CN205855455U - A kind of packing crates automatic loading system - Google Patents
A kind of packing crates automatic loading system Download PDFInfo
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- CN205855455U CN205855455U CN201620717141.XU CN201620717141U CN205855455U CN 205855455 U CN205855455 U CN 205855455U CN 201620717141 U CN201620717141 U CN 201620717141U CN 205855455 U CN205855455 U CN 205855455U
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- packing crates
- motion platform
- robot
- automatic loading
- guide rail
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Abstract
This utility model relates to a kind of packing crates automatic loading system, and this system includes 3-D view mobile device；Image collecting device, is connected with 3-D view mobile device, in order to gather packing crates installation site picture；Six-DOF robot；Robot driving device, in order to drive six-DOF robot to move；Coordinate harvester, in order to gather the coordinate information of image collecting device and six-DOF robot；Control unit, it is connected with 3-D view mobile device, image collecting device, six-DOF robot, robot driving device and coordinate harvester, receives the coordinate information that gathered of coordinate harvester and drive image collecting device or six-DOF robot displacement according to analysis result by 3-D view mobile device or robot driving device.Packing crates can be accurately placed in the compartment of entrucking vehicle by this system, it is achieved the mixing automatic loading of different size packing crates, and entrucking efficiency is high, reliable in quality, saves human cost, reduces logistics cost.
Description
Technical field
The present invention relates to material flows automation technical field, more particularly, to a kind of packing crates automatic loading system.
Background technology
Currently, along with automatic technology, robotics, movement control technology, image acquisition, computer software technology etc.
Development, the most of link of logistics field has been realized in automatization, such as automatization's access of commodity, automated handling, entrucking
Makeup Optimizations etc., it is effectively improved the automatization level of Modern Materials Circulation, greatly reduces logistics cost.But it is current
Entrucking and the link still automatization level of unloading of packing crates (such as household appliances) are low, generally use conveyer belt or AGV
Packing crates to be installed is transported near entrucking vehicle car to be installed by carrier robot, by manually carrying and adjustment is treated
The position of installation kit vanning, completes the entrucking of packing crates.1 is had a disadvantage in that: entrucking workman work by force by people's fixture vehicle
Degree is big, and for quality, larger-size packing crates, entrucking difficulty is big, even needs many people to coordinate；2: entrucking workman is the most tired
Labor, loading speed is slow, entrucking inefficiency；3: entrucking workman is the most tired, and loading quality is difficult to ensure that, even can damage packaging
With the article in packing crates；4: entrucking human cost is high.The disadvantage mentioned above of people's fixture vehicle will cause logistics cost and commodity wastage
Increasing, and the logistics cost increased proceeds to the price of commodity the most at last, the commodity wastage of increase will count the operation cost of enterprise,
Thus affect the competitiveness of enterprise.There is bigger technical difficulty in packing crates automatic loading, especially at the secondary of household appliances
Transport (from retailer to end user terminal), since it is desired that realize the mixing automatic loading of different size packing crates.And it is existing
Automatic loading system mainly realize for equivalently-sized packaging, or flexible package, in this case to packaging
Positioning precision does not require or requires relatively low, and the mixing entrucking packed for various sizes of solid-state seems helpless.Cause
This, it is possible to meet different car sizes, the automatic loading system of different size packing crates has a wide range of applications and huge
Big commercial value.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of packing crates automatic loading system, this system
Accurately packing crates can be placed in the compartment of entrucking vehicle, it is achieved the mixing automatic loading of different size packing crates, and dress
Car efficiency is high, and loading quality is reliable, saves human cost, reduces logistics cost.
