during the posture mistake of the pallet, sends alarm and next streamline is carried out
State detecting step.Until finding to be placed on the tray position and the correct pallet of posture, mould is controlled by the stacking
Block controls the mechanical arm to capture pile part from the ongoing streamline that works, according to default technique of piling up by the pile
Part is piled up on the predeterminated position on the pallet.Can it not arrived in the non-normal work of current pipeline or the corresponding pallet
Position or during posture mistake, the streamline of stacking work can be carried out by controlling the mechanical arm to detect other, and pair can carry out code
The pallet of pile work carries out stacking work, reduces the stand-by period of the mechanical arm at work, improves operating efficiency.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of Mechanical arm control method of multiple pipeline, it is characterised in that including step：
The pile part that S1, setting pile up region piles up technique；
S2, the operating condition and working condition for detecting streamline, reach mark in the operating condition or working condition of the streamline
On time, step S3 is carried out, step S2 otherwise is performed to next streamline；
Pallet state corresponding to S3, the detection streamline on tray position, when the pallet state reaches standard, is carried out
Step S4, step S2 otherwise is performed to next streamline；
S4, the pickup portion of the control mechanical arm capture pile part from the streamline, and according to the technique of piling up by described in
The precalculated position that pile part is moved on the pallet；
S5, technique is piled up according to, the precalculated position being placed into the pile part with predetermined posture on the pallet,
After the completion of return to step S2.
2. Mechanical arm control method as claimed in claim 1, it is characterised in that the step S2 is specifically included：
S21, the operating condition for detecting streamline, if the streamline is in normal operation, carry out step S22；Otherwise
Step S21 is performed to next streamline；
S22, the detection streamline working condition, if during the flow work is normally carried out, carrying out step S3；Otherwise
Step S21 is performed to next streamline.
3. Mechanical arm control method as claimed in claim 1, it is characterised in that the step S3 is specifically included：
Whether there is pallet placement on tray position corresponding to S31, the detection streamline, if having pallet on the tray position just
Really place, then carry out step S32；Otherwise send alarm and step S2 is performed to next streamline；
Whether the posture for the pallet placed on S32, the detection tray position is correct, if the posture of the pallet is correct,
Then carry out step S4；Then send alarm and step S2 is performed to next streamline.
4. Mechanical arm control method as claimed in claim 2, it is characterised in that the streamline operating condition information is included just
Normal operating condition, the state that shuts down or abnormal operation state.
5. Mechanical arm control method as claimed in claim 2, it is characterised in that it is accurate that the flow work state includes work
In standby, work carry out in or work completed.
6. Mechanical arm control method as claimed in claim 3, it is characterised in that the pallet is obtained by pressure sensor
Pallet placement information on position.
7. Mechanical arm control method as claimed in claim 3, it is characterised in that the pallet is detected by photoelectric sensor
Edge judges whether the posture of the pallet is correct.
8. Mechanical arm control method as claimed in claim 1, it is characterised in that the technique of piling up piles up appearance including pile part
State, pile up position and pile up order.
9. Mechanical arm control method as claimed in claim 2, it is characterised in that the pile part number that individual layer is piled up is described
Pile up the individual layer maximum quantity for the pile part that region can carry.
A kind of 10. manipulator control device of multiple pipeline, it is characterised in that including：
Technique setup module, for controlling pile part to pile up the setting of technique；
Streamline detection module, for detecting the operating condition and working condition of streamline；
Pallet detection module, for detecting the placement information and attitude information of the pallet；
Stacking control module, for controlling the mechanical arm to carry out stacking work according to default technique of piling up.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772843.7A CN107697649A (en) | 2017-08-31 | 2017-08-31 | The Mechanical arm control method and device of a kind of multiple pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772843.7A CN107697649A (en) | 2017-08-31 | 2017-08-31 | The Mechanical arm control method and device of a kind of multiple pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107697649A true CN107697649A (en) | 2018-02-16 |
Family
ID=61171471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710772843.7A Pending CN107697649A (en) | 2017-08-31 | 2017-08-31 | The Mechanical arm control method and device of a kind of multiple pipeline |
Country Status (1)
| Country | Link |
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| CN (1) | CN107697649A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112053398A (en) * | 2020-08-11 | 2020-12-08 | 浙江大华技术股份有限公司 | Object grabbing method and device, computing equipment and storage medium |
| CN112850013A (en) * | 2021-01-04 | 2021-05-28 | 西安中科光电精密工程有限公司 | Mixed stacking planning method suitable for random feeding of multi-specification cartons |
| CN114632725A (en) * | 2022-03-08 | 2022-06-17 | 北京京东乾石科技有限公司 | Method and device for stacking articles in warehouse |
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| CA2300685A1 (en) * | 1999-03-15 | 2000-09-15 | Gilbert Dominguez | Robotic containerization and palletizing system |
| CN1982000A (en) * | 2005-12-12 | 2007-06-20 | 本田技研工业株式会社 | Autonomous mobile robot and method for transporting object of autonomous mobile robot |
| CN102482040A (en) * | 2009-07-22 | 2012-05-30 | 西德尔合作公司 | Improvement To Palletizing Equipment Combined With Secure Access |
| CN102700946A (en) * | 2012-06-05 | 2012-10-03 | 无锡大东机械制造有限公司 | Multi-position automatic tray dispatching system and control method thereof, as well as stacking system |
| US20150203304A1 (en) * | 2014-01-22 | 2015-07-23 | Axium Inc. | Vision-Assisted Robotized Depalletizer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2300685A1 (en) * | 1999-03-15 | 2000-09-15 | Gilbert Dominguez | Robotic containerization and palletizing system |
| CN1982000A (en) * | 2005-12-12 | 2007-06-20 | 本田技研工业株式会社 | Autonomous mobile robot and method for transporting object of autonomous mobile robot |
| CN102482040A (en) * | 2009-07-22 | 2012-05-30 | 西德尔合作公司 | Improvement To Palletizing Equipment Combined With Secure Access |
| CN102700946A (en) * | 2012-06-05 | 2012-10-03 | 无锡大东机械制造有限公司 | Multi-position automatic tray dispatching system and control method thereof, as well as stacking system |
| US20150203304A1 (en) * | 2014-01-22 | 2015-07-23 | Axium Inc. | Vision-Assisted Robotized Depalletizer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112053398A (en) * | 2020-08-11 | 2020-12-08 | 浙江大华技术股份有限公司 | Object grabbing method and device, computing equipment and storage medium |
| CN112850013A (en) * | 2021-01-04 | 2021-05-28 | 西安中科光电精密工程有限公司 | Mixed stacking planning method suitable for random feeding of multi-specification cartons |
| CN114632725A (en) * | 2022-03-08 | 2022-06-17 | 北京京东乾石科技有限公司 | Method and device for stacking articles in warehouse |
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Application publication date: 20180216 |