CN205772108U - A kind of robot automatic loading system - Google Patents
A kind of robot automatic loading system Download PDFInfo
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- CN205772108U CN205772108U CN201620509358.1U CN201620509358U CN205772108U CN 205772108 U CN205772108 U CN 205772108U CN 201620509358 U CN201620509358 U CN 201620509358U CN 205772108 U CN205772108 U CN 205772108U
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Abstract
The utility model discloses a kind of robot automatic loading system, including: piling platform and equipment platform；Robot is also powered by mobile device carrying robot；Flexible pipeline can linear telescopic to adapt to the operating position of robot；Goods piling to piling platform, is automatically adjusted relative position by robot.By flexible pipeline, goods is transported flexibly the diverse location of piling platform, is then loaded with the relative position that the mobile device of robot is automatically adjusted between machine people and piling.Robot can be detected the three-dimensional position of goods piling, robot and compartment phase, goods relative to position by the scanning of environment induction device, according to the information of above position by each goods fitly piling to diverse location.After completing some row's pilings, robot can automatically control mobile device and move backward, makes robot be maintained at normal range with the operating position of piling.Circulation piling and the mobile position adjusting robot, it is possible to achieve the entrucking work that prosthetic is on duty.
Description
Technical field
This utility model relates to a kind of automatic loading system, particularly relates to a kind of be not required to robot automatic loading system that is the most on duty or that intervene.
Background technology
Existing entrucking work is most coordinates fork truck to complete by manpower, there is the disadvantage that work personnel are many, efficiency is low, cost is high, and uses manpower vehicle more or less to there is potential safety hazard in the industry that some safety requirements is the highest.Raising day by day along with human cost, this labor intensity in entrucking fields such as factory, warehouse, logistics companies is high and belongs to labor-intensive work and urgently uses the means of automatization to improve efficiency and to reduce cost, additionally also improves the safety of entrucking process.Existing Loading automatization is primarily adapted for use in top and opens wide or without the lorry of ceiling, or from the entrucking of lorry side, limitation is bigger.The when of using robot piling entrucking, after the complete some rows of code, need the relative position manually adjusting robot with freight traffic line with lorry, need the limitations such as the highest, the inefficiency of manual intervention, automaticity.The application using robot to freight container car now not yet has.
Utility model content
In order to solve above-mentioned technical problem, this utility model purpose is to provide a kind of robot automatic loading system.
A kind of robot described in the utility model automatic loading system, it is characterised in that including: piling platform and equipment platform, described piling platform and equipment platform are arranged on same level；
Mobile device, robot is also powered, can reciprocate between piling platform and equipment platform by described mobile device carrying robot, adjusts operating position according to robot control signal after the complete piling in a row of robot；
Flexible pipeline, is sent to piling platform by goods to be palletized, and flexible pipeline can be along the closure linear telescopic of piling platform and equipment platform to adapt to the operating position of robot；
Robot, by the goods piling on flexible pipeline to piling platform, described robot is provided with environment induction device, controls the relative position between mobile device and piling according to the signal of environment induction device feedback, makes relative position meet job requirement；The steric information of described environment induction device feedback piling carries out piling according to steric information to goods to robot, robot.
Described environment induction device is three dimensional vision system, and described three dimensional vision system can feed back the relative position of robot and all directions of surrounding enviroment；Described environment induction device is alignment sensor, and the relative position of robot and surrounding enviroment all directions is measured and calculated to described alignment sensor.
Described robot automatic loading system, equipment platform also sets up flexible wire pulling device, and described flexible wire pulling device includes being arranged on dragging line housing unit and dragging line group of equipment platform；Dragging line group one end to connect mobile device, be powered mobile device and robot, supply or communications, other end connects drags line housing unit.
Described robot automatic loading system, mobile device also sets up flexible wire pulling device, and described flexible wire pulling device includes being arranged on dragging line housing unit and dragging line group of mobile device；Dragging line group one end to drag line housing unit to be powered mobile device and robot, supply or communications, other end connects external power source.
