CN205060979U - Pile up neatly robot system - Google Patents
Pile up neatly robot system Download PDFInfo
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- CN205060979U CN205060979U CN201520780379.2U CN201520780379U CN205060979U CN 205060979 U CN205060979 U CN 205060979U CN 201520780379 U CN201520780379 U CN 201520780379U CN 205060979 U CN205060979 U CN 205060979U
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Abstract
The utility model is suitable for a robotechnology field provides a pile up neatly robot system, aims at solving among the prior art pile up neatly robot system and can't wrap the technical problem of pile up neatly to the uncertain space of shape and position in with the material. This pile up neatly robot system includes material conveyor, robot, mobile rail and space object detection device, utilizes the robot to be rectilinear movement and space object detection device along mobile rail and detects out the goods and place the long wide high of space. The space is placed to border and goods that this pile up neatly robot system utilized space object detection device detection goods to place the case, and utilize the robot to be rectilinear movement so that space object detection device further detects the goods places the goods of case and place the space along mobile rail, the space is placed in order will treat that the arrangement of goods pile up neatly is in the space is placed to the goods according to the goods that space object detection device detected by the robot, the space can be the make full use of goods placed and the incasement is placed in order to guarantee to treat that the arrangement of goods is placed in the goods.
Description
Technical field
The utility model belongs to robotics, particularly relates to a kind of robot palletizer system.
Background technology
Robot piling application developed for many years, still rest on the level of material piling to fixed position, such as material bag piling on the pallet of fixed position.But, automation demand of today, has more technology innovation needs, as material package Truck to piling application, essence is material bag piling in the uncertain space of shape and position, and this needs piling to apply increases more flexibility, alerting ability and automation discernibility.
Common piling mode is by material is placed on the pallet of fixed position, but be different from the pallet fixing position, such as toward in the process of entrucking delivery in wagon box, be equipped with deviation because of lorry parking stall and wagon box size has deviation, cause robot to be put in wagon box by material exactly.
Utility model content
The purpose of this utility model is to provide a kind of robot palletizer system, is intended to solve in prior art that robot palletizer system cannot by material bag piling to the technical matters in the uncertain space of shape and position.
The utility model realizes like this, a kind of robot palletizer system, in order to by goods piling to be placed in goods placing box, described robot palletizer system comprises carrying goods to be placed and the device for transporting objects be arranged side by side with described goods placing box, be arranged side by side with by the robot of described goods piling to be placed in described goods placing box with described device for transporting objects and described goods placing box, described robot palletizer system also comprises and be arranged in parallel for being installed on the moving guide rail of described robot and being installed on described robot front end and being positioned at above described goods placing box with the space object detecting device on the border and goods placement space of detecting described goods placing box with described device for transporting objects, moving guide rail described in described Robot is utilized to move linearly and described space object detecting device detects the length, width and height of described goods placement space.
Further, described robot comprises the frame be fixedly installed on described moving guide rail, rotation is installed on the rotation seat in described frame, the mechanical arm be installed on described rotation seat, is installed on described mechanical arm front end with the grasping mechanism capturing described goods to be placed and the actuating device be electrically connected with described grasping mechanism, and described space object detecting device is installed on the front end of described mechanical arm.
Further, described space object detecting device is laser scanning device, ultrasonic scanning device, spacescan depth camera head apparatus, RGBD camera or infrared scanning equipment.
Further, described robot palletizer system also comprises the described space object detecting device of electric connection and controls the central processing unit of described robot motion; Described space object detecting device to be positioned over above described goods placement space and to the width of described goods placement space with highly detect, and on described moving guide rail, moves linearly by described robot the length detecting described goods placement space; Length, the width of the described goods placement space of described central processing unit detected by described space object detecting device and highly position is carried out to described goods placement space and modeling is again carried out on border.
Further, the goods placement space of described central processing unit detected by described space object detecting device to determine the placement location point of described goods to be placed, and determines the placement location of each described goods to be placed according to the size of each described goods to be placed.
The utility model relative to the technique effect of prior art is: this robot palletizer system utilizes described space object detecting device to detect border and the goods placement space of described goods placing box, and utilize moving guide rail described in described Robot to move linearly to make described space object detecting device detect the goods placement space of described goods placing box further, the goods placement space that robot detects according to described space object detecting device with by described goods piling to be placed in described goods placement space, whole palletization can complete automatically, and described goods placement space can be made full use of to ensure described goods to be placed to be positioned in described goods placing box.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the utility model embodiment, be briefly described to the accompanying drawing used required in the utility model embodiment or description of the prior art below, apparently, accompanying drawing described is below only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the top perspective view of the robot palletizer system that the utility model embodiment provides;
Fig. 2 be in Fig. 1 robot palletizer system in the constructional drawing in a direction;
Fig. 3 be in Fig. 1 robot palletizer system in the constructional drawing of other direction;
Fig. 4 is the block diagram of robot palletizer system in time placing goods to be placed in Fig. 1.
