CN209023815U - A kind of flexible de-stacking robot palletizer system based on machine vision - Google Patents
A kind of flexible de-stacking robot palletizer system based on machine vision Download PDFInfo
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- CN209023815U CN209023815U CN201821797574.6U CN201821797574U CN209023815U CN 209023815 U CN209023815 U CN 209023815U CN 201821797574 U CN201821797574 U CN 201821797574U CN 209023815 U CN209023815 U CN 209023815U
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Abstract
The flexible de-stacking robot palletizer system based on machine vision that the utility model discloses a kind of, including the control of de-stacking robot palletizer unit I, de-stacking stacking shaping and delivery unit II, machine vision detection unit III and system and protective unit IV, the real time information that the machine vision detection unit III is obtained by system control and protective unit IV, controls de-stacking stacking shaping and delivery unit II and de-stacking robot palletizer unit I implements cargo and sorts out stacking and de-stacking.This system realizes unmanned, the automatically working of de-stacking robot palletizer, substantially increases production efficiency, with machine vision technique, keeps de-stacking robot palletizer easy to operate, quick, reliable.
Description
Technical field
The utility model belongs to de-stacking robot palletizer field, and in particular to a kind of flexible de-stacking code based on machine vision
Pile robot system.
Background technique
With stepping up for the degree of automation, Intelligent logistics field is rapidly developed, warehouse, factory floor, harbour,
The cargo handling work in many places such as harbour is more and more, is badly in need of intelligence degree height, flexible de-stacking robot palletizer
To replace hand stowage and traditional robot stacking.Hand stowage work at present relies primarily on artificial or fork truck to complete, but
It is that there are labor intensity amounts is big, stacking is irregular, lacks to de-stacking cargo and pile type requirement height, cargo damage ratio height etc. for which
Point greatly reduces de-stacking stacking efficiency.Traditional de-stacking robot palletizer is high to pile disk position accuracy demand, to pile type and goods
Object specification bad adaptability, or even there is serious bale broken or cargo damage phenomenon, cause great economic loss.Therefore, it researches and develops
A kind of intelligence degree is high, flexible (adapting to different size, different pile type shapes and pile disk position), the de-stacking that work efficiency is high
Robot palletizer has important engineering application value.
Utility model content
To solve drawbacks described above existing in the prior art, the purpose of this utility model is to provide a kind of intelligence degrees
High, adaptation different size, different pile type shapes and pile disk position, the flexibility based on machine vision that flexible, work efficiency is high
De-stacking robot palletizer system.
The utility model is realized by following technical proposals.
A kind of flexible de-stacking robot palletizer system based on machine vision of the utility model, including de-stacking stacking machine
People's unit I, de-stacking stacking shaping and delivery unit II, machine vision detection unit III and system control and protective unit IV, institute
De-stacking robot palletizer unit I is stated to be located in the middle part of system；The de-stacking stacking shaping and delivery unit II include de-stacking, stacking machine
Structure and reshaping device, de-stacking, stacking mechanism are located at I two sides of de-stacking robot palletizer unit, and reshaping device is located at de-stacking stacking machine
I front of device people unit；Machine Vision Detection is equipped in front of reshaping device and on the subsequent bracket of de-stacking robot palletizer unit I
Unit III；It further include system control and the protective unit IV set in systems, system control and protective unit IV and de-stacking stacking
Robot cell I, de-stacking stacking shaping and delivery unit II and machine vision detection unit III connect；It is controlled by system and anti-
Shield unit IV obtains III monitoring system of machine vision detection unit and obtains the real time information of cargo, controls the de-stacking stacking shaping
And delivery unit II and de-stacking robot palletizer unit I implement the stacking and de-stacking of cargo.
Preferably, the de-stacking robot palletizer unit I includes the robot support base being fixed on robot base, machine
Hinged two sections are hinged on device people's support base mechanical arm I, mechanical arm II, the end of mechanical arm II, which is equipped with, grabs suction compounding machine
Tool hand；The mechanical arm I, II can be rotated relative to 360 ° of robot support base, and six-freedom motion.
