CN108820901A - Stacking and intelligent separation system are torn in a kind of identification of robot 3D Visual intelligent open - Google Patents
Stacking and intelligent separation system are torn in a kind of identification of robot 3D Visual intelligent open Download PDFInfo
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- CN108820901A CN108820901A CN201810777082.9A CN201810777082A CN108820901A CN 108820901 A CN108820901 A CN 108820901A CN 201810777082 A CN201810777082 A CN 201810777082A CN 108820901 A CN108820901 A CN 108820901A
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- robot
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- torn
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Classifications
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- 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
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Abstract
Stacking and intelligent separation system are torn in a kind of identification of robot 3D Visual intelligent open, are related to intelligence and are torn palletizing technology field open.Robot body bottom and pedestal are affixed, robot body arm outer end is fixed with 3D vision camera and vacuum fixture by mounting rack, control cabinet control 3D vision camera carries out information collection and planning operation to the article for tearing stacking open using laser triangulation, 3D vision camera and robot body use socket communication, conveying device and material frame cooperation carry out article conveying, dressing plate and robot body cooperate auxiliary items attitude updating, electrical cabinet is respectively robot body, 3D vision camera, conveying device and control cabinet provide power supply, and power source is provided for vacuum fixture.Information collection is carried out to article using 3D vision technique, carry out tearing planning operation open and is converted to the running track of robot, intelligent higher, stacking is torn in the mixing that can adapt to different size article open.
Description
Technical field
The present invention relates to intelligence to tear palletizing technology field open, and stacking and intelligence are torn in especially a kind of robot 3D Visual intelligent identification open
It can separation system.
Background technique
With the development of science and technology robot technology has obtained quick significant progress, it is gradually applied to each neck
In domain, artificial progress production operation is substituted, has liberated a large amount of labour, and more efficient.
In tearing stacking field open, tradition tears stacking open and generallys use artificial progress operation, and great work intensity, handling efficiency is low,
It is not only very time-consuming and laborious, but also tear that stacking consistency is bad, and qualification rate is low open, especially the biggish article of weight is carried out tearing code open
When pile, operating personnel's body burden is even more greatly aggravated.Stacking field is torn open at this stage also largely to carry out using robot already
Operation, but currently used either truss manipulator or industrial robot can only all adapt to the object of fixed shape and size
What product were fixed form tears palletizing operation open, and the article that different size mixes can not be adapted to be compatible with, cannot be as people
Work equally can rule of thumb and site environment is judged, realizes that stacking, especially modern industry environmental system are torn in mixing open
In, due to factory's article diversity and in same time Flexible production, stacking is torn open with very high demand to mixing, while
Very hang-up is caused to robot manipulating task.
Therefore, how robot is efficiently modified, stacking is torn in the mixing for adapting it to different size article open, is current
The problem of urgent need to resolve.
Summary of the invention
To solve deficiency existing for background technique, the present invention, which provides a kind of robot 3D Visual intelligent and identifies, tears stacking and intelligence open
It can separation system.
Realize that above-mentioned purpose, the present invention take following technical proposals：A kind of identification of robot 3D Visual intelligent tear open stacking and
Intelligent separation system, including robot assembly, conveying device, material frame, dressing plate, electrical cabinet and control cabinet, the machine
Device people's assembly includes robot body, pedestal, 3D vision camera and vacuum fixture, and the robot body bottom and pedestal are solid
It connects, robot body arm outer end is fixed with 3D vision camera and vacuum fixture by mounting rack, described in the control cabinet control
3D vision camera carries out information collection and planning operation to the article for tearing stacking open using laser triangulation, and the information collection includes
Shape, size and coordinate, 3D vision camera and robot body use socket communication, the conveying device and the material frame
Cooperation carries out article conveying, and the dressing plate and robot body cooperate auxiliary items attitude updating, the electrical cabinet difference
Power supply is provided for robot body, 3D vision camera, conveying device and control cabinet, and provides power source for the vacuum fixture.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is using 3D vision technique to needing to tear open stacking
Shape, size and the coordinate of article carry out information collection, carry out the planning operation for tearing stacking open later, and be converted to the fortune of robot
Row track finally makes robot be carried out tearing palletizing operation open according to running track, intelligent higher, can adapt to different size article
Mixing tear stacking open, have very high application prospect and market value.
