CN114955576A - Stacking robot based on 3D vision and end effector thereof - Google Patents
Stacking robot based on 3D vision and end effector thereof Download PDFInfo
- Publication number
- CN114955576A CN114955576A CN202210509159.0A CN202210509159A CN114955576A CN 114955576 A CN114955576 A CN 114955576A CN 202210509159 A CN202210509159 A CN 202210509159A CN 114955576 A CN114955576 A CN 114955576A
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- plate
- vacuum
- end effector
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- bracket
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- 239000012636 effector Substances 0.000 title claims abstract description 35
- 241000252254 Catostomidae Species 0.000 claims abstract description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 239000000463 material Substances 0.000 abstract description 26
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/50—Stacking one article, or group of articles, upon another before packaging
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0241—Quantity of articles
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a palletizing robot based on 3D vision and an end effector thereof, wherein the end effector comprises a support and a mounting plate, a flange fixing plate is fixedly mounted on the support and used for being mounted on the palletizing robot, the mounting plate is slidably mounted on the support through at least two guide rods, two parallel vacuum sucker groups are mounted on the mounting plate, the vacuum suckers of the two vacuum sucker groups are distributed at equal intervals, the vacuum suckers of the two vacuum sucker groups are distributed in a staggered mode, and the number of the vacuum suckers of the two vacuum sucker groups is different. This end effector can freely switch two rows of vacuum chuck and carry the material of different quantity, can avoid appearing shutting down the condition of changing anchor clamps, can improve work efficiency.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a palletizing robot based on 3D vision and an end effector of the palletizing robot based on the 3D vision.
Background
Industrial production processes often need to stack and case materials. Through manual operation, every station all needs an operator to carry the material to material frame or workbin from the conveyer belt according to the production demand in, and not only working strength is high, and work efficiency is low. Therefore, robots for automated production lines are gradually replacing manual operations.
The palletizing robot generally scans the material box through a 3D vision system, plans out the stack shape of the box through calculation, calculates the number and the position of each layer and sends the number and the position to the control system, and the control system calculates and controls the movement track of the palletizing robot according to data and carries and palletizes materials.
When the palletizing robot is used for boxing different boxes, the quantity of materials carried at one time is different, or when the inner cavity shape of the palletizing robot is changed for boxing the boxes, the quantity of the materials carried in the boxing process is also required to be changed frequently. And present pile up neatly machine people's end anchor clamps are certain from the material quantity that takes off on the conveyer belt when carrying at every turn, if change the transport quantity, then need switch end anchor clamps, can lead to work efficiency to reduce.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a palletizing robot based on 3D vision and an end effector thereof.
The invention provides an end effector of a palletizing robot based on 3D vision, which comprises a support and an installation plate;
a flange fixing plate is fixedly arranged on the bracket and is used for being arranged on the stacking robot;
the mounting plate is slidably mounted on the bracket through at least two guide rods;
two rows of vacuum sucker groups are arranged on the mounting plate in parallel, the vacuum suckers of the two rows of vacuum sucker groups are distributed at equal intervals, the vacuum suckers of the two rows of vacuum sucker groups are distributed in a staggered mode, and the number of the vacuum suckers of the two rows of vacuum sucker groups is different.
Preferably, the support includes curb plate, backup pad and diaphragm, and two blocks of curb plates are fixed in the backup pad and the position is relative, fixedly connected with diaphragm between two blocks of curb plates, and the one end and the flange fixed plate fixed connection of diaphragm are kept away from to two blocks of curb plates.
Preferably, the bracket further comprises a reinforcing rib plate, and the reinforcing rib plate is fixed between the outer sides of the two side plates and the transverse plate.
Preferably, one end of the side plate of the bracket, which is close to the flange fixing plate, is provided with a first kidney-shaped hole;
the side plate is also provided with a slot-shaped hole;
two rows of second kidney-shaped holes distributed at intervals are arranged on the supporting plate of the bracket;
the first kidney-shaped hole, the groove-shaped hole and the second kidney-shaped hole are used for a vacuum tube connected with the vacuum chuck to penetrate through.
Preferably, the flange fixing plate is fixedly provided with a pipeline fixing frame, and the pipeline fixing frame is fixedly provided with a beam tube fixing seat and a beam line fixing seat.