Preferably, there is the suction composite machine hand of grabbing sucker to pick up and handgrip obvolvent mechanism.
Preferably, the reshaping device includes reshaping frame and conveyer belt adjacent thereto, and reshaping frame is equipped with row's roller,
Cargo can be moved on the roller of reshaping frame and is delivered on conveyer belt.
Preferably, the de-stacking, stacking mechanism include being set to the pallet I of I side of de-stacking robot palletizer unit and placing
Stacking article thereon further includes the pallet II set on I other side of de-stacking robot palletizer unit and de-stacking placed thereon
Article.
Preferably, the machine vision detection unit III includes being set to II reshaping device of de-stacking stacking shaping and delivery unit
The fine positioning monocular camera and dimensional code scanner of front end, fine positioning monocular camera and dimensional code scanner obtain reshaping device and exist
The position of the cargo of the rolling of reshaping frame and quantity information.
Preferably, the machine vision detection unit III further includes the code for obtaining the stacking on pallet, de-stacking article
The fine positioning binocular camera of location information is put, the fine positioning binocular camera is respectively provided on binocular camera bracket.
The utility model has the advantages that due to taking above technical scheme
1. by de-stacking robot palletizer unit, de-stacking stacking shaping and delivery unit, machine vision detection unit and being
System control and protective unit, realize unmanned, the automatically working of de-stacking robot palletizer, substantially increase production efficiency,
With machine vision technique, keep de-stacking robot palletizer easy to operate, quick, reliable.
2. effectively increasing the flexibility of de-stacking robot palletizer, de-stacking robot palletizer by de-stacking robot palletizer unit
Grab inhale composite machine hand and meanwhile have sucker pick up with two kinds of operating modes of handgrip obvolvent, can to different size, not similar shape
The cargo of shape carries out efficient stacking de-stacking operation.
The spatial three-dimensional position for stamping article and stacking article and energy are torn open 3. can be accurately positioned by fine positioning binocular camera
It is enough quickly to identify different pile types, enable to grab by vision guide technology and inhales composite machine hand to different size, different shape, no
Pile type with pile disk position carries out high-efficiency homework, shows as that stacking is neat, tears open and stamps orderly, and bale broken and cargo damage rate are low.
4. realizing the automatic detection and bar code automatic identification of cargo by fine positioning monocular camera and dimensional code scanner
Function is conducive to grab the crawl for inhaling composite machine hand, while being capable of quick obtaining goods information and record carrying quantity.
Detailed description of the invention
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
It does not constitute improper limits to the present invention, in the accompanying drawings:
Fig. 1 is the utility model de-stacking robot palletizer cellular construction schematic diagram；
Fig. 2 is the utility model de-stacking robot palletizer entirety axis side structure schematic diagram；
Fig. 3 is the utility model de-stacking robot palletizer entirety overlooking structure diagram；
Fig. 4 is the utility model de-stacking robot palletizer overall system control cell schematics.
In figure: 1, robot base；2, robot support base；3, mechanical arm I；4, mechanical arm II；5, suction composite machine is grabbed
Hand；6, pallet I；7, stacking article；8, pallet II；9, de-stacking article；10, conveyer belt；11, reshaping frame；12, cargo；13, it rolls
Cylinder；14, scanner and camera support；15, fine positioning monocular camera；16, dimensional code scanner；17, binocular camera bracket I；18,
Fine positioning binocular camera I；19, binocular camera bracket II；20, fine positioning binocular camera II；21, power control cabinet shell；22, it protects
Column.
Specific embodiment
The utility model is described in detail below in conjunction with attached drawing and specific embodiment, in the signal of this utility model
Property embodiment and explanation be used to explain the utility model, but be not intended to limit the scope of the present invention.