For reaching above-mentioned purpose, the technical solution used in the present invention is:
A kind of packing crates automatic loading system is provided, including:
3-D view mobile device；
Image collecting device, is connected with 3-D view mobile device, in order to gather packing crates installation site picture；
Six-DOF robot；
Robot driving device, in order to drive six-DOF robot to move；
Coordinate harvester, in order to gather the coordinate information of image collecting device and six-DOF robot；
Control unit, with 3-D view mobile device, image collecting device, six-DOF robot, robotically-driven dress
Put and coordinate harvester connects, receive the coordinate information that gathered of coordinate harvester and pass through graphics according to analysis result
As mobile device or robot driving device drive image collecting device or six-DOF robot displacement.
In such scheme, image collecting device is used for gathering image, and six-DOF robot is used for carrier package, coordinate
Harvester is for obtaining the coordinate information of image collecting device and six-DOF robot, and control unit fills according to coordinate collection
Putting feedack and can determine that the coordinate information of image collecting device and six-DOF robot, control unit is to image collector
Put the image of collection to carry out processing the positioning precision with to the packing crates that six-DOF robot captures and detect, control unit
Positioning precision according to the packing crates detected controls six-DOF robot by robot driving device and moves accurately to adjust
The position of whole packing crates.One packing crates automatic loading system of the present invention, accurately can be placed on the car of entrucking vehicle by packing crates
In railway carriage or compartment, it is achieved the mixing automatic loading of different size packing crates, and entrucking efficiency is high, and loading quality is reliable, saves manpower and becomes
This, reduce logistics cost.
Preferably, described packing crates automatic loading system also includes being connected with image collecting device entrucking Makeup Optimization system
System, described entrucking Makeup Optimization system according to model, car sizes and the form of entrucking vehicle to needing packing crates to be mounted
Size and arrangement mode is bound, described packing crates automatic loading system by entrucking Makeup Optimization Systematic definition need peace
The size and arrangement mode of the packing crates of dress determines the coordinate information of image collecting device.
Preferably, described packing crates automatic loading system is additionally provided with the first motion platform, the first motion platform be provided with
The vertical position adjusting means that control unit connects, described six-DOF robot is located in the adjusting means of vertical position.Vertical
The setting of apparatus for adjusting position is conveniently adjusted the vertical height of six-DOF robot, make six-DOF robot vertical up to
Working region is improved, to adapt to the different size of entrucking vehicle, car sizes and the packagings of different vertical size
Case.
Preferably, described packing crates automatic loading system also includes the first guide rail arranged around entrucking vehicle periphery, institute
Stating the first motion platform to be located on the first guide rail, described coordinate harvester is for being located on the first guide rail, for obtaining the first fortune
The displacement transducer of moving platform coordinate information.The shape of the first guide rail is set according to practical situation, make the first motion platform along
First guide rail moves, and the movement of the first motion platform is easy in the setting of the first guide rail.
Preferably, described 3-D view mobile device include X direction guiding rail, Z-direction guide rail, Y-direction guide rail, the second motion platform,
The X of the 3rd motion platform, the 4th motion platform and driving the second motion platform is to driving means, the Z of driving the 3rd motion platform
To driving means, the Y-direction driving means of driving the 4th motion platform, described X drives to driving means, Y-direction driving means and Z-direction
Device is connected with control unit respectively；Second motion platform is located on X direction guiding rail, and the second motion platform is provided with Z-direction guide rail, the
Three motion platforms are arranged on Z-direction guide rail, and the 3rd motion platform is provided with Y-direction guide rail, and the 4th motion platform is arranged on Y-direction guide rail
On, described image collecting device is arranged on the 4th motion platform；It is respectively equipped with use on X direction guiding rail, Z-direction guide rail and Y-direction guide rail
In obtaining the second motion platform, the 3rd motion platform and the displacement transducer of the 4th motion platform coordinate information.So arrange just
Image collecting device position in three dimensions is regulated more accurately in control unit.
Preferably, six-DOF robot executor tail end is provided with displacement transducer, and institute's displacement sensors is used for detecting
Vertical dimension between executor tail end and packing crates to be captured.The vertical dimension that control unit is fed back according to displacement transducer,
Six-DOF robot executor tail end and packaging is made by controlling vertical position adjusting means and six-DOF robot motion
Case is in close contact.