Description of reference numerals:
10 goods 44 rotation seats to be placed
20 goods placing box 46 mechanical arms
30 device for transporting objects 48 grasping mechanisms
40 robot 50 moving guide rails
42 frame 60 space object detecting devices
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
Please refer to Fig. 1 to Fig. 4, the robot palletizer system that the utility model embodiment provides in order to by goods 10 piling to be placed in goods placing box 20, described robot palletizer system comprises carrying goods 10 to be placed and the device for transporting objects 30 be arranged side by side with described goods placing box 20, be arranged side by side with by the robot 40 of described goods 10 piling to be placed in described goods placing box 20 with described device for transporting objects 30 and described goods placing box 20, described robot palletizer 40 system also comprises and be arranged in parallel for being installed on the moving guide rail 50 of described robot 40 and being installed on described robot 40 front end and being positioned at above described goods placing box 20 with the space object detecting device 60 on the border and goods placement space of detecting described goods placing box 20 with described device for transporting objects 30, described robot 40 is utilized to move linearly along described moving guide rail 50 and described space object detecting device 60 detects the length, width and height of described goods placement space.
Robot palletizer 40 system that the utility model embodiment provides utilizes described space object detecting device 60 to detect border and the goods placement space of described goods placing box 20, and utilize described robot 40 to move linearly to make described space object detecting device 60 detect the goods placement space of described goods placing box 20 further along described moving guide rail 50, the goods placement space that robot 40 detects according to described space object detecting device 60 with by described goods 10 piling to be placed in described goods placement space, whole palletization can complete automatically, and described goods placement space can be made full use of to ensure described goods 10 to be placed to be positioned in described goods placing box 20.
In this embodiment, described goods 10 to be placed is regular, the of the same size goods bag of shape, also can be other manner of packings of different sizes, different goods bag, cargo compartment or goods.
In this embodiment, described goods placing box 20 can be the wagon box of lorry, freight container, flat board or other can the casing of arrangement of goods.
Please refer to Fig. 1 and Fig. 2, in this embodiment, the length direction L of described goods placement space is parallel with the moving direction of described robot 40 on described moving guide rail 50, its Width D is vertical with described length direction L, its short transverse H vertical with described length direction L and for described space object detecting device 60 overlook direction.In other embodiments, the Width D of described goods placement space is parallel with the moving direction of described robot on described moving guide rail 50, and its length direction L is vertical with described Width D.
In this embodiment, described device for transporting objects 30 and the parallel placement of described moving guide rail 50, to make the moving direction of described robot 40 on the moving direction of the goods to be placed 10 on described device for transporting objects 30 and described moving guide rail 50 be parallel to each other, described robot 40 can rotate to make described space object detecting device 60 to be positioned at the top of described goods placing box 20 relative to described moving guide rail 50 and detect described goods placement space and to capture the goods to be placed 10 on described device for transporting objects 30 and to be placed into described goods placing box 20.
Please refer to Fig. 1 to Fig. 4, further, described robot 40 comprises the frame 42 be fixedly installed on described moving guide rail 50, rotation is installed on the rotation seat 44 in described frame 42, the mechanical arm 46 be installed on described rotation seat 44, is installed on described mechanical arm 46 front end with the grasping mechanism 48 capturing described goods to be placed 10 and the actuating device (not shown) be electrically connected with described grasping mechanism 48, and described space object detecting device 60 is installed on the front end of described mechanical arm 46.Described rotation seat 44 is driven by described frame 42, described mechanical arm 46, described grasping mechanism 48 and described in be positioned at described mechanical arm 46 front end space object detecting device 60 move along described moving guide rail 50 together, described rotation seat 44 drives described mechanical arm 46, described grasping mechanism 48 rotates around frame 42 together with described space object detecting device 60, to realize switching back and forth at described device for transporting objects 30 and described goods placing box 20 two positions, be convenient to realize the crawl to described goods 10 to be placed and piling, also be conducive to realizing the detection to the goods placement space of described goods placing box 20.
In other embodiments, described space object detecting device 60 can also be fixedly installed on a line slide rail, this line slide rail is positioned at the top in lorry or space to be placed, and described space object detecting device 60 moves linearly to detect described placement space on this line slide rail.