FIG. 1 to FIG. 4 shows a kind of flexible de-stacking robot palletizer system signal based on machine vision of the utility model
Figure, wherein as shown in Fig. 2, the flexible de-stacking robot palletizer system based on machine vision includes: de-stacking robot palletizer unit
I, de-stacking stacking shaping and delivery unit III, machine vision detection unit II and system control and protective unit IV.Wherein, de-stacking
Robot palletizer unit I is located in the middle part of system；De-stacking stacking shaping and delivery unit II include de-stacking, stacking mechanism and trimmer
Structure, de-stacking, stacking mechanism are located at I two sides of de-stacking robot palletizer unit, before reshaping device is located at de-stacking robot palletizer unit I
Portion；Machine vision detection unit III is equipped in front of reshaping device and on the subsequent bracket of de-stacking robot palletizer unit I；Also wrap
Include system control and the protective unit IV set in systems, system control and protective unit IV and de-stacking robot palletizer unit I,
De-stacking stacking shaping and delivery unit II and machine vision detection unit III connect.De-stacking robot palletizer unit I is used for not
Same specification, cargo of different shapes carry out stacking de-stacking operation.De-stacking stacking shaping and delivery unit II are used for cargo shaping
And transmission, and it is moved to vision-based detection station.Machine vision detection unit III passes through fine positioning monocular camera and two-dimensional code scanning
Device detects automatically to cargo and bar code automatic identification, the accurate location information for obtaining cargo rapidly；Pass through fine positioning binocular camera
Stacking article is accurately positioned and tears the three-dimensional space position for stamping article open, quickly identifies different size, shape, pile disk position and pile
Type controls de-stacking robot palletizer unit I by system control and protective unit IV and carries out operation.System control and protective unit
IV obtains the position of the cargo of machine vision detection unit III and pile type information, controls I pair of difference of de-stacking robot palletizer unit
Cargo the classification stacking, de-stacking of specification, shape.Machine vision detection unit III is obtained by system control and protective unit IV to supervise
The real time information of system cargo is measured, de-stacking stacking shaping and delivery unit II is controlled and de-stacking robot palletizer unit I is real
It applies cargo and sorts out stacking and de-stacking.
As shown in Figure 1, de-stacking robot palletizer unit I include: robot base 1, robot support base 2, mechanical arm I 3,
Mechanical arm II 4 grabs and inhales composite machine hand 5, and wherein robot base 1 is fixedly mounted on ground, robot branch by expansion bolt
Support seat 2 is mounted by means of bolts on robot base 1, and mechanical arm I 3 and robot support base 2 are hinged, and mechanical arm I 3 is with machine
Device people support base 2 is the center of circle, it can be achieved that 360 ° of rotations, mechanical arm II 4 and mechanical arm I 3 are hinged, and mechanical arm II 4 can be in robot
Support base 2 is the center of circle, using mechanical arm I 3 and II 4 overall length of mechanical arm to move in the border circular areas of radius, grabs suction composite machine hand 5
It is mounted on the end of mechanical arm II 4, grabbing suction composite machine hand 5, there is sucker to pick up and handgrip obvolvent mechanism.Grab suction composite machine
Hand 5 have simultaneously sucker pick up with two kinds of operating modes of handgrip obvolvent, different size, cargo of different shapes can be carried out high
The stacking de-stacking of efficiency operates.
As shown in Fig. 2, de-stacking stacking shaping and delivery unit II include de-stacking, stacking mechanism and reshaping device, de-stacking, code
Stack machine structure is located at I two sides of de-stacking robot palletizer unit, and reshaping device is located at I front end of de-stacking robot palletizer unit.Trimmer
Structure includes reshaping frame 11 and conveyer belt 10 adjacent thereto, and conveyer belt 10 and ground are fixedly mounted on the feeding of robot left front
Station, reshaping frame 11 and ground be fixedly mounted on the cargo shaping station immediately ahead of robot and and conveyer belt 10 close to shaping
Frame 11 is equipped with row's roller 13, and cargo 12 can be moved on the roller 13 of reshaping frame 11 and is delivered on conveyer belt 10.Cargo
12 are sent into conveyer belt 10 from feeding port, reach shaping station by the transmission of conveyer belt 10, cargo 12 is by shaping then whole
Vision-based detection station is moved on the roller 13 of shape frame 11.