Preferably, six-DOF robot includes base and extending arm, and base is connected by joint with extending arm, described pass
Being provided with joint sensors at joint, described extending arm end is provided with executor tail end, and described executor tail end is provided with and control unit
The load transducer connected, described load transducer captures the stability of article for detecting executor tail end.Control unit is led to
Cross and joint sensors feedack is analyzed and coordinate transformation, executor tail end coordinate information can be obtained；Load passes
During the setting of sensor prevents six-DOF robot carrier package, packing crates comes off suddenly, in causing packing crates
Article damage.
Preferably, robotic actuator end is provided with the grabbing device for capturing packing crates.The setting of grabbing device is just
In to the crawl of packing crates and release.Described grabbing device is sucker or electric magnet.
Compared with prior art, the invention has the beneficial effects as follows:
Control unit can determine that image collecting device and six-DOF robot according to coordinate harvester feedack
Coordinate information, control unit processes the bag to capture six-DOF robot to the image of image acquisition device
The positioning precision of vanning detects, and control unit passes through robot driving device according to the positioning precision of the packing crates detected
Control six-DOF robot to move accurately to adjust the position of packing crates, and accurately packing crates is placed on the car of entrucking vehicle
In railway carriage or compartment, it is achieved the mixing automatic loading of different size packing crates, and entrucking efficiency is high, and loading quality is reliable, saves manpower and becomes
This, reduce logistics cost；By arranging vertical position adjusting means, it is simple to adjust the vertical height of six-DOF robot, make
The vertical of six-DOF robot is improved up to working region, with adapt to the different size of entrucking vehicle, car sizes,
And the packing crates of different vertical size；By arranging displacement transducer at six-DOF robot executor tail end, with detection
Vertical dimension between executor tail end and packing crates to be captured, control unit according to this vertical dimension by control vertical position
Adjusting means and robot motion make robotic actuator end be in close contact with packing crates；By at robotic actuator end
Load transducer is set, to detect the stability of executor tail end crawl article, during preventing robot transport packing crates,
Packing crates comes off suddenly, causes the article in packing crates to damage.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention a kind of packing crates automatic loading system.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is the enlarged drawing of I part in Fig. 2.
Fig. 4 is the enlarged drawing of II part in Fig. 2.
Detailed description of the invention
Below in conjunction with detailed description of the invention, the present invention is further illustrated.Wherein, being merely cited for property of accompanying drawing illustrates,
Represent is only schematic diagram, rather than pictorial diagram, it is impossible to it is interpreted as the restriction to this patent；In order to the reality of the present invention is better described
Executing example, some parts of accompanying drawing have omission, zoom in or out, and do not represent the size of actual product；To those skilled in the art
For, in accompanying drawing, some known features and explanation thereof may be omitted and be will be understood by.
The corresponding same or analogous parts of same or analogous label in the accompanying drawing of the embodiment of the present invention；Retouching in the present invention
In stating, it is to be understood that if having term " on ", D score, the orientation of the instruction such as "left", "right" or position relationship be for based on accompanying drawing
Shown orientation or position relationship, be for only for ease of the description present invention and simplify description rather than instruction or imply indication
Device or element must have specific orientation, with specific azimuth configuration and operation, therefore position relationship described in accompanying drawing
Term being merely cited for property explanation, it is impossible to be interpreted as the restriction to this patent, for the ordinary skill in the art, can
To understand the concrete meaning of above-mentioned term as the case may be.