Preferably, the flange fixing plate is provided with a magnetic suction round table, and positioning holes are formed around the magnetic suction round table.
The invention further provides a 3D vision-based palletizing robot which comprises a manipulator and the end effector, wherein the end effector is connected with a tail end shaft of the manipulator through a flange fixing plate.
According to the end effector of the palletizing robot based on the 3D vision, two rows of vacuum sucker groups are arranged on the mounting plate in parallel, the vacuum suckers of the two rows of vacuum sucker groups are distributed at equal intervals, the vacuum suckers of the two rows of vacuum sucker groups are distributed in a staggered mode, and the number of the vacuum suckers of the two rows of vacuum sucker groups is different.
When this end effector is when the condition that the quantity to carrying the material needs to change, because two rows of vacuum chuck's position is crisscross each other, when one of them row snatchs the material, another row just is located the clearance department of two materials, can not snatch the material to another row and produce the influence, consequently can switch two rows of vacuum chuck and carry the material of different quantity, can avoid appearing shutting down the condition of changing anchor clamps, can improve work efficiency.
Drawings
Fig. 1 is a perspective view of an end effector of a robot palletizer based on 3D vision as proposed in an embodiment;
fig. 2 is a perspective view of a palletizing robot based on 3D vision in an embodiment;
FIG. 3 is a schematic view of an end effector in an embodiment while grasping a material;
FIG. 4 is a schematic illustration of a buttress shape in an embodiment.
Detailed Description
Referring to fig. 1 to 4, a robot palletizer based on 3D vision according to an embodiment of the present invention includes a robot arm 7 and an end effector, and the end effector is mounted on an end shaft of the robot arm 7 through a flange fixing plate 3.
Referring to fig. 2, in this example, the robot 7 is a six-axis robot 7, and an electromagnetic chuck is provided on a distal end shaft of the robot 7, and a positioning pin is attached to the electromagnetic chuck. The end effector comprises a support 1, a flange fixing plate 3 is fixedly mounted on the support 1, a magnetic suction circular table 31 is arranged on the flange fixing plate 3, and positioning holes 32 are formed in the periphery of the magnetic suction circular table 31. When the end effector is installed, the positioning hole 32 on the flange fixing plate 3 can be matched with the positioning pin on the electromagnetic chuck, and the magnetic suction circular table 31 is sucked by the electromagnetic chuck.
This pile up neatly machine people controls end effector through manipulator 7 and carries the material and accomplish pile up neatly work. The end effector will be described in more detail below.
The end effector comprises a support 1 and a mounting plate 2, wherein at least two guide rods 4 are fixedly mounted on the mounting plate 2, through holes matched with the guide rods 4 are formed in the support 1, and the guide rods 4 penetrate through the through holes and can axially slide along the through holes. The guide rods 4 enable the mounting plate 2 to have a certain floatable space on the bracket 1.
Two rows of vacuum chuck groups which are parallel are arranged on the mounting plate 2, the vacuum chucks 5 of the two rows of vacuum chuck groups are distributed at equal intervals, the vacuum chucks 5 of the two rows of vacuum chuck groups are distributed in a staggered mode, and the number of the vacuum chucks 5 of the two rows of vacuum chuck groups is different.
According to the end effector of the embodiment, which has two rows of vacuum suction cups 5 with different numbers, when materials on the conveyor belt are conveyed, only one row of the vacuum suction cups 5 can be used for one-time conveying. As shown in fig. 3, since the two rows of vacuum chucks 5 are staggered, when one row of vacuum chucks 5 grabs the material a, the other row of vacuum chucks 5 is located right in the middle of two adjacent materials a, and the gap between the materials a may cause the vacuum chucks 5 at this position to be unable to adsorb the materials a. Therefore, the two rows of vacuum chuck groups on the end effector can be switched randomly to work, the vacuum chuck groups can be used for carrying materials with different quantities at one time respectively, and the end effector can be used for replacing specifications without being disassembled when the quantity of the carried materials needs to be changed, so that the shutdown is avoided, and the working efficiency is improved.