De-stacking, stacking mechanism include the stacking for being set to the pallet I 6 of I side of de-stacking robot palletizer unit and being placed on it
Article 7 further includes pallet II 8 and de-stacking article 9 placed thereon set on I other side of de-stacking robot palletizer unit.Its
Middle pallet I 6 is placed on the stacking pallet station on the right side of robot, and stacking article 7 is placed on pallet I 6, and pallet II 8 is placed on
De-stacking tray station on the left of robot, de-stacking article 9 are placed on pallet II 8.
As shown in connection with fig. 3 such as Fig. 2, machine vision detection unit III includes: scanner and camera support 14, fine positioning monocular
Camera 15, dimensional code scanner 16, binocular camera bracket I 17, fine positioning binocular camera I 18, binocular camera bracket II 19 and essence
Position binocular camera II 20.
Fine positioning monocular camera 15 and two dimension including being set to II reshaping device front end of de-stacking stacking shaping and delivery unit
Code scanner 16, fine positioning monocular camera 15 and dimensional code scanner 16 obtain rolling of the reshaping device in reshaping frame 11
The position of cargo 12 and quantity information.It further include on the binocular camera bracket of I rear two sides of de-stacking robot palletizer unit
Fine positioning binocular camera I 18, II 20, fine positioning binocular camera obtains the stacking position of stacking on the pallet, de-stacking article
Confidence breath.
Wherein scanner and camera support 14 and ground are fixedly mounted on the positioning crawl station of robot right front, and essence is fixed
Position monocular camera 15 and dimensional code scanner 16 are mounted by means of bolts on scanner and camera support 14；Pass through fine positioning
Monocular camera 15 and dimensional code scanner 16 realize the automatic detection whether cargo 12 reaches shaping station and cargo bar code certainly
Dynamic identification function can rapidly and accurately obtain the position letter of cargo 12 by visual identity, positioning and the scanning to cargo 12
Breath is conducive to grab the crawl for inhaling composite machine hand 5；It simultaneously being capable of 12 information of quick obtaining cargo and record carrying quantity.Binocular phase
Machine support I 17 and ground are fixedly mounted on the rear of stacking pallet station, and fine positioning binocular camera I 18 is bolted installation
On binocular camera bracket I 17, binocular camera bracket II 19 is fixedly mounted on the rear of de-stacking tray station, fine positioning with ground
Binocular camera II 20 is mounted by means of bolts on binocular camera bracket II 19, fixed by fine positioning binocular camera I 18 and essence
Position binocular camera II 20 can be accurately positioned stacking article and tear the spatial three-dimensional position for stamping article open and can quickly identify difference
Specification, different shape, the pile type of different pile disks position, enable to grab and inhale composite machine hand 5 to difference by vision guide technology
Specification, different shape, the pile type of different pile disks position carry out high-efficiency homework.
As shown in connection with fig. 2 such as Fig. 4, control system and protective unit IV include: power control cabinet shell 21, industrial personal computer, industrial personal computer
It is fixed that control unit, fine positioning binocular camera visual spatial attention unit, essence are moved with manipulator control unit, the mechanical arm cloud being separately connected
Position monocular camera visual spatial attention unit, two-dimensional code scanning control unit and protective fence 22.Wherein control system is by high-performance industry control
Machine composition, industrial personal computer are mounted on inside power control cabinet shell 21, and industrial personal computer passes through Ethernet interface and manipulator motion control unit
With manipulator control unit communication, is communicated by serial ports with two-dimensional code scanning control unit, pass through gigabit Ethernet and fine positioning
Monocular camera visual spatial attention unit and fine positioning binocular camera visual spatial attention unit communication, robot stacking, which is torn open, stamps station and whole
Protective fence 22 is installed on the periphery of shape station, and protective fence 22 can effectively play the effect of warning, protection and isolating work area.Fine positioning
Monocular camera visual spatial attention unit sends fine positioning monocular phase after detecting that cargo 12 reaches vision-based detection station, to industrial personal computer
The accurate location and identification cargo bar code, subsequent industrial personal computer 22 of machine testing instruction positioning cargo 12 are controlled by manipulator motion
Unit and the control of manipulator control unit, which are grabbed, inhales the crawl cargo of composite machine hand 5, at this time fine positioning binocular camera visual spatial attention list
Member starting finally grabs suction composite machine hand 5 and cargo 12 is put on pallet I 6.