Detailed description of the invention
Fig. 1 is that stacking is torn in robot 3D Visual intelligent identification of the invention open and the overall structure axis of intelligent separation system is surveyed
Figure；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the main view of robot assembly of the invention；
Fig. 4 is the axonometric drawing of conveying device of the invention；
Fig. 5 is the axonometric drawing of material frame of the invention；
Fig. 6 is the axonometric drawing of dressing plate of the invention；
Fig. 7 is the flow chart of laser triangulation of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, is clearly and completely retouched to the technical solution in the present invention
It states, it is clear that described embodiment is only a part of the embodiment of invention, instead of all the embodiments, based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
It shall fall within the protection scope of the present invention.
Specific embodiment one：As shown in FIG. 1 to FIG. 7, the invention discloses a kind of identifications of robot 3D Visual intelligent to tear open
Stacking and intelligent separation system, including robot assembly 1, conveying device 2, material frame 3, dressing plate 4, electrical 5 and control
Cabinet 6, the robot assembly 1 include robot body 1-1, pedestal 1-2,3D vision camera 1-3 and vacuum fixture 1-4, described
The bottom robot body 1-1 and pedestal 1-2 are affixed, and robot body 1-1 arm outer end is fixed with 3D vision by mounting rack 1-5
Camera 1-3 and vacuum fixture 1-4, the control cabinet 6 control the 3D vision camera 1-3 using laser triangulation to tearing stacking open
Article carries out information collection and planning operation, and the information collection includes shape, size and coordinate, 3D vision camera 1-3 and machine
Device human body 1-1 uses socket communication, and the conveying device 2 carries out article conveying, the correction with the material frame 3 cooperation
Platform 4 and robot body 1-1 cooperate auxiliary items attitude updating, and the electrical cabinet 5 is respectively robot body 1-1,3D view
Feel that camera 1-3, conveying device 2 and control cabinet 6 provide power supply, and provides power source for the vacuum fixture 1-4.
Specific embodiment two：As shown in Figure 1, 2, present embodiment is made furtherly to specific embodiment one
Bright, stacking is torn in the robot 3D Visual intelligent identification open and intelligent separation system is enclosed by fence 8, in the fence 8
It is also placed at least one pallet 7, at least one described pallet 7 and conveying device 2, material frame 3 and dressing plate 4 are centered around machine
The setting of 1 surrounding of device people assembly.
Specific embodiment three：As shown in figure 3, present embodiment is to specific embodiment one or specific embodiment two
The further explanation made, the robot body 1-1 use IRB2600 robot, and included pc interface module.
Specific embodiment four：As shown in Figure 1, 2, 3, present embodiment be specific embodiment three is made it is further
Illustrate, the vacuum fixture 1-4 is using vacuum pump as power source, and the vacuum pump is placed in electrical cabinet 5, and vacuum pump accounts for
It is smaller with space, while noise is smaller.
Specific embodiment five：As shown in figure 3, present embodiment is made furtherly to specific embodiment four
Bright, the vacuum fixture 1-4 is adjustable relative to the height of the 3D vision camera 1-3, is divided into third gear, each grade of adjusting range
Realize that mounting rack 1-5 is made of high-strength aluminum alloy material by the mounting rack 1-5 convenient for cooperation debugging for 50mm,
Including the outer tube being mutually socketed and inner tube, described outer tube one end and robot body 1-1 arm outer end are affixed, and outer tube wall is equipped with
One perforation one, said inner tube tube wall are equipped at intervals with three perforation two along its length, two spacing of perforating described in each adjacent two
For 50mm, the perforation one of outer tube and any perforation two of inner tube are inserted and positioned by pin shaft, 3D vision camera 1-3 is fixed
On outer tube lateral wall, vacuum fixture 1-4 is fixed on inner tube lateral wall.