This design is particularly necessary and with reference to figure 4 there is shown a stack 8 of uneven top and bottom, the stack 8 being stacked in a conical insulated box with 4 rows 6 and 5 tiers at the bottom and 4 rows 7 and 17 tiers at the top for a total of 596 blocks. When the stacking robot stacks the stack type, the quantity of materials needing to be conveyed at each time for the bottom layer and the upper layer is different, and the two rows of vacuum chucks 5 can be switched to use through the end effector when the conveying quantity is changed.
In this embodiment, the bracket 1 of the end effector includes side plates 11, a supporting plate 12 and a transverse plate 13, the two side plates 11 are fixed on the supporting plate 12 and are opposite in position, the transverse plate 13 is fixedly connected between the two side plates 11, and one ends of the two side plates 11 far away from the transverse plate 13 are fixedly connected with the flange fixing plate 3. And a reinforcing rib plate 14 is also fixed between the outer sides of the two side plates 11 and the transverse plate 13, and the reinforcing rib plate 14 can improve the bearing capacity of the bracket 1.
Through the interval between this support 1 multiplicable flange mounting plate 3 and the vacuum chuck 5, more make things convenient for end effector to enter into material incasement portion, can avoid manipulator 7 to bump with the material case when the activity.
In this embodiment, the side plate 11 of the bracket 1 has a first kidney-shaped hole 15 at one end near the flange fixing plate 3. The side plate 11 is further provided with slot-shaped holes 16, and the slot-shaped holes 16 are positioned at both sides of the reinforcing rib plate 14. Two rows of second waist-shaped holes 17 which are distributed at intervals are arranged on the supporting plate 12 of the bracket 1. The first kidney-shaped hole 15, the groove-shaped hole and the second kidney-shaped hole 17 are used for a vacuum tube (not shown in the figure) connected with the vacuum chuck 5 to pass through.
The flange fixing plate 3 is fixedly provided with a pipeline fixing frame 6, and the pipeline fixing frame 6 is fixedly provided with a beam tube fixing seat 61 and a beam line fixing seat 62.
According to the pipeline fixing frame 6, the first waist-shaped hole 15, the groove-shaped hole and the second waist-shaped hole 17, the arrangement route of the vacuum pipeline and the electric wire on the end effector can be more convenient and tidier.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. An end effector of a palletizing robot based on 3D vision is characterized by comprising a bracket (1) and a mounting plate (2);
a flange fixing plate (3) is fixedly arranged on the bracket (1), and the flange fixing plate (3) is used for being arranged on the stacking robot;
the mounting plate (2) is slidably mounted on the bracket (1) through at least two guide rods (4);
two rows of vacuum sucker groups are arranged on the mounting plate (2), the vacuum suckers (5) of the two rows of vacuum sucker groups are distributed at equal intervals, the vacuum suckers (5) of the two rows of vacuum sucker groups are distributed in a staggered mode, and the number of the vacuum suckers (5) of the two rows of vacuum sucker groups is different.
2. The end effector as claimed in claim 1, characterized in that the bracket (1) comprises side plates (11), a support plate (12) and a transverse plate (13), the two side plates (11) are fixed on the support plate (12) and are opposite to each other, the transverse plate (13) is fixedly connected between the two side plates (11), and one ends of the two side plates (11) far away from the transverse plate (13) are fixedly connected with the flange fixing plate (3).
3. The end effector as claimed in claim 2, wherein the bracket (1) further comprises a reinforcing rib (14), and the reinforcing rib (14) is fixed between the outer sides of the two side plates (11) and the transverse plate (13).
4. The end effector as claimed in claim 2, characterized in that the end of the side plate (11) of the bracket (1) close to the flange fixing plate (3) is provided with a first kidney-shaped hole (15);
the side plate (11) is also provided with a slot-shaped hole (16);
two rows of second waist-shaped holes (17) which are distributed at intervals are arranged on the supporting plate (12) of the bracket (1);
the first kidney-shaped hole (15), the groove-shaped hole and the second kidney-shaped hole (17) are used for allowing a vacuum tube connected with the vacuum chuck (5) to pass through.