Please refer to Fig. 1 to Fig. 4, further, described space object detecting device 60 is laser scanning device, ultrasonic scanning device, spacescan depth camera head apparatus, RGBD camera or infrared scanning equipment.Laser scanning device, ultrasonic scanning device, spacescan depth camera head apparatus, RGBD camera or infrared scanning equipment is utilized to carry out position and border detection to described goods placing box 20, to obtain position and the border of this goods placement space.Particularly, described laser scanning device, ultrasonic scanning device, spacescan depth camera head apparatus, RGBD camera or infrared scanning equipment is utilized to obtain the position of described goods placing box 20 and the width of goods placement space and height, and in conjunction with described moving guide rail 50 to detect the length of described goods placement space further.For the situation that the length of described goods placement space is shorter, if the mechanical arm 46 of described robot 40 enough drives described space object detecting device 60 to move above described goods placement space, namely enough scanned goods placement space described in this, then described robot 40 can not move relative to described moving guide rail 50.
In other embodiments, described space object detecting device 60 can also be other detecting devices except above-mentioned five kinds of detecting devices, does not enumerate herein.
Please refer to Fig. 1 to Fig. 4, further, described robot palletizer 40 system also comprises the described space object detecting device 60 of electric connection and controls the central processing unit (not shown) of described robot 40 motion; Described space object detecting device 60 to be positioned over above described goods placement space and to the width of described goods placement space with highly detect, and on described moving guide rail 50, moves linearly by described robot 40 length detecting described goods placement space; Length, the width of the described goods placement space of described central processing unit detected by described space object detecting device 60 and highly position is carried out to described goods placement space and modeling is again carried out on border.Described central processing unit is to the position of the described goods placement space detected by described space object detecting device 60 and border processes and modeling, and the information after modeling is passed to described robot 40 to make described grasping mechanism 48 capture described goods to be placed 10 and to be positioned in described goods placement space by described goods 10 to be placed, whether described central processing unit drives described robot 40 to move relative to described moving guide rail 50 according to the length of described goods placing box 20.Described space object detecting device 60 detects the space boundary of described goods placement space, know the interference border that described robot 40 or described grasping mechanism 48 produce, to avoid described robot 40 or described grasping mechanism 48 from colliding with border in goods 10 process to be placed described in piling.
In other embodiments, width, height and the length that space object detection also can be adopted to fill space detect, to improve detection efficiency simultaneously.
Further, the goods placement space of described central processing unit detected by described space object detecting device 60 to determine the placement location point of described goods to be placed 10, and determines the placement location of each described goods 10 to be placed according to the size of each described goods 10 to be placed.
Please refer to Fig. 1 to Fig. 4, in palletization, described robot 40 utilizes described laser scanning device, ultrasonic scanning device, spacescan depth camera head apparatus, RGBD camera or infrared scanning equipment detect the position of described goods placing box 20 and border, know position and the border of thing goods placement space described in this, particularly, described mechanical arm 46 will be utilized to drive described laser scanning device, ultrasonic scanning device, spacescan depth camera head apparatus, RGBD camera or infrared scanning equipment rest on above described goods placement space, and this goods placement space is scanned, robot 40 moves linearly along described moving guide rail 50 simultaneously, thus obtain position and the border of described goods placement space, modeling is again carried out on the position utilizing described central processing unit to detect described laser scanning device, ultrasonic scanning device, spacescan depth camera head apparatus, RGBD camera or infrared scanning equipment and border, described robot 40 is according to described laser scanning device, ultrasonic scanning device, spacescan depth camera head apparatus, the locus that RGBD camera or infrared scanning equipment scan, know the concrete placement location point of described goods to be placed 10, and according to the size of goods 10 to be placed, determine the placement location of each described goods 10 to be placed, simultaneously, robot 40 is according to described laser scanning device, ultrasonic scanning device, spacescan depth camera head apparatus, the locus that RGBD camera or infrared scanning equipment scan, know the interference border that described robot 40 or described grasping mechanism 48 produce, to avoid described robot 40 or described grasping mechanism 48 when placing described goods 10 to be placed and border collides, described mechanical arm 46 drives described grasping mechanism 48 to rotate around described rotation seat 44, and the goods to be placed 10 on described device for transporting objects 30 is captured and the object space of piling in described goods placing box 20 in.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (5)
1. a robot palletizer system, in order to by goods piling to be placed in goods placing box, described robot palletizer system comprises carrying goods to be placed and the device for transporting objects be arranged side by side with described goods placing box, be arranged side by side with by the robot of described goods piling to be placed in described goods placing box with described device for transporting objects and described goods placing box, it is characterized in that, described robot palletizer system also comprises and be arranged in parallel for being installed on the moving guide rail of described robot and being installed on described robot front end and being positioned at above described goods placing box with the space object detecting device on the border and goods placement space of detecting described goods placing box with described device for transporting objects, moving guide rail described in described Robot is utilized to move linearly and described space object detecting device detects the length, width and height of described goods placement space.