Embodiment
The structural representation of the present invention a kind of packing crates automatic loading system as shown in Figures 1 to 4, moves including 3-D view
Dynamic device；Image collecting device 29, is connected with 3-D view mobile device, in order to gather packing crates 1 installation site picture；Six certainly
By degree robot 25；Robot driving device, in order to drive six-DOF robot 25 to move；Coordinate harvester, in order to adopt
Collection image collecting device 29 and the coordinate information of six-DOF robot 25；Control unit, with 3-D view mobile device, image
Harvester 29, six-DOF robot 25, robot driving device and coordinate harvester connect, and receive coordinate harvester
The coordinate information that gathered also drives image to adopt according to analysis result by 3-D view mobile device or robot driving device
Acquisition means 29 or six-DOF robot 25 displacement.
Wherein, six-DOF robot 25 includes base and extending arm, and base is connected by joint with extending arm, described pass
Being provided with joint sensors at joint, described extending arm end is provided with executor tail end.Driving means 5 is fluid pressure drive device or pneumatic
Driving means.
During the work of this system, image collecting device 29 is used for gathering image, and six-DOF robot 25 is used for carrying packaging
Case 1, coordinate harvester is for obtaining image collecting device 29 and the coordinate information of six-DOF robot 25, control unit root
Can determine that image collecting device 29 and the coordinate information of six-DOF robot 25 according to coordinate harvester feedack, control
The image that image collecting device 29 gathers is processed with the location to the packing crates 1 that six-DOF robot 25 captures by unit
Precision detects, and control unit controls six according to the positioning precision of the packing crates 1 detected by robot driving device 19
Degree of freedom robot 25 moves accurately to adjust the position of packing crates 1.One packing crates automatic loading system of the present invention, can be accurately
Packing crates is placed in the compartment of entrucking vehicle, it is achieved the mixing automatic loading of different size packing crates, and entrucking efficiency
Height, loading quality is reliable, saves human cost, reduces logistics cost.
Wherein, described packing crates automatic loading system also includes being connected with image collecting device 29 entrucking Makeup Optimization system
System, described entrucking Makeup Optimization system according to model, car sizes and the form of entrucking vehicle to needing packing crates 1 to be mounted
Size and arrangement mode is bound, described packing crates automatic loading system by entrucking Makeup Optimization Systematic definition need peace
The size and arrangement mode of the packing crates 1 of dress determines the coordinate information of image collecting device 29.
It addition, described packing crates automatic loading system is additionally provided with the first motion platform 9, the first motion platform 9 be provided with
The vertical position adjusting means 26 that control unit connects, the base of described six-DOF robot 25 is located at vertical position regulation dress
Put on 26.Described vertical position adjusting means 26 is spiral structure or loop bar structure.Setting of vertical position adjusting means 26
Put the vertical height being conveniently adjusted six-DOF robot 25 base, make the vertical up to working region of six-DOF robot 25
It is improved, to adapt to the different size of entrucking vehicle 16, car sizes and the packing cratess 1 of different vertical size.
Wherein, described packing crates automatic loading system also includes the first guide rail being arranged around around entrucking vehicle 16, institute
Stating the first motion platform 9 to be located on the first guide rail, described coordinate harvester is for being located on the first guide rail, for obtaining the first fortune
The displacement transducer 6 of moving platform 9 coordinate information.First guide rail includes two sections of line slideways 12 and one section of arc-shaped guide rail 11, first
Motion platform 9 moves along the first guide rail.Wherein, the quantity of the first motion platform 9 and six-DOF robot 25 can be according to reality
Border needs to be configured.During work, the first motion platform 9 under the driving effect of robot driving device 19 along the first guide rail
Move around entrucking vehicle 16, to meet the accessibility in entrucking region.
