CN209701823U - A kind of vision guide de-stacking robot palletizer equipment - Google Patents
A kind of vision guide de-stacking robot palletizer equipment Download PDFInfo
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- CN209701823U CN209701823U CN201920119515.1U CN201920119515U CN209701823U CN 209701823 U CN209701823 U CN 209701823U CN 201920119515 U CN201920119515 U CN 201920119515U CN 209701823 U CN209701823 U CN 209701823U
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Abstract
The utility model relates to a kind of vision guide de-stacking robot palletizer equipments, with robot de-stacking Palletizer, robot de-stacking Palletizer has articulated robot and articulated robot end effector, the upside of robot de-stacking Palletizer is equipped with pallet flow system, the left side of robot de-stacking Palletizer is equipped with labeling system, and the downside of robot de-stacking Palletizer is equipped with piling station.The utility model uses robot de-stacking Palletizer, pallet flow system, labeling system, piling station, safety guard net, automation de-stacking, mark and stacking are carried out to flat work pieces, realize unmanned work, reduce cost of labor, reduce uncontrollable security risk brought by manual handling, improves whole working efficiency.End effector of robot takes different types of vacuum generator to be combined, and by the adjustment position of stepper motor, wide adaptation range can be directed to different type, and the flat work pieces of different location carry out de-stacking and stacking.
Description
Technical field
The utility model relates to robot de-stacking palletizing technology field, in particular to a kind of vision guide de-stacking stacking machine
People's equipment.
Background technique
It is to be carried out a little pair by program using robot gripper mostly in the prior art in robot de-stacking technical field
The de-stacking of point.It is only point-to-point using the implementation of common handgrip by program in this way since the specification of pile type and arrangement are not fully unified
De-stacking, regular mistake can occurs, interrupt de-stacking process, influence production efficiency.Especially cope with different pile type or
When having occurred and that the pile type of change during transportation, point-to-point de-stacking mode malfunctions more, and production efficiency can be greatly reduced.
Therefore need to design a kind of de-stacking robot palletizer equipment for coping with different pile types.
Summary of the invention
The purpose of the utility model is to overcome the defects of the prior art, and it is a kind of time saving and energy saving to provide, and work efficiency is high, reduces
A kind of vision guide de-stacking robot palletizer suitable for grabbing flat work pieces of labor intensity is equipped.
Realizing the technical solution of the utility model aim is: a kind of vision guide de-stacking robot palletizer equipment has machine
Device people's de-stacking Palletizer, the robot de-stacking Palletizer have articulated robot and articulated robot end effector,
The upside of the robot de-stacking Palletizer is equipped with pallet flow system, and the left side of the robot de-stacking Palletizer is equipped with
The downside of labeling system, the robot de-stacking Palletizer is equipped with piling station.
Articulated robot end effector described in above-mentioned technical proposal has a connecting flange, described in connecting flange connection
The end of articulated robot, the connecting flange are connected with adsorption-buffering system, and the adsorption-buffering system is connected with main cavity
Mounting plate, main chamber body mounting plate are equipped with vacuum suction system, vision positioning system, pile type height detecting system and fall inspection
There is vacuum suction system stepper motor, vacuum suction system guide rail and vacuum to fill for examining system, the vacuum suction system
It sets, the vacuum suction system stepper motor is connected on the vacuum suction system guide rail, the vacuum generating device connection
It in the vacuum suction system stepper motor and is connected on the vacuum suction system guide rail, under main chamber body mounting plate
Side is equipped with sponge.
Vacuum generating device described in above-mentioned technical proposal has the first vacuum generating device set gradually from left to right, the
Two vacuum generating devices and third vacuum generating device, first vacuum generating device, the second vacuum generating device and third
It is respectively connected with the vacuum suction system stepper motor on the left of vacuum generating device, first vacuum generating device and described
3 the first vacuum generators are equipped on second vacuum generating device, the third vacuum generating device is equipped with 1 second very
The size of empty generator, second vacuum generator is greater than first vacuum generator, first vacuum generating device
On 3 the first vacuum generators arranged in equilateral triangle, 3 the first vacuum generators on second vacuum generating device
It is arranged in spaced linear.