2. robot palletizer system as claimed in claim 1, it is characterized in that, described robot comprises the frame be fixedly installed on described moving guide rail, rotation is installed on the rotation seat in described frame, the mechanical arm be installed on described rotation seat, is installed on described mechanical arm front end with the grasping mechanism capturing described goods to be placed and the actuating device be electrically connected with described grasping mechanism, and described space object detecting device is installed on the front end of described mechanical arm.
3. robot palletizer system as claimed in claim 1, it is characterized in that, described space object detecting device is laser scanning device, ultrasonic scanning device, spacescan depth camera head apparatus, RGBD camera or infrared scanning equipment.
4. the robot palletizer system as described in claims 1 to 3 any one, is characterized in that, also comprises and is electrically connected described space object detecting device and the central processing unit controlling described robot motion; Described space object detecting device to be positioned over above described goods placement space and to the width of described goods placement space with highly detect, and on described moving guide rail, moves linearly by described robot the length detecting described goods placement space; Length, the width of the described goods placement space of described central processing unit detected by described space object detecting device and highly position is carried out to described goods placement space and modeling is again carried out on border.
5. robot palletizer system as claimed in claim 4, it is characterized in that, the goods placement space of described central processing unit detected by described space object detecting device to determine the placement location point of described goods to be placed, and determines the placement location of each described goods to be placed according to the size of each described goods to be placed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520780379.2U CN205060979U (en) | 2015-10-08 | 2015-10-08 | Pile up neatly robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520780379.2U CN205060979U (en) | 2015-10-08 | 2015-10-08 | Pile up neatly robot system |
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| Publication Number | Publication Date |
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| CN205060979U true CN205060979U (en) | 2016-03-02 |
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| CN201520780379.2U Active CN205060979U (en) | 2015-10-08 | 2015-10-08 | Pile up neatly robot system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106429483A (en) * | 2016-12-09 | 2017-02-22 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic stacking and truck-loading system and truck-loading method thereof |
| CN106564761A (en) * | 2015-10-08 | 2017-04-19 | 胡雨滨 | Robot palletizer system |
| CN106695792A (en) * | 2017-01-05 | 2017-05-24 | 中国计量大学 | Tracking and monitoring system and method of stacking robot based on machine vision |
| CN107444932A (en) * | 2016-05-31 | 2017-12-08 | 广州达意隆包装机械股份有限公司 | A kind of robot automatic loading system |
| CN108698225A (en) * | 2017-08-24 | 2018-10-23 | 深圳蓝胖子机器人有限公司 | The method and robot of robot store items |
| CN111071808A (en) * | 2019-12-30 | 2020-04-28 | 芜湖哈特机器人产业技术研究院有限公司 | Intelligent unstacking, loading and stacking system |
-
2015
- 2015-10-08 CN CN201520780379.2U patent/CN205060979U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106564761A (en) * | 2015-10-08 | 2017-04-19 | 胡雨滨 | Robot palletizer system |
| CN107444932A (en) * | 2016-05-31 | 2017-12-08 | 广州达意隆包装机械股份有限公司 | A kind of robot automatic loading system |
| CN106429483A (en) * | 2016-12-09 | 2017-02-22 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic stacking and truck-loading system and truck-loading method thereof |
| CN106695792A (en) * | 2017-01-05 | 2017-05-24 | 中国计量大学 | Tracking and monitoring system and method of stacking robot based on machine vision |
| CN108698225A (en) * | 2017-08-24 | 2018-10-23 | 深圳蓝胖子机器人有限公司 | The method and robot of robot store items |
| CN108698225B (en) * | 2017-08-24 | 2022-05-17 | 深圳蓝胖子机器智能有限公司 | Method for stacking goods by robot and robot |
| CN111071808A (en) * | 2019-12-30 | 2020-04-28 | 芜湖哈特机器人产业技术研究院有限公司 | Intelligent unstacking, loading and stacking system |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180706 Address after: 518000 Guangdong Shenzhen Baoan District Xin'an Street Hai Yu community Xin'an road six Yujing Bay Garden 1 301 Patentee after: Purple Hoon Intelligent Technology (Shenzhen) Co.,Ltd. Address before: 510240 48 Haizhuqu District, Haizhuqu District, Guangzhou, China Patentee before: Hu Yubin |
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| TR01 | Transfer of patent right |
Effective date of registration: 20221123 Address after: 518000 104, Building B, Shanling Digital, No. 10, Chiwan 1st Road, Chiwan Community, Merchants Street, Nanshan District, Shenzhen, Guangdong Patentee after: SHENZHEN QINGXU ROBOT AUTOMATION CO.,LTD. Address before: 518000 Guangdong Shenzhen Baoan District Xin'an Street Hai Yu community Xin'an road six Yujing Bay Garden 1 301 Patentee before: Purple Hoon Intelligent Technology (Shenzhen) Co.,Ltd. |
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| TR01 | Transfer of patent right |