It addition, described 3-D view mobile device includes that X direction guiding rail 4, Z-direction guide rail 27, Y-direction guide rail 13, second move flat
The X of platform the 2, the 3rd motion platform the 10, the 4th motion platform 14 and driving the second motion platform 2 is to driving means 5, driving the 3rd fortune
The Z-direction driving means 3 of moving platform 10, the Y-direction driving means 33 of driving the 4th motion platform 14, described X is to driving means 5, Y-direction
Driving means 33 and Z-direction driving means 3 are connected with control unit respectively；Second motion platform 2 is located on X direction guiding rail 4, the second fortune
Moving platform 2 is provided with Z-direction guide rail 27, and the 3rd motion platform 10 is arranged on Z-direction guide rail 27, and the 3rd motion platform 10 is provided with Y
Direction guiding rail 13, the 4th motion platform 14 is arranged on Y-direction guide rail 13, and described image collecting device 29 is arranged on the 4th motion platform
On 14；Acquisition the second motion platform the 2, the 3rd motion it is respectively provided with flat on X direction guiding rail 4, Z-direction guide rail 27 and Y-direction guide rail 13
Platform 10 and the displacement transducer 6 of the 4th motion platform 14 coordinate information.Image collecting device 29 by the second motion platform 2, the
The motion of three motion platforms 10 and the 4th motion platform 14 is moved in realizing the three dimensions in entrucking vehicle 16 compartment, passes through
To the displacement transducer 6 for obtaining the second motion platform the 2, the 3rd motion platform 10 and the 4th motion platform 14 coordinate information
Data process, to obtain the space coordinates of image collecting device 29.So arrange and be easy to control unit and regulate more accurately
The image collecting device 29 position in three dimensions.
Wherein, six-DOF robot 25 executor tail end is provided with displacement transducer 6, and institute's displacement sensors 6 is used for examining
Survey the vertical dimension between executor tail end and packing crates to be captured 1.Control unit according to displacement transducer 6 feed back vertical away from
From, make six-DOF robot 25 executor end by controlling vertical position adjusting means 26 and six-DOF robot 25 motion
End is in close contact with packing crates 1.
It addition, described executor tail end is provided with the load transducer 23 being connected with control unit, described load transducer 23
The stability of article is captured for detecting executor tail end.So arrange during preventing robot 25 carrier package 1, bag
Vanning 1 comes off suddenly, causes the article in packing crates 1 to damage.
Wherein, six-DOF robot 25 executor tail end is provided with the grabbing device 24 for capturing packing crates 1.Described grab
Fetching puts 24 for sucker or electric magnet.The crawl to packing crates 1 and release are easy in the setting of grabbing device 24.
It addition, control unit can directly control robot 25 activity, it is possible to indirectly control robot 25 movable, the present embodiment
In, described system also includes the controller 20 controlling robot 25 activity, and described controller 20 is connected with control unit.Controller
20 can be set directly in robot 25, it is possible to departing from robot 25 and arrange, in the present embodiment, controller 20 departs from robot 25
Arrange.
When using this system, this system is combined with automatic material flow accessor robot, depositing of packing crates can be realized
Take and the automatization of entrucking process, be greatly enhanced entrucking efficiency and loading quality, save human cost, reduce logistics cost,
The especially second logistic in field of household appliances can reduce logistics cost, reduces the secondary price of commodity, and the market improving commodity is competing
Strive ability.
Existing entrucking Makeup Optimization system is according to model, car sizes and the form of entrucking vehicle 16 and bag to be transported
The size of vanning 1, may determine that quantity and the entrucking order of packing crates 1 in advance.Existing automatic material flow accessor robot will
The packing crates 1 needing vanning that in Automatic Warehouse, entrucking Makeup Optimization system determines is transported to join at station 35.Wherein, exist
During design handing-over station 35, position and the coordinate of handing-over station 35 can be determined in advance, and by the coordinate information of handing-over station 35
In storage in a control unit.In the present embodiment, handing-over station 35 being arranged on the surrounding of the first guide rail, its quantity can be according to need
It is configured, to improve parallel entrucking quantity and entrucking efficiency.