The described line housing unit that drags is to drag line group by reel storage.
This utility model advantage is, goods is transported to by flexible pipeline the appointment position of piling platform the most flexibly, is then loaded with the relative position between mobile device automatic detecting machine device people and the piling of robot, between robot and compartment.Scanning by environment induction device, detect the relative position between the three-dimensional position of goods piling, robot and piling goods, between robot and compartment, information according to above position calculates piling mode, robot motion path, each goods is captured smoothly and fitly piling to the position required.After completing some row's pilings, control system can automatically control mobile device and move backward, makes robot be maintained at normal range with the operating position of piling.Circulation piling and the mobile position adjusting robot, it is possible to achieve the entrucking work that prosthetic is on duty.Simultaneously by three dimensional vision system or sensor detecting distance information, various positional informationes required in palletization can be obtained exactly, make control system more accurately reasonable arrangement piling mode and accurate and effective can control robot motion.Dragging line cable set under the support dragging line housing unit, can power or communications for robot supply with distance, when robot operating distance shortens, what storage was unnecessary in time drags line cable set length, it is to avoid affect the carrying out of piling work.
Accompanying drawing explanation
Fig. 1 is system structure schematic diagram of the present utility model.
Detailed description of the invention
According to Fig. 1, a kind of robot described in the utility model automatic loading system, include piling platform 1 and equipment platform 2, general piling platform is arranged on the loading platform of cargo vehicle, it is also possible to be the platform of artificial setting as desired.In order to make each mobile unit steadily to commute between piling platform and equipment platform, described piling platform arranges with equipment platform and is substantially at same level.Carry the robot 4 for piling in mobile device 3, by external power source, robot and mobile device are powered.Mobile device can reciprocate between piling platform and equipment platform, and its move is sent by tele-control system.
Mobile device is provided with three dimensional vision system, distance measuring sensor or the one or more combination of other location equipment, for sensing the relative position between the three-dimensional position of goods piling, robot and piling goods, between robot and compartment.In palletization, pass through information above, control system can calculate rational robot motion path, the suitable Grasp Modes of robot, the target location of piling, the movement velocity etc. of reasonable robot, makes the palletization can in the case of prosthetic intervention in order, accurately, efficiently, carry out on request.
Mobile device is provided with flexible pipeline 5, flexible pipeline can linearly between piling platform and mobile device linear telescopic to change its length, and conveying articles 6.Flexible pipeline can stretch according to mobile device change in location thus change length, makes the goods of end on flexible pipeline be in robot working range.After the goods of end is taken away by robot, next goods to be palletized is delivered to end by flexible pipeline in time.
In order to distance work can be realized, it is connected by flexible wire pulling device between robot with equipment platform.The line housing unit 7 that drags of flexible wire pulling device is arranged in equipment platform or mobile device, drags line housing unit to use reel storage to drag line group 8.Drag line group other end to connect extraneous power supply, be powered supply or communications from equipment platform toward mobile device and robot.Drag line housing unit can automatically release in mobile device is away from the traveling process of equipment platform and drag line cable set；Drag line housing unit can receive in time in the traveling process of equipment platform in mobile device and drag line cable set；The effect dragging line housing unit is to ensure that power supply continuity, also makes the overhang of cable set be maintained at allowed band, and cable will not be caused to contact with other equipment or wear and tear because overhang is excessive.
For a person skilled in the art, can technical scheme as described above and design, make other various corresponding changes and deformation, and within all these changes and deformation all should belong to this utility model scope of the claims.
Claims (5)
1. a robot automatic loading system, it is characterised in that including: piling platform and equipment platform, described piling platform and equipment platform arrange same level；
Mobile device, robot is also powered, can reciprocate between piling platform and equipment platform by described mobile device carrying robot, adjusts operating position according to robot control signal after robot completes some row's pilings；
Flexible pipeline, is sent to piling platform by goods to be palletized, and flexible pipeline can be along the closure linear telescopic of piling platform and equipment platform to adapt to the operating position of robot；
Robot, by the goods piling on flexible pipeline to piling platform, described robot is provided with environment induction device, controls the relative position between mobile device and piling according to the signal of environment induction device feedback, makes relative position meet job requirement；The steric information of described environment induction device feedback piling carries out piling according to steric information to goods to robot, robot.
