CN208471063U - A kind of 3D vision carton de-stacking system - Google Patents
A kind of 3D vision carton de-stacking system Download PDFInfo
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- CN208471063U CN208471063U CN201820553611.2U CN201820553611U CN208471063U CN 208471063 U CN208471063 U CN 208471063U CN 201820553611 U CN201820553611 U CN 201820553611U CN 208471063 U CN208471063 U CN 208471063U
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Abstract
The utility model relates to robot device's technical field more particularly to a kind of carton de-stacking systems.A kind of 3D vision carton de-stacking system, in a robot de-stacking region include: 3D sighting device, for carrying out three-dimensional localization to carton in space and extracting the coordinate information of the stack of cartons；Vision displacement mechanism is connected with the 3D sighting device, and the position of the 3D sighting device is adjusted according to the coordinate information；3D vision bracket, is vertical at by carton pipeline, and top is connected with the vision displacement mechanism；Unstacking robot is connected with the 3D sighting device signal, carries out de-stacking work to the carton according to the coordinate information.Due to taking above technical scheme, the utility model solve current de-stacking system for stack of cartons placement position require it is high, must disposably tear complete stack of cartons open, the defects such as low more than the stack of cartons of certain altitude, de-stacking working efficiency can not be positioned, provide it is a kind of have a wide range of application, the carton de-stacking system that de-stacking is high-efficient, easy-to-use.
Description
Technical field
The utility model relates to robot device's technical field more particularly to a kind of 3D vision carton de-stacking systems.
Background technique
De-stacking work is a very frequent job in the industries such as warehouse logistics and electric business, specifically by heap on pallet
Good carton carries out de-stacking according to demand, and is placed on the process that its elsewhere is transported on cardboard box conveying belt.Traditional de-stacking work
It is by being accomplished manually that large labor intensity, working efficiency be low and error rate with higher and security risk.
As the technology of robot industry develops, robot is introduced into extensively in de-stacking work.The de-stacking of mainstream at present
Although robot system still remains some defects instead of traditional manual work, such as every task must be by entire paper
Case heap has disposably been torn open, high to the placement location precision prescribed of stack of cartons, can not de-stacking do not meet the stack of cartons etc. of pre-set dimension.
Utility model content
The purpose of the utility model is to provide a kind of 3D vision carton de-stacking systems, solve the above technical problem.This reality
With it is novel solved the technical issues of can be realized using following technical scheme:
A kind of 3D vision carton de-stacking system includes: in a robot de-stacking region
3D sighting device, for carrying out three-dimensional localization to carton in space and extracting the coordinate information of the carton；
Vision displacement mechanism is connected with the 3D sighting device, adjusts the 3D sighting device according to the coordinate information
Position；
3D vision bracket, is vertical at by carton pipeline, and top is connected with the vision displacement mechanism；
Unstacking robot is connected with the 3D sighting device signal, tears open according to the coordinate information to the carton
Pile work.
Preferably, the 3D sighting device includes a 3D structure light and two 2D vision cameras.
Preferably, the 3D structure light includes camera and the projector, the projector by project structured light in carton surface,
The camera shoots carton and obtains the structure light image of carton surface；The structure light is default striped or image.
Preferably, the 3D sighting device is further equipped with dynamical system, be set to the 3D vision bracket on and with the view
Feel that displacement mechanism is connected, for adjusting position of the 3D sighting device on the 3D vision bracket and height.
Preferably, the dynamical system includes cylinder or motor.
Preferably, the robot top is also equipped with robot hand, for grabbing carton and putting transporting paper line.
The beneficial effect of above-mentioned technical proposal is:
The utility model is taken pictures mechanism by using moveable 3D vision, is realized to different cultivars difference size shape
Carton de-stacking operation, expand application range, optimize the requirement to de-stacking operation, improve work efficiency.
Detailed description of the invention
Fig. 1 is the top view of a preferred embodiment of the utility model；
Fig. 2 is the side view of a preferred embodiment of the utility model；
Fig. 3 is the range schematic diagram of taking pictures of a preferred embodiment of the utility model；
Fig. 4 is the de-stacking method flow diagram of the utility model.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are in the premise for not making creative work
Under every other embodiment obtained, fall within the protection scope of the utility model.
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, but not as the utility model
It limits.
A kind of 3D vision carton de-stacking system includes: in a robot de-stacking region 6
3D sighting device 1, for carrying out three-dimensional localization to carton in space and extracting the coordinate information of carton；
Vision displacement mechanism 2 is connected with 3D sighting device 1, and the position of 3D sighting device 1 is adjusted according to coordinate information, depending on
Feel that displacement mechanism 2 expands the scope of activities of 3D sighting device 1, expands the scope of application of the utility model；
3D vision bracket 3, is vertical at by carton pipeline 5, and top is connected with vision displacement mechanism 2, while can basis
The 3D vision bracket 3 of field demand design different size；
Unstacking robot 4 is connected with 1 signal of 3D sighting device, carries out de-stacking to carton according to coordinate information and will remove
Carton be transferred on carton pipeline 5.
