CN114212549A - Intelligent vision-guided unstacking and stacking robot device - Google Patents
Intelligent vision-guided unstacking and stacking robot device Download PDFInfo
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- CN114212549A CN114212549A CN202111533798.2A CN202111533798A CN114212549A CN 114212549 A CN114212549 A CN 114212549A CN 202111533798 A CN202111533798 A CN 202111533798A CN 114212549 A CN114212549 A CN 114212549A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
- B65D19/38—Details or accessories
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention belongs to the technical field of unstacking and stacking devices, and discloses an intelligent visual guidance unstacking and stacking robot device which comprises a storage area to be processed, a processed storage area, a direction adjusting area, a processing area, a top rail robot assembly, a feeding area, a discharging area and a ground rail robot assembly, wherein the storage area to be processed is used for storing a product to be processed, the processed storage area is used for storing a processed product, the direction adjusting area is used for adjusting the direction of the product, and the processing area is used for processing the product to be processed. The product is prevented from falling, and the potential safety hazard of manual operation is eliminated.
Description
Technical Field
The invention belongs to the technical field of unstacking and stacking devices, and particularly relates to an intelligent visual guidance unstacking and stacking robot device.
Background
The unstacking and stacking means that the goods are split or orderly stacked, the products are stacked and stored in a whole stack, and the products are disassembled and re-assembled into small stacks for delivery, so that the unstacking and stacking method is a technological process existing in various industries, and the products also need to be unstacked and stacked in the photoelectric equipment processing industry.
At present, remove the product position for utilizing the workman to pass through the strong magnetism mechanical device on the operation truss at pile up neatly workshop section of breaking a jam, manual operation lets the device that has strong magnetism remove the product top, again the manual work judges what product this product is, then let strong magnetism device aim at the product and make it absorb the product by force, the product has a, b is two kinds, it hangs the product to hold back manual operation truss, then manual operation truss adjustment direction and removal are put on the processing track, the rail removes and conveys on the processing platform, whole journey uses the manual work to operate more, comparatively waste time and energy, and inefficiency, be difficult to satisfy the processing needs of big batch product, in addition, the manual work has the probability of dropping through strong magnetism hanging product, there is certain danger.
Disclosure of Invention
The invention aims to provide an intelligent visual guidance unstacking and stacking robot device, and aims to solve the problems that the traditional manual operation is time-consuming and labor-consuming, the efficiency is low, the processing requirements of large-batch products are difficult to meet and certain dangerousness exists in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent visual guidance unstacking and stacking robot device comprises a to-be-processed storage area, a direction adjusting area, a processing area, a top rail robot assembly, a feeding area, a discharging area and a ground rail robot assembly, wherein the to-be-processed storage area is used for storing products to be processed, the processed storage area is used for storing processed products, the direction adjusting area is used for adjusting the direction of the products, the processing area is used for processing the products to be processed, the top rail robot assembly is used for grabbing the products on the to-be-processed storage area to the processing area, grabbing the processed products in the processing area to the processed storage area, grabbing the products in the direction to be adjusted to the direction adjusting area and grabbing the products to the processing area after the direction is adjusted, the feeding area is used for shelving the products to be transferred to the to-be-processed storage area, and the discharging area is used for shelving the products on the processed storage area, the ground rail robot assembly is used for transferring products in the feeding area to the storage area to be processed and transferring the products in the processed storage area to the discharging area.
Preferably, the feeding area comprises an area A and an area B, the discharging area comprises an area C and an area D, the area A, the area B, the area C and the area D all comprise a supporting table and a tray, and the tray is arranged on the upper end face of the supporting table.
Preferably, the upper wall of the tray is provided with a limiting groove at a position close to four corners, the bottom end of the tray is connected with a limiting rod matched with the limiting groove at a position close to the four corners, and the upper wall of the supporting platform is provided with an embedded groove matched with the limiting rod.
The periphery of the outer wall of the tray is provided with a buffering protective edge, one side of the buffering protective edge facing the tray is provided with a slot, the outer wall of the tray is fixed with an inserting strip matched with the slot,
preferably, the sky rail robot assembly comprises a first rail and a sky rail robot, the sky rail robot being mounted on the first rail.
Preferably, the ground rail robot assembly comprises a second rail and a ground rail robot, and the ground rail robot is installed on the second rail.