5. The end effector according to claim 1, wherein a pipeline fixing frame (6) is fixedly mounted on the flange fixing plate (3), and a beam tube fixing seat (61) and a beam line fixing seat (62) are fixed on the pipeline fixing frame (6).
6. The end effector as claimed in claim 1, wherein the flange fixing plate (3) is provided with a magnetic chuck table (31), and positioning holes (32) are provided around the magnetic chuck table (31).
7. Robot palletizer based on 3D vision, comprising a manipulator (7), characterized in that it further comprises an end effector according to any one of claims 1 to 6, which is connected to the end shaft of the manipulator (7) by means of a flange fixing plate (3).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210448968 | 2022-04-27 | ||
| CN2022104489685 | 2022-04-27 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114955576A true CN114955576A (en) | 2022-08-30 |
Family
ID=82980929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210509159.0A Pending CN114955576A (en) | 2022-04-27 | 2022-05-11 | Stacking robot based on 3D vision and end effector thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114955576A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08294890A (en) * | 1995-04-25 | 1996-11-12 | Hitachi Ltd | Suction attachment type carrying device for component parts |
| CN205238064U (en) * | 2015-12-07 | 2016-05-18 | 中建材凯盛机器人（上海）有限公司 | A tongs structure for huge flat -sheet material of pile up neatly |
| CN207104945U (en) * | 2017-07-17 | 2018-03-16 | 成都海川四维智能科技有限公司 | A kind of robot with dividing plate crawl function is multiplexed handgrip |
| CN108750690A (en) * | 2018-07-23 | 2018-11-06 | 合肥泰禾光电科技股份有限公司 | Suction means, de-stacking device and de-stacking method |
| CN110642026A (en) * | 2019-10-29 | 2020-01-03 | 北京智联弘盛科技发展有限公司 | Combined type letter sorting pile up neatly machine people end effector |
| CN111673719A (en) * | 2020-07-06 | 2020-09-18 | 杭州科泽尔工业设计有限公司 | Manipulator for industrial production line and working method thereof |
| CN111977385A (en) * | 2020-07-23 | 2020-11-24 | 盟立自动化(昆山)有限公司 | Visual unstacking structure and visual unstacking method for mixed stacking |
| CN112405570A (en) * | 2019-08-21 | 2021-02-26 | 牧今科技 | Robotic multi-gripper assembly and method for gripping and holding objects |
| CN215287124U (en) * | 2021-06-08 | 2021-12-24 | 曜琅智慧科技产业(天津)有限公司 | A absorb handling device for drawing case |
-
2022
- 2022-05-11 CN CN202210509159.0A patent/CN114955576A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08294890A (en) * | 1995-04-25 | 1996-11-12 | Hitachi Ltd | Suction attachment type carrying device for component parts |
| CN205238064U (en) * | 2015-12-07 | 2016-05-18 | 中建材凯盛机器人（上海）有限公司 | A tongs structure for huge flat -sheet material of pile up neatly |
| CN207104945U (en) * | 2017-07-17 | 2018-03-16 | 成都海川四维智能科技有限公司 | A kind of robot with dividing plate crawl function is multiplexed handgrip |
| CN108750690A (en) * | 2018-07-23 | 2018-11-06 | 合肥泰禾光电科技股份有限公司 | Suction means, de-stacking device and de-stacking method |
| CN112405570A (en) * | 2019-08-21 | 2021-02-26 | 牧今科技 | Robotic multi-gripper assembly and method for gripping and holding objects |
| CN110642026A (en) * | 2019-10-29 | 2020-01-03 | 北京智联弘盛科技发展有限公司 | Combined type letter sorting pile up neatly machine people end effector |
| CN111673719A (en) * | 2020-07-06 | 2020-09-18 | 杭州科泽尔工业设计有限公司 | Manipulator for industrial production line and working method thereof |
| CN111977385A (en) * | 2020-07-23 | 2020-11-24 | 盟立自动化(昆山)有限公司 | Visual unstacking structure and visual unstacking method for mixed stacking |
| CN215287124U (en) * | 2021-06-08 | 2021-12-24 | 曜琅智慧科技产业(天津)有限公司 | A absorb handling device for drawing case |
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Application publication date: 20220830 |
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| RJ01 | Rejection of invention patent application after publication |