Flexible de-stacking robot palletizer de-stacking palletization of the utility model based on machine vision is as follows:
1) the fine positioning monocular camera 15 of visual detection unit III and dimensional code scanner 16 detect cargo 12 and bar code, obtain
Scrolling position and quantity information of the picking object in reshaping frame 11；After fine positioning monocular camera 15 detects cargo 12 in place, it will arrive
Position signal is controlled by system and IV host computer of protective unit is sent to the port robot palletizer I/O；
2) position coordinates are passed through system control by the placement position of the pallet I 6 of the detection of fine positioning binocular camera I 18, II 20 simultaneously
System and protective unit IV are sent to I kilomega network PORT COM of de-stacking robot palletizer unit；It grabs and inhales the crawl cargo of composite machine hand 5
It is piled up by I 6 position compensation of pallet to correct position after 12, completes palletization operations；
3) after 11 upper conveyor belt 10 of reshaping frame detects 12 supplied materials of cargo by photoelectric sensor, start reshaping frame 11 to soft
Packet cargo carries out vibration leveling, and cargo 12 is transported to vision-based detection station；
4) identification positioning is carried out, by coordinate after the pile type of stacking article 7 on the detection of fine positioning binocular camera I 18 pallet I 6
Information is controlled by system and IV host computer of protective unit is sent to I kilomega network PORT COM of de-stacking robot palletizer unit, is
System control and the guidance of protective unit IV, which are grabbed, inhales the crawl stacking article 7 of composite machine hand 5；
5) fine positioning binocular camera II 20 detects the placement position of pallet II 8 simultaneously, and controls and protect list by system
Member IV is sent to I kilomega network PORT COM of de-stacking robot palletizer unit, and guidance, which is grabbed, inhales composite machine hand 5 for 7 yards of stacking article
It is put into stacking position new on pallet II 8, completes de-stacking operation.
The utility model is not limited to above-described embodiment, on the basis of technical solution disclosed by the utility model, this
For the technical staff in field according to disclosed technology contents, not needing creative labor can be special to some of which technology
Sign makes some replacements and deformation, these replacements and deformation are within the protection scope of the present utility model.
Claims (7)
1. a kind of flexible de-stacking robot palletizer system based on machine vision, which is characterized in that including de-stacking robot palletizer
Unit I, de-stacking stacking shaping and delivery unit II, machine vision detection unit III and system control and protective unit IV；It is described
De-stacking robot palletizer unit I is located in the middle part of system；The de-stacking stacking shaping and delivery unit II include de-stacking, stacking mechanism
And reshaping device, de-stacking, stacking mechanism are located at I two sides of de-stacking robot palletizer unit, reshaping device is located at de-stacking stacking machine
I front of people's unit；Machine Vision Detection list is equipped in front of reshaping device and on the subsequent bracket of de-stacking robot palletizer unit I
Member III；It further include system control and the protective unit IV set in systems, system control and protective unit IV and de-stacking stacking machine
Device people unit I, de-stacking stacking shaping and delivery unit II and machine vision detection unit III connect；It is controlled and is protected by system
Unit IV obtain machine vision detection unit III monitoring obtains the real time information of system cargo, control the de-stacking stacking shaping and
Delivery unit II and de-stacking robot palletizer unit I implement the stacking and de-stacking of cargo.
2. the flexible de-stacking robot palletizer system according to claim 1 based on machine vision, which is characterized in that described
De-stacking robot palletizer unit I includes the robot support base (2) being fixed on robot base (1), robot support base (2)
Upper hinged two sections mechanical arm I (3), the mechanical arms II (4) being hinged, the end of mechanical arm II (4), which is equipped with, grabs suction compounding machine
Tool hand (5)；The mechanical arm I (3), mechanical arm II (4) can be rotated relative to 360 ° of robot support base, and six degree of freedom is transported
It is dynamic.