Preferably, the ground rail robot comprises an installation base, a first manipulator and a second manipulator, and a visual recognition system and a distance sensor are installed beside the mechanical claws of the first manipulator and the second manipulator.
Preferably, the unstacking and stacking robot device further comprises an empty tray placing area, and the empty tray placing area is used for placing standby trays.
Preferably, the upper surface wall of the tray is provided with a shallow groove, and the inner surface wall of the shallow groove is provided with anti-skid grains.
Preferably, the depth of the limiting groove is not more than two thirds of the thickness of the tray.
Compared with the prior art, the invention has the beneficial effects that:
(1) the intelligent production line is reasonable in layout, intelligent production is carried out on the whole production line, an information management system is provided, manpower can be effectively liberated, the product processing efficiency is increased, the processing requirements of large-batch products are met, in the long term, the production cost can be effectively reduced, the income is improved, and secondly, the products do not need to be hung manually through strong magnetism, the products are prevented from falling off, and the potential safety hazard of manual operation is eliminated.
(2) According to the invention, by additionally arranging the limiting rod, the limiting groove and the like, when two trays are stacked, the limiting rod at the bottom end of the upper tray can be embedded into the limiting groove formed in the lower tray, so that the placing stability of the upper tray can be effectively ensured, and the phenomenon of shifting or toppling over when products are stacked is avoided.
(3) According to the invention, the buffering protective edge, the slot and the inserting strip are additionally arranged, so that the buffering protective edge can perform buffering protection from the side edge when the tray falls to the ground, and the tray is prevented from being broken, wherein when the buffering protective edge is damaged and needs to be dismounted and replaced, the buffering protective edge can be directly pulled out, the inserting strip can be pulled out from the slot, the dismounting and replacement are quick and convenient, and the time and the labor are saved.
Drawings
FIG. 1 is a schematic layout of the present invention;
FIG. 2 is a schematic view of a stacked structure of two trays according to the present invention;
FIG. 3 is a schematic structural diagram of the ground rail robot of the present invention;
FIG. 4 is a top view of the tray of the present invention;
FIG. 5 is an enlarged view of portion A of FIG. 2;
FIG. 6 is an enlarged view of portion B of FIG. 4;
in the figure: 1. a first track; 2. a sky rail robot; 3. a processed storage area; 4. a storage area to be processed; 5. a processing zone; 6. a direction adjustment region; 7. a second track; 8. a ground rail robot; 81. a first manipulator; 82. a second manipulator; 9. a feeding area; 10. a blanking area; 11. a saddle; 12. a tray; 13. placing an empty tray area; 14. a limiting rod; 15. buffering and protecting edges; 16. a limiting groove; 17. cutting; 18. a slot; 19. shallow grooves.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides the following technical solutions: an intelligent visual guidance unstacking and stacking robot device comprises a to-be-processed storage area 4, a processed storage area 3, a direction adjusting area 6, a processing area 5, a top rail robot assembly, a feeding area 9, a discharging area 10 and a ground rail robot assembly, wherein the to-be-processed storage area 4 is used for storing products to be processed, the processed storage area 3 is used for storing processed products, the direction adjusting area 6 is used for adjusting the direction of the products, the processing area 5 is used for processing the products to be processed, the top rail robot assembly is used for grabbing products on the to-be-processed storage area 4 to the processing area 5, grabbing the processed products on the processing area 5 to the processed storage area 3, grabbing the products to be adjusted to the direction adjusting area 6 and grabbing the products to the processing area 5 after the direction is adjusted, the feeding area 9 is used for shelving the products to be transferred to the to-be-processed storage area 4, the blanking area 10 is used for placing products on the processed storage area 3, the ground rail robot assembly is used for transferring the products in the feeding area 9 to the storage area 4 to be processed and transferring the products in the processed storage area 3 to the blanking area 10, communication is arranged between the ceiling rail robot assembly and the ground rail robot assembly and can inform the other side of grabbing the products, the tray 12 filled with the products is required to be placed in the feeding area 9 manually, the empty tray 12 is placed in the blanking area 10 manually, the products in the feeding area 9 are processed or the blanking area 10 is full of one layer or 2 layers and are required to be replaced manually, specifically, when the products in the storage area 4 to be processed are received by the ceiling rail robot 2 and the processed storage area 3 is grabbed by the ground rail robot 8 after the processing is finished, and when the processed products in the storage area 3 are received by the ground rail robot 8, the gripper of the ground rail robot 8 grips and places the products in the processed storage area 3 in the blanking area 10.