Existing automatic material flow accessor robot is according to the typesetting result of entrucking Makeup Optimization system, it would be desirable to vanning
Packing crates 1 is carried to join at station 35, because the coordinate position of handing-over station 35 can be determined in advance, thus may determine that treat
The position coordinates of installation kit vanning 1.It is arranged on the six-DOF robot 25 on the first motion platform 9 at robot driving device
Under the driving effect of 19, move along the first guide rail.Wherein the coordinate of the X-direction of the first motion platform 9 is by being arranged on straight line
The displacement transducer 6 of guide rail 12 end obtains；The coordinate information of the executor tail end of six-DOF robot 25 can be by controlling
Unit carries out coordinate transformation acquisition according to the data that joint sensors is fed back, and control unit can calculate six degree of freedom machine simultaneously
People 25 executor tail end coordinate and the error of coordinate joining station 35, according to the error of coordinate signal obtained, control unit is simultaneously
Control and regulation robot driving device 19, vertical position adjusting apparatus 26 and robot controller 20, so that six degree of freedom machine
The executor tail end of device people 25 arrives the surface of packing crates 1 to be installed at handing-over station 35；Six-DOF robot 25 is held
The displacement transducer 6 that row device end is installed can record hanging down between the grabbing device 24 of executor tail end and packaging to be installed 1
Straight distance, control unit is passed through vertical position adjusting apparatus 26 according to the vertical dimension obtained or drives six certainly by controller 20
Declined by the executor tail end of degree robot 25 so that the packing crates that the executor tail end of six-DOF robot 25 is installed captures
Device 24 is in close contact with packing crates 1 to be installed, until the position signalling that the displacement transducer 6 of executor tail end obtains is setting
Scope time, start packing crates grabbing device 24 and treat installation kit vanning and 1 carry out adsorbing or capturing, started rear time delay one section
Time, control unit controls six-DOF robot 25 by controller 20 and mentions its end, and gathers six degree of freedom machine simultaneously
According to the load signal recorded, the load signal of the load transducer 23 that device people 25 executor tail end is installed, judges that packing crates captures
The crawl that device 24 treats installation kit vanning 1 is the most stable.
When entrucking vehicle 16 arrives entrucking position, may determine that entrucking vehicle 16 according to parking spot and car sizes
The position coordinates at place, angle, compartment 18, control unit controls for driving the second motion platform the 2, the 3rd fortune according to this position coordinates
The X of moving platform 10 and the 4th motion platform 14 works to driving means 5, Z-direction driving means 3 and Y-direction driving means 33 so that figure
As harvester 29 arrives the position at place, angle, compartment 18；To be installed first bag obtained according to entrucking Makeup Optimization system
The horizontal size (length) of vanning 1, it may be determined that image collecting device 29 and entrucking vehicle 16 railway carriage border 15, railway carriage limit
The distance on boundary 36, thus may determine that the coordinate information of image collecting device 29；Control unit passes through X to driving means 5, Z-direction
Driving means 3 and Y-direction driving means 33 drive the second motion platform the 2, the 3rd motion platform 10 and the 4th motion platform 14 respectively
Move along respective guide rail, so that image collecting device 29 arrives defined location.Then, the coordinate of image collecting device 29 is believed
Breath passes to control unit, and control unit controls the first motion platform 9 according to this coordinate information by robot driving device 19
Move along the first guide rail, and by displacement transducer 6, the position of the first motion platform 9 is detected, when displacement transducer 6 is examined
Measure the first motion platform 9 with image collecting device 29 the site error of X-direction reaches the range of error set when,
Control unit is analyzed the alternate position spike detecting executor tail end with installation site to the picture that image collecting device 29 shoots
And executor tail end is finely adjusted until this alternate position spike is in the range of presetting according to this alternate position spike.When position being detected
After difference arrives the range of error set, control unit controls controller 20 and the packing crates to be installed 1 drawn is discharged and installed
Position to entrucking Makeup Optimization default.