Robot the most according to claim 1 automatic loading system, it is characterised in that described environment induction device is three dimensional vision system, described three dimensional vision system can feed back the relative position of robot and all directions of surrounding enviroment；Described environment induction device is alignment sensor, and the relative position of robot and surrounding enviroment all directions is measured and calculated to described alignment sensor.
Robot the most according to claim 1 automatic loading system, it is characterised in that equipment platform also sets up flexible wire pulling device, described flexible wire pulling device includes being arranged on dragging line housing unit and dragging line group of equipment platform；Dragging line group one end to connect mobile device, be powered mobile device and robot, supply or communications, other end connects drags line housing unit.
Robot the most according to claim 1 automatic loading system, it is characterised in that mobile device also sets up flexible wire pulling device, described flexible wire pulling device includes being arranged on dragging line housing unit and dragging line group of mobile device；Dragging line group one end to drag line housing unit to be powered mobile device and robot, supply or communications, other end connects external power source.
5. according to the robot automatic loading system described in claim 3 or 4, it is characterised in that the described line housing unit that drags is to drag line group by reel storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620509358.1U CN205772108U (en) | 2016-05-31 | 2016-05-31 | A kind of robot automatic loading system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620509358.1U CN205772108U (en) | 2016-05-31 | 2016-05-31 | A kind of robot automatic loading system |
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| CN205772108U true CN205772108U (en) | 2016-12-07 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106915636A (en) * | 2017-05-10 | 2017-07-04 | 天津君晟科技发展有限公司 | A kind of automatic loading stacking machine |
| 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 |
| CN107601182A (en) * | 2017-09-30 | 2018-01-19 | 广州达意隆包装机械股份有限公司 | A kind of telescopic equipment cable winding apparatus |
| CN108064390A (en) * | 2016-12-30 | 2018-05-22 | 深圳配天智能技术研究院有限公司 | The method, apparatus and robot of a kind of stacking |
| WO2018120208A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Method and device for determining stacking path pattern, and robot |
| CN108698238A (en) * | 2017-07-27 | 2018-10-23 | 深圳蓝胖子机器人有限公司 | Robot supply source system, method and robot |
| CN109071114A (en) * | 2017-09-05 | 2018-12-21 | 深圳蓝胖子机器人有限公司 | A kind of method of automatic loading and unloading goods, equipment and the device with store function |
| CN110723551A (en) * | 2019-10-11 | 2020-01-24 | 北部湾大学 | Intelligent stacking robot for containers |
-
2016
- 2016-05-31 CN CN201620509358.1U patent/CN205772108U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108064390A (en) * | 2016-12-30 | 2018-05-22 | 深圳配天智能技术研究院有限公司 | The method, apparatus and robot of a kind of stacking |
| WO2018120208A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Method and device for determining stacking path pattern, and robot |
| CN108064390B (en) * | 2016-12-30 | 2021-11-05 | 深圳配天智能技术研究院有限公司 | Stacking method and device and robot |
| CN106915636A (en) * | 2017-05-10 | 2017-07-04 | 天津君晟科技发展有限公司 | A kind of automatic loading stacking machine |
| CN108698238A (en) * | 2017-07-27 | 2018-10-23 | 深圳蓝胖子机器人有限公司 | Robot supply source system, method and robot |
| CN109071114A (en) * | 2017-09-05 | 2018-12-21 | 深圳蓝胖子机器人有限公司 | A kind of method of automatic loading and unloading goods, equipment and the device with store function |
| CN107601182A (en) * | 2017-09-30 | 2018-01-19 | 广州达意隆包装机械股份有限公司 | A kind of telescopic equipment cable winding apparatus |
| CN110723551A (en) * | 2019-10-11 | 2020-01-24 | 北部湾大学 | Intelligent stacking robot for containers |
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