Further, the feeding area 9 comprises an area A and an area B, the discharging area 10 comprises an area C and an area D, the area A, the area B, the area C and the area D all comprise a supporting platform 11 and a tray 12, the tray 12 is arranged on the upper end face of the supporting platform 11, specifically, products a and products B are arranged in the area A, the products a are arranged in the area B, when discharging is conducted, the products a are transferred to the area C, the products B are transferred to the area D, and the products a and the products B are placed in different areas to avoid confusion.
Further, the last wall of tray 12 is close to four corner position departments and has all seted up spacing groove 16, the bottom of tray 12 is close to four corner position departments and all is connected with the gag lever post 14 with gag lever post 16 looks adaptation, the caulking groove with the 14 looks adaptations of gag lever post is seted up to the last wall of saddle 11, the degree of depth of gag lever post 16 is no longer than two-thirds of tray 12 thickness, specifically, when two trays 12 pile up, the gag lever post 14 of top tray 12 bottom can be embedded into the spacing groove 16 of seting up on the tray 12 of below, can effectively guarantee the stability that top tray 12 placed, take place to shift or empty when avoiding stacking the product.
Further, the outer wall of tray 12 all is equipped with buffering safe edge 15 all around, slot 18 has been seted up towards one side of tray 12 to buffering safe edge 15, tray 12's outer wall is fixed with slot 18 assorted cutting 17, specifically, when tray 12 drops to ground, buffering safe edge 15 can cushion the protection from the side, avoid tray 12 to break, wherein, when buffering safe edge 15 damages and need lift the change off, can directly pull out buffering safe edge 15 outward, will cut out 17 from slot 18 in can, it is swift convenient to lift the change off, labour saving and time saving.
Further, the sky rail robot assembly comprises a first rail 1 and a sky rail robot 2, the sky rail robot 2 is installed on the first rail 1, the ground rail robot assembly comprises a second rail 7 and a ground rail robot 8, the ground rail robot 8 is installed on the second rail 7, the ground rail robot 8 comprises an installation base, a first mechanical arm 81 and a second mechanical arm 82, a vision recognition system and a distance sensor are installed beside mechanical claws of the first mechanical arm 81 and the second mechanical arm 82, specifically, the vision recognition system and the distance sensor are used for detecting different height information of products so as to feed back information to the ground rail robot 8, the robot gripper is enabled to grip the products at a specific height, when the robot gripper grips the products, firstly, the vision recognition system on the ground rail robot 8 recognizes the front and back sides and angles of the products, and feeds back the identification information of the ground rail robot 8 after recognition, the ground rail robot 8 snatchs the product according to visual system feedback information, then judges whether to adjust the product according to information and snatchs the direction, if needs adjustment then ground rail robot 8 will the product grab the direction adjustment district 6 adjustment directions, then snatch and place and wait to process storage area 4, otherwise directly grab and wait to process storage area 4 day rail robot 2 and snatch, in addition, first manipulator 81 is used for snatching a, b product, and second manipulator 82 is used for snatching tray 12.
Further, the unstacking and stacking robot device further comprises an empty tray placing area 13, wherein the empty tray placing area 13 is used for placing a standby tray 12, specifically, if the product in the area A/area B is grabbed completely, the tray 12 is grabbed by the ground rail robot 8 and placed in the empty tray placing area 13, and meanwhile, if the areas C and D need to be overlapped for placing the tray 12, the tray 12 needs to be sucked from the empty tray placing area 13 and placed above the existing tray 12 in the areas C and D, and then the product is repeatedly placed on the second tray 12.