When draw packing crates to be installed 1 installation after, under control unit determines according to entrucking Makeup Optimization system
The size of individual packing crates 1 to be installed and installation site, control for drive the second motion platform the 2, the 3rd motion platform 10 and
The X of the 4th motion platform 14 works to driving means 5, Z-direction driving means 3 and Y-direction driving means 33 so that image collecting device
29 positions moving to next packing crates to be installed 1.Meanwhile, six degree of freedom degree robot 25 is according to being located on the first guide rail
The position signalling that displacement transducer 6 detects, along first under the effect of the first motion platform 9 and robot driving device 19
Guide rail returns to join at station 35, captures next packing crates 1 to be installed, repeat the above steps and flow process simultaneously,
Until completing the installation of whole compartment intermediate package case 1.The entrucking position determined according to entrucking Makeup Optimization system in installation process
Put, simultaneously by image collecting device 29 between the most mounted packing crates 1 or border, compartment and packing crates to be installed 1
Site error realize the location of packing crates 1 to be installed, it is ensured that installation accuracy.
In the present embodiment, displacement transducer 6 is laser displacement sensor.
When using one packing crates automatic loading system of the present invention to carry out entrucking, specifically include following steps:
1) set handing-over station 35 and handing-over station 35 coordinate information and handing-over station 35 coordinate information is stored in control
In unit；
2) entrucking Makeup Optimization system is set, by the entrucking Makeup Optimization system size to needing packing crates 1 to be mounted
It is bound with arrangement mode, is determined the coordinate information of first packing crates 1 by the size and arrangement mode of packing crates 1, and
This coordinate information is transferred to control unit, and described control unit controls 3-D view mobile device according to this coordinate information and moves
Dynamic；
3) control unit drives six-DOF robot according to handing-over station 35 coordinate information by robot driving device
25 move to handing-over station 35 and perform grasping movement；
4) 3-D view mobile device drives image collecting device 29 to arrive the coordinate position of first packing crates 1；
5) control unit reads the coordinate information of image collecting device 29 and according to this coordinate information by robotically-driven
Device drives six-DOF robot 25 to move executor tail end first packaging of arrival finally making six-DOF robot 25
Near case 1 coordinate position, six-DOF robot 25 perform release movement；
6) image collecting device 29 moves to second packing crates 1 position according to entrucking Makeup Optimization system, and repeats to hold
Row step 3), 4), 5).
Wherein, described step 5) also includes the step being finely adjusted six-DOF robot 25 executor tail end: described
Control unit is analyzed the alternate position spike detecting executor tail end with installation site to the picture that image collecting device 29 shoots
And executor tail end is finely adjusted until this alternate position spike is in the range of presetting according to this alternate position spike.
Obviously, the above embodiment of the present invention is only for clearly demonstrating example of the present invention, and is not right
The restriction of embodiments of the present invention.For those of ordinary skill in the field, the most also may be used
To make other changes in different forms.Here without also cannot all of embodiment be given exhaustive.All at this
Any amendment, equivalent and the improvement etc. made within the spirit of invention and principle, should be included in the claims in the present invention
Protection domain within.
Claims (8)
1. a packing crates automatic loading system, it is characterised in that including:
3-D view mobile device；
Image collecting device (29), is connected with 3-D view mobile device, in order to gather packing crates (1) installation site picture；
Six-DOF robot (25)；
Robot driving device (19), in order to drive six-DOF robot (25) mobile；
Coordinate harvester, in order to gather image collecting device (29) and the coordinate information of six-DOF robot (25)；
Control unit, drives with 3-D view mobile device, image collecting device (29), six-DOF robot (25), robot
Dynamic device (19) and coordinate harvester connect, and receive coordinate information that coordinate harvester gathered logical according to analysis result
Cross 3-D view mobile device or robot driving device (19) drives image collecting device (29) or six-DOF robot
(25) displacement.
A kind of packing crates automatic loading system the most according to claim 1, it is characterised in that described packing crates automatic loading
System also includes the entrucking Makeup Optimization system being connected with image collecting device (29), and described entrucking Makeup Optimization system is according to dress
The size and arrangement mode needing packing crates to be mounted (1) is bound by the model of car vehicle, car sizes and form, described
Packing crates automatic loading system is by the size and arrangement side of need packing crates to be mounted (1) of entrucking Makeup Optimization Systematic definition
Formula determines the coordinate information of image collecting device (29).