3D sighting device 1 includes a 3D structure light and two 2D vision cameras, for detecting the coordinate information of carton, 3D knot
Structure light can detect the shape of carton, and 2D vision is kept in mind, and can detect that the length and width higher size information of carton.
3D structure light includes camera and the projector, and for the projector by project structured light in carton surface, camera shoots carton simultaneously
Obtain the structure light image of carton surface；Structure light is default striped or image, by default striped or image in carton table
The different projections in face influence to be analyzed, and then analyze the surface shape for obtaining carton.
3D sighting device 1 is further equipped with dynamical system, is set on 3D vision bracket 3 and is connected with vision displacement mechanism 2, uses
In position of the adjustment 3D sighting device 1 on 3D vision bracket 3 and height.
Dynamical system includes cylinder or motor, carries out specific type selecting according to the demand at scene.
Robot top is also equipped with robot hand, and for grabbing carton and putting transporting paper line, gripper is used and grabbed
The biggish specification of range is taken, to grab multiple cartons simultaneously, improve de-stacking efficiency.
When the utility model is used the step of, is as follows:
Step 1: carton enters robot de-stacking region 6, and 3D sighting device 1 is taken pictures, and detects the big of highest layer carton
Position is caused, 3D sighting device 1 is adjusted to by height appropriate of taking pictures by dynamical system；
Step 2: after 3D sighting device 1 carries out once photo taking, the length and width dimensions information of highest layer carton and center are grabbed
Location information is taken to provide, unstacking robot 4 carries out de-stacking to highest layer carton according to coordinate information；
Step 3: according to coordinate information, the de-stacking strategy of peak efficiency is calculated by software；It is wanted simultaneously according to scene
It asks, calculate and selects in a row to grab the long side of carton or short side in a row grabs.
The foregoing is merely the utility model preferred embodiment, be not intended to limit the embodiments of the present invention and
Protection scope should can appreciate that all in the utility model specification and diagram to those skilled in the art
Hold made equivalent replacement and obviously change obtained scheme, the protection model of the utility model should all be included in
In enclosing.
Claims (6)
1. a kind of 3D vision carton de-stacking system, which is characterized in that include: in a robot de-stacking region
3D sighting device, for carrying out three-dimensional localization to carton in space and extracting the coordinate information of the carton；
Vision displacement mechanism is connected with the 3D sighting device, and the position of the 3D sighting device is adjusted according to the coordinate information
It sets；
3D vision bracket, is vertical at by carton pipeline, and top is connected with the vision displacement mechanism；
Unstacking robot is connected with the 3D sighting device signal, carries out de-stacking work to the carton according to the coordinate information
Make.
2. a kind of 3D vision carton de-stacking system according to claim 1, which is characterized in that the 3D sighting device includes
One 3D structure light and two 2D vision cameras.
3. a kind of 3D vision carton de-stacking system according to claim 2, which is characterized in that the 3D structure light includes phase
Machine and the projector, by project structured light in carton surface, the camera shoots carton and obtains carton surface the projector
Structure light image；The structure light is default striped or image.
4. a kind of 3D vision carton de-stacking system according to claim 1, which is characterized in that the 3D sighting device is also matched
Dynamical system is had, be set on the 3D vision bracket and is connected with the vision displacement mechanism, for adjusting the 3D vision
Position of the device on the 3D vision bracket and height.
5. a kind of 3D vision carton de-stacking system according to claim 4, which is characterized in that the dynamical system includes gas
Cylinder or motor.
6. a kind of 3D vision carton de-stacking system according to claim 1, which is characterized in that also pacify on the robot top
Equipped with robot hand, for grabbing carton and putting transporting paper line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820553611.2U CN208471063U (en) | 2018-04-18 | 2018-04-18 | A kind of 3D vision carton de-stacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820553611.2U CN208471063U (en) | 2018-04-18 | 2018-04-18 | A kind of 3D vision carton de-stacking system |
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| CN208471063U true CN208471063U (en) | 2019-02-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108313748A (en) * | 2018-04-18 | 2018-07-24 | 上海发那科机器人有限公司 | A kind of 3D visions carton de-stacking system |
| CN110077864A (en) * | 2019-03-27 | 2019-08-02 | 河南中烟工业有限责任公司 | A kind of automatic co-ordinate-type unstacker |
-
2018
- 2018-04-18 CN CN201820553611.2U patent/CN208471063U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108313748A (en) * | 2018-04-18 | 2018-07-24 | 上海发那科机器人有限公司 | A kind of 3D visions carton de-stacking system |
| CN110077864A (en) * | 2019-03-27 | 2019-08-02 | 河南中烟工业有限责任公司 | A kind of automatic co-ordinate-type unstacker |
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