Further, the upper surface wall of the tray 12 is provided with a shallow groove 19, the inner surface wall of the shallow groove 19 is provided with anti-skid grains, and particularly, the product is placed in the shallow groove 19 provided with the anti-skid grains, so that the stability is strong, and the product is not easy to slip out in the process of transferring the tray 12.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an intelligent vision guide pile up neatly machine people device that breaks a jam which characterized in that includes:
the storage area (4) to be processed is used for storing the product to be processed, and the storage area (4) to be processed is used for storing the product to be processed;
a processed storage area (3), wherein the processed storage area (3) is used for storing processed products;
the direction adjusting area (6), the direction adjusting area (6) is used for adjusting the direction of the product;
the processing area (5) is used for processing the product to be processed;
the overhead rail robot assembly is used for grabbing products on the storage area (4) to be processed to the processing area (5), grabbing the processed products in the processing area (5) to the processed storage area (3), grabbing the products to be adjusted in direction to the direction adjusting area (6), and grabbing the products to be adjusted in direction to the processing area (5) after the direction is adjusted;
a loading zone (9), said loading zone (9) being intended to rest the products to be transferred to the storage zone (4) to be processed;
a blanking zone (10), said blanking zone (10) being intended to rest the products on the processed storage zone (3);
the ground rail robot assembly is used for transferring products in the feeding area (9) to the storage area (4) to be processed and transferring products in the processed storage area (3) to the discharging area (10).
2. The intelligent vision-guided de-stacking and palletizing robot device as claimed in claim 1, wherein: the feeding area (9) comprises an area A and an area B, the discharging area (10) comprises an area C and an area D, the area A, the area B, the area C and the area D respectively comprise a supporting table (11) and a tray (12), and the tray (12) is arranged on the upper end face of the supporting table (11).
3. The intelligent vision-guided unstacking and palletizing robot device as claimed in claim 2, wherein: the utility model discloses a tray, including tray (12), last wall of tray (12) all seted up spacing groove (16) near four turning position departments, the bottom of tray (12) is close to four turning position departments and all is connected with gag lever post (14) with gag lever post (16) looks adaptation, the caulking groove with gag lever post (14) looks adaptation is seted up to the last wall of saddle (11).
4. The intelligent vision-guided de-stacking and palletizing robot device as claimed in claim 3, wherein: the outer wall of tray (12) all is equipped with buffering safe edge (15) all around, slot (18) have been seted up towards one side of tray (12) in buffering safe edge (15), the outer wall of tray (12) is fixed with and inserts strip (17) with slot (18) assorted.
5. The intelligent vision-guided unstacking and palletizing robot device as claimed in claim 4, wherein: the sky rail robot assembly comprises a first rail (1) and a sky rail robot (2), wherein the sky rail robot (2) is installed on the first rail (1).
6. The intelligent vision-guided unstacking and palletizing robot device as claimed in claim 5, wherein: the ground rail robot assembly comprises a second rail (7) and a ground rail robot (8), and the ground rail robot (8) is installed on the second rail (7).
7. The intelligent vision-guided unstacking and palletizing robot device as claimed in claim 6, wherein: the ground rail robot (8) comprises an installation base, a first mechanical arm (81) and a second mechanical arm (82), and a visual recognition system and a distance sensor are installed beside mechanical claws of the first mechanical arm (81) and the second mechanical arm (82).
8. The intelligent vision-guided de-stacking and palletizing robot device as claimed in claim 7, wherein: the unstacking and stacking robot device further comprises an empty tray placing area (13), wherein the empty tray placing area (13) is used for placing a standby tray (12).
9. The intelligent vision-guided de-stacking and palletizing robot device as claimed in claim 8, wherein: the tray is characterized in that a shallow groove (19) is formed in the upper surface wall of the tray (12), and anti-skid grains are formed in the inner surface wall of the shallow groove (19).
10. The intelligent vision-guided de-stacking and palletizing robot device as claimed in claim 9, wherein: the depth of the limiting groove (16) is not more than two thirds of the thickness of the tray (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111533798.2A CN114212549A (en) | 2021-12-15 | 2021-12-15 | Intelligent vision-guided unstacking and stacking robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111533798.2A CN114212549A (en) | 2021-12-15 | 2021-12-15 | Intelligent vision-guided unstacking and stacking robot device |
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| Publication Number | Publication Date |
|---|---|
| CN114212549A true CN114212549A (en) | 2022-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111533798.2A Pending CN114212549A (en) | 2021-12-15 | 2021-12-15 | Intelligent vision-guided unstacking and stacking robot device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115196357A (en) * | 2022-06-17 | 2022-10-18 | 江苏拓斯达机器人有限公司 | Pallet unstacking workstation |
-
2021
- 2021-12-15 CN CN202111533798.2A patent/CN114212549A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115196357A (en) * | 2022-06-17 | 2022-10-18 | 江苏拓斯达机器人有限公司 | Pallet unstacking workstation |
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