A kind of packing crates automatic loading system the most according to claim 1, it is characterised in that described packing crates automatic loading
System is additionally provided with the first motion platform (9), and the first motion platform (9) is provided with the vertical position regulation dress being connected with control unit
Putting (26), described six-DOF robot (25) is located in vertical position adjusting means (26).
A kind of packing crates automatic loading system the most according to claim 3, it is characterised in that described packing crates automatic loading
System also includes that the first guide rail is located at by the first guide rail being arranged around around entrucking vehicle (16), described first motion platform (9)
On, described coordinate harvester is to be located on the first guide rail, for obtaining the displacement sensing of the first motion platform (9) coordinate information
Device (6).
A kind of packing crates automatic loading system the most according to claim 1, it is characterised in that described 3-D view moves dress
Put include X direction guiding rail (4), Z-direction guide rail (27), Y-direction guide rail (13), the second motion platform (2), the 3rd motion platform (10),
The X of four motion platforms (14) and driving the second motion platform (2) is to driving means (5), the Z-direction of driving the 3rd motion platform (10)
Driving means (3), the Y-direction driving means (33) of driving the 4th motion platform (14), described X drives to driving means (5), Y-direction
Device (33) and Z-direction driving means (3) are connected with control unit respectively；Second motion platform (2) is located on X direction guiding rail (4), the
Two motion platforms (2) are provided with Z-direction guide rail (27), and the 3rd motion platform (10) is arranged on Z-direction guide rail (27), and the 3rd motion is flat
Platform (10) is provided with Y-direction guide rail (13), and the 4th motion platform (14) is arranged on Y-direction guide rail (13), described image collecting device
(29) it is arranged on the 4th motion platform (14)；It is respectively equipped with use on X direction guiding rail (4), Z-direction guide rail (27) and Y-direction guide rail (13)
In obtaining the second motion platform (2), the 3rd motion platform (10) and the displacement transducer of the 4th motion platform (14) coordinate information
(6).
A kind of packing crates automatic loading system the most according to claim 1, it is characterised in that six-DOF robot (25)
Executor tail end is provided with displacement transducer (6), and institute's displacement sensors (6) is used for detecting executor tail end and packing crates to be captured
(1) vertical dimension between.
A kind of packing crates automatic loading system the most according to claim 1, it is characterised in that six-DOF robot (25)
Including base and extending arm, base is connected by joint with extending arm, and described joint is provided with joint sensors, described extending arm
End is provided with executor tail end, and described executor tail end is provided with the load transducer (23) being connected with control unit, described load
Sensor (23) captures the stability of article for detecting executor tail end.
A kind of packing crates automatic loading system the most according to claim 7, it is characterised in that six-DOF robot (25)
Executor tail end is provided with the grabbing device (24) for capturing packing crates (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620717141.XU CN205855455U (en) | 2016-07-08 | 2016-07-08 | A kind of packing crates automatic loading system |
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| CN201620717141.XU CN205855455U (en) | 2016-07-08 | 2016-07-08 | A kind of packing crates automatic loading system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106044281A (en) * | 2016-07-08 | 2016-10-26 | 长沙理工大学 | Automatic loading system and loading method for packaging box |
| CN106976733A (en) * | 2017-06-01 | 2017-07-25 | 太原刚玉物流工程有限公司 | Carton intelligent stacking loading system and its loading method |
-
2016
- 2016-07-08 CN CN201620717141.XU patent/CN205855455U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106044281A (en) * | 2016-07-08 | 2016-10-26 | 长沙理工大学 | Automatic loading system and loading method for packaging box |
| CN106976733A (en) * | 2017-06-01 | 2017-07-25 | 太原刚玉物流工程有限公司 | Carton intelligent stacking loading system and its loading method |
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