Specific embodiment six：As shown in Figure 2,4, present embodiment is made furtherly to specific embodiment three
Bright, the conveying device 2 is vertically built using two flat rubber belting conveyer 2-1, and mirror is used between described two flat rubber belting conveyer 2-1
Face slide plate 2-2 transition connection, two flat rubber belting conveyer 2-1 preset heights are 910mm and height is adjustable, real by spiral stabilizer blade
Existing, adjustable range is 910 ± 50mm, and two flat rubber belting conveyer 2-1 power are all made of electric capacity governing motor, with the material frame 3
It is adjustable that corresponding flat rubber belting conveyer 2-1 presets 0~500mm/s of belt speed, another flat rubber belting conveyer 2-1 preset belt speed 0~
1000mm/s is adjustable.
Specific embodiment seven：As shown in figure 5, present embodiment is made furtherly to specific embodiment three
Bright, the material frame 3 is trough body structure, is built using Europe superscript 4545 and 4590 aluminum profiles, the bottom plate of material frame 3 presets liftoff height
Degree be 400mm, for convenient for cooperation debugging, the height of the bottom plate is adjustable, bottom plate using be slidably installed and by multiple jackscrews into
Row fastening, adjustable range are 400mm ± 50mm.
Specific embodiment eight：As shown in fig. 6, present embodiment is made furtherly to specific embodiment three
It is bright, the dressing plate 4 using mounting bracket 4-2 below platform board 4-1, the upper surface the platform board 4-1 be mirror surface thin plate simultaneously
It is fixed with V-arrangement article fastener 4-3, for convenient for cooperation debugging, platform board 4-1 is connect with bracket 4-2 using articulated form, platform board
The angle of 4-1 can be adjusted within the scope of 0~45 °, and bracket 4-2 is hinged with strut and is supported positioning to platform board 4-1.
Specific embodiment nine：As shown in Figure 1, 2, present embodiment is made furtherly to specific embodiment two
Bright, the fence 8 is built using 8080 aluminum profile of Europe superscript, and is equipped at least one switching door, and fence 8 is fixedly arranged above high-strength
Degree strengthened glass is blocked, and is fixed with aluminium-plastic panel below fence 8 and is blocked.
The operation principle of the present invention is that：Control cabinet 6 controls 3D vision camera 1-3 using laser triangulation to pre- on pallet 7
The article of the different size of first mess therein carries out information collection and planning operation, and information collection includes shape, size and coordinate,
The running track of robot body 1-1 is converted to after planning operation, 3D vision camera 1-3 and robot body 1-1 are used
Socket communication controls robot body 1-1, and robot body 1-1 respectively grabs the article on pallet 7
It takes, is placed sequentially on another flat rubber belting conveyer 2-1 of conveying device 2, article is random under the effect of conveying device 2
Being delivered in material frame 3 then, the article that robot body 1-1 successively grabs in material frame 3, which is placed on dressing plate 4, to be passed through
After V-arrangement article fastener 4-3 correction, grabs again and be placed on progress hybrid code pile on pallet 7.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in the form of others dress body.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that by all in the meaning and scope for the condition of equivalent for falling in claim
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (9)
1. stacking and intelligent separation system are torn in a kind of robot 3D Visual intelligent identification open, it is characterised in that：Including robot assembly
(1), conveying device (2), material frame (3), dressing plate (4), electrical cabinet (5) and control cabinet (6), the robot assembly
It (1) include robot body (1-1), pedestal (1-2), 3D vision camera (1-3) and vacuum fixture (1-4), the robot sheet
The body bottom (1-1) and pedestal (1-2) are affixed, and robot body (1-1) arm outer end is fixed with 3D vision by mounting rack (1-5)
Camera (1-3) and vacuum fixture (1-4), the control cabinet (6) control the 3D vision camera (1-3) and use laser triangulation pair
The article for tearing stacking open carries out information collection and planning operation, and the information collection includes shape, size and coordinate, 3D vision camera
(1-3) and robot body (1-1) uses socket communication, and the conveying device (2) and the material frame (3) cooperation carry out object
Product conveying, the dressing plate (4) and robot body (1-1) cooperate auxiliary items attitude updating, and the electrical cabinet (5) is respectively
Power supply is provided for robot body (1-1), 3D vision camera (1-3), conveying device (2) and control cabinet (6), and is the vacuum
Fixture (1-4) provides power source.