3. the flexible de-stacking robot palletizer system according to claim 2 based on machine vision, which is characterized in that described
Grabbing suction composite machine hand (5), there is sucker to pick up and handgrip obvolvent mechanism.
4. the flexible de-stacking robot palletizer system according to claim 1 based on machine vision, which is characterized in that described
Reshaping device includes reshaping frame (11) and conveyer belt adjacent thereto (10), and reshaping frame (11) is equipped with row's roller (13), goods
Object (12) can be moved on the roller (13) of reshaping frame (11) and is delivered on conveyer belt (10).
5. the flexible de-stacking robot palletizer system according to claim 1 based on machine vision, which is characterized in that described
De-stacking, stacking mechanism include the stacking article for being set to the pallet I (6) of I side of de-stacking robot palletizer unit and being placed on it
It (7), further include the pallet II (8) and de-stacking article (9) placed thereon for being set to I other side of de-stacking robot palletizer unit.
6. the flexible de-stacking robot palletizer system according to claim 1 based on machine vision, which is characterized in that described
Machine vision detection unit III includes the fine positioning monocular phase set on II reshaping device front end of de-stacking stacking shaping and delivery unit
Machine (15) and dimensional code scanner (16), fine positioning monocular camera (15) and dimensional code scanner (16) obtain reshaping device whole
The position of the cargo (12) of the rolling of shape frame (11) and quantity information.
7. the flexible de-stacking robot palletizer system according to claim 1 based on machine vision, which is characterized in that described
Machine vision detection unit III further includes that the fine positioning for obtaining the stacking location information of the stacking on pallet, de-stacking article is double
Mesh camera I, II (18,20), the fine positioning binocular camera I, II (18,20) are respectively provided on binocular camera bracket.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821797574.6U CN209023815U (en) | 2018-11-01 | 2018-11-01 | A kind of flexible de-stacking robot palletizer system based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821797574.6U CN209023815U (en) | 2018-11-01 | 2018-11-01 | A kind of flexible de-stacking robot palletizer system based on machine vision |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109279373A (en) * | 2018-11-01 | 2019-01-29 | 西安中科光电精密工程有限公司 | A kind of flexible de-stacking robot palletizer system and method based on machine vision |
| CN110271873A (en) * | 2019-07-16 | 2019-09-24 | 上海沃迪智能装备股份有限公司 | A kind of film roll de-stacking device and de-stacking method |
| CN110950007A (en) * | 2019-12-23 | 2020-04-03 | 山东科技大学 | Coal mine material stacking and loading robot system based on machine vision |
| CN113895908A (en) * | 2021-10-15 | 2022-01-07 | 江苏汇博机器人技术股份有限公司 | Stacking robot carrying route planning method |
-
2018
- 2018-11-01 CN CN201821797574.6U patent/CN209023815U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109279373A (en) * | 2018-11-01 | 2019-01-29 | 西安中科光电精密工程有限公司 | A kind of flexible de-stacking robot palletizer system and method based on machine vision |
| CN109279373B (en) * | 2018-11-01 | 2024-02-20 | 西安中科光电精密工程有限公司 | Flexible unstacking and stacking robot system and method based on machine vision |
| CN110271873A (en) * | 2019-07-16 | 2019-09-24 | 上海沃迪智能装备股份有限公司 | A kind of film roll de-stacking device and de-stacking method |
| CN110950007A (en) * | 2019-12-23 | 2020-04-03 | 山东科技大学 | Coal mine material stacking and loading robot system based on machine vision |
| CN113895908A (en) * | 2021-10-15 | 2022-01-07 | 江苏汇博机器人技术股份有限公司 | Stacking robot carrying route planning method |
| CN113895908B (en) * | 2021-10-15 | 2023-06-09 | 江苏汇博机器人技术股份有限公司 | Method for planning carrying route of stacking robot |
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