2. stacking and intelligent separation system, feature are torn in a kind of robot 3D Visual intelligent identification according to claim 1 open
It is：Stacking is torn in the robot 3D Visual intelligent identification open and intelligent separation system is enclosed by fence (8), the fence
(8) at least one pallet (7), at least one described pallet (7) and conveying device (2), material frame (3) and correction are also placed in
Platform (4) is centered around the setting of robot assembly (1) surrounding.
3. stacking and intelligent separation system are torn in a kind of robot 3D Visual intelligent identification according to claim 1 or 2 open, special
Sign is：The robot body (1-1) uses IRB2600 robot, and included pc interface module.
4. stacking and intelligent separation system, feature are torn in a kind of robot 3D Visual intelligent identification according to claim 3 open
It is：Using vacuum pump as power source, the vacuum pump is placed in electrical cabinet (5) vacuum fixture (1-4).
5. stacking and intelligent separation system, feature are torn in a kind of robot 3D Visual intelligent identification according to claim 4 open
It is：The vacuum fixture (1-4) is adjustable relative to the height of the 3D vision camera (1-3).
6. stacking and intelligent separation system, feature are torn in a kind of robot 3D Visual intelligent identification according to claim 3 open
It is：The conveying device (2) is vertically built using two flat rubber belting conveyers (2-1), described two flat rubber belting conveyers (2-1) it
Between using (2-2) transition of mirror surface slide plate connect.
7. stacking and intelligent separation system, feature are torn in a kind of robot 3D Visual intelligent identification according to claim 3 open
It is：The material frame (3) is trough body structure, is built using Europe superscript 4545 and 4590 aluminum profiles.
8. stacking and intelligent separation system, feature are torn in a kind of robot 3D Visual intelligent identification according to claim 3 open
It is：Using mounting bracket (4-2) below platform board (4-1), platform board (4-1) upper surface is the dressing plate (4)
Mirror surface thin plate is simultaneously fixed with V-arrangement article fastener (4-3).
9. stacking and intelligent separation system, feature are torn in a kind of robot 3D Visual intelligent identification according to claim 2 open
It is：The fence (8) is built using 8080 aluminum profile of Europe superscript, and is equipped at least one switching door, fixed above fence (8)
There is high-intensitive strengthened glass to be blocked, is fixed with aluminium-plastic panel below fence (8) and is blocked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810777082.9A CN108820901A (en) | 2018-07-13 | 2018-07-13 | Stacking and intelligent separation system are torn in a kind of identification of robot 3D Visual intelligent open |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810777082.9A CN108820901A (en) | 2018-07-13 | 2018-07-13 | Stacking and intelligent separation system are torn in a kind of identification of robot 3D Visual intelligent open |
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| CN108820901A true CN108820901A (en) | 2018-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810777082.9A Pending CN108820901A (en) | 2018-07-13 | 2018-07-13 | Stacking and intelligent separation system are torn in a kind of identification of robot 3D Visual intelligent open |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109775376A (en) * | 2018-12-29 | 2019-05-21 | 上海新时达机器人有限公司 | The robot de-stacking method of irregular random material |
| CN110239198A (en) * | 2019-07-09 | 2019-09-17 | 安吉八塔机器人有限公司 | A kind of composite machine people's device comprising stereo vision apparatus |
| CN111421474A (en) * | 2020-04-13 | 2020-07-17 | 重庆固高科技长江研究院有限公司 | Intelligent automatic sand blasting equipment and sand blasting method thereof |
| CN111975782A (en) * | 2020-08-25 | 2020-11-24 | 北京华航唯实机器人科技股份有限公司 | Object placing method and device and robot |
| CN112758641A (en) * | 2020-12-31 | 2021-05-07 | 国网山东省电力公司营销服务中心(计量中心) | Material posture recognition and correction system and method on production line |
| CN113146658A (en) * | 2021-05-12 | 2021-07-23 | 福建渃博特自动化设备有限公司 | Automatic counter bore method of robot |
| TWI746333B (en) * | 2020-12-30 | 2021-11-11 | 所羅門股份有限公司 | Destacking method and destacking system |
| CN114131615A (en) * | 2021-12-27 | 2022-03-04 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Robot unstacking and stacking system based on visual guidance and unstacking and stacking method thereof |
| CN114955568A (en) * | 2022-06-29 | 2022-08-30 | 广东电网有限责任公司广州供电局 | Automatic stacking method, system and storage medium based on visual identification |
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| CN203380890U (en) * | 2012-08-13 | 2014-01-08 | 国家电网公司 | Robot with three-dimension scanning identification function and stacking and unstacking system |
| CN208856513U (en) * | 2018-07-13 | 2019-05-14 | 哈工大机器人集团(江苏)华粹智能装备有限公司 | Stacking and intelligent separation system are torn in a kind of identification of robot 3D Visual intelligent open |
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| CN203380890U (en) * | 2012-08-13 | 2014-01-08 | 国家电网公司 | Robot with three-dimension scanning identification function and stacking and unstacking system |
| CN208856513U (en) * | 2018-07-13 | 2019-05-14 | 哈工大机器人集团(江苏)华粹智能装备有限公司 | Stacking and intelligent separation system are torn in a kind of identification of robot 3D Visual intelligent open |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109775376A (en) * | 2018-12-29 | 2019-05-21 | 上海新时达机器人有限公司 | The robot de-stacking method of irregular random material |
| CN110239198A (en) * | 2019-07-09 | 2019-09-17 | 安吉八塔机器人有限公司 | A kind of composite machine people's device comprising stereo vision apparatus |
| CN111421474A (en) * | 2020-04-13 | 2020-07-17 | 重庆固高科技长江研究院有限公司 | Intelligent automatic sand blasting equipment and sand blasting method thereof |
| CN111975782A (en) * | 2020-08-25 | 2020-11-24 | 北京华航唯实机器人科技股份有限公司 | Object placing method and device and robot |
| TWI746333B (en) * | 2020-12-30 | 2021-11-11 | 所羅門股份有限公司 | Destacking method and destacking system |
| CN112758641A (en) * | 2020-12-31 | 2021-05-07 | 国网山东省电力公司营销服务中心(计量中心) | Material posture recognition and correction system and method on production line |
| CN113146658A (en) * | 2021-05-12 | 2021-07-23 | 福建渃博特自动化设备有限公司 | Automatic counter bore method of robot |
| CN114131615A (en) * | 2021-12-27 | 2022-03-04 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Robot unstacking and stacking system based on visual guidance and unstacking and stacking method thereof |
| CN114131615B (en) * | 2021-12-27 | 2024-08-02 | 长三角哈特机器人产业技术研究院 | Visual guidance-based robot unstacking system and unstacking and stacking method thereof |
| CN114955568A (en) * | 2022-06-29 | 2022-08-30 | 广东电网有限责任公司广州供电局 | Automatic stacking method, system and storage medium based on visual identification |
| CN114955568B (en) * | 2022-06-29 | 2024-05-28 | 广东电网有限责任公司广州供电局 | Automatic stacking method, system and storage medium based on visual recognition |
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