Vision positioning system described in above-mentioned technical proposal has vision camera, camera support, light source, light source mounting bracket,
There are two the camera support tools, is uniformly set to the leading flank both sides of main chamber body mounting plate, and the vision camera is set to institute
Camera support is stated, the light source mounting bracket is connected to four Bian Bianyuan of main chamber body mounting plate, and the light source is connected to institute
State light source mounting bracket.
Pile type height detecting system described in above-mentioned technical proposal is located at left side and the leading flank of main chamber body mounting plate
At angular position, the pile type height detecting system has pile type height detecting system sensor stand and pile type height detection system
System sensor.
First vacuum generating device described in above-mentioned technical proposal, second vacuum generating device and third vacuum hair
Generating apparatus, which has also been electrically connected, falls detection system, and the detection system that falls is with detection system sensor, detection system
Sensor stand and telescopic rod, the detection system sensor are connected to the detection system sensor stand, the telescopic rod
It is arranged close to the left side of the detection system sensor stand.
Pallet flow system described in above-mentioned technical proposal has pallet input and output material station, pallet and pallet positional stations, institute
The two sides that pallet input and output material station is located at the pallet positional stations are stated, the pallet input and output material station and the pallet position work
Position constitutes U-shaped.
Labeling system described in above-mentioned technical proposal has roller transmission station, labelling machine and shaping station, the labelling machine
It is installed between the roller transmission station and the shaping station.
There are two piling station adjacent symmetric is set described in above-mentioned technical proposal, pallet is equipped in the piling station.
The right side of robot de-stacking Palletizer, the left side of the labeling system, the machine described in above-mentioned technical proposal
The portion of the downside of the downside and labeling system of people's de-stacking Palletizer is equipped with safety guard net.
After adopting the above technical scheme, the utility model have the effect of it is following positive:
(1) the utility model uses robot de-stacking Palletizer, pallet flow system, labeling system, piling station, right
Flat work pieces carry out automation de-stacking, mark and stacking, realize unmanned work, reduce cost of labor, reduce manual handling
Brought uncontrollable security risk, improves whole working efficiency.
(2) the articulated robot end effector of the utility model takes 3 kinds of different types of vacuum generators to carry out group
It closes, by the adjustment position of stepper motor, wide adaptation range can be directed to different type, and the flat work pieces of different location carry out
De-stacking and stacking.
(3) the utility model is safe to being arranged around robot de-stacking Palletizer, labeling system and piling station (400)
Protective net protects production safety when the utility model operation comprehensively.
Detailed description of the invention
In order to make the content of the utility model be easier to be clearly understood, below according to specific embodiment and combine attached
Figure, is described in further detail the utility model, wherein
Fig. 1 is the schematic perspective view of the utility model；
Fig. 2 is the overlooking structure diagram of the utility model；
Fig. 3 is the articulated robot end effector schematic perspective view of the utility model；
Fig. 4 is articulated robot end effector positive structure diagram in Fig. 3 of the utility model；
Fig. 5 is the structural schematic diagram of Fig. 3 Parma type height detecting system of the utility model；
Fig. 6 be the utility model Fig. 3 in fall the structural schematic diagram of detection system.
1- connecting flange, 2- adsorption-buffering system, 3- main cavity mounting plate, main chamber body mounting plate, 4- are equipped with vacuum
Adsorption system, 5- vision positioning system, 6- pile type height detecting system, 7- fall detection system, 8- sponge, 100- robot and tear open
Pile Palletizer, 200- pallet flow system, 300- labeling system, 400- piling station, 500- safety guard net,
41- vacuum suction system stepper motor, 42- vacuum suction system guide rail, 43- vacuum generating device, 44- first are true
Empty generator, the second vacuum generator of 45-,
51- vision camera, 52- camera support, 53- light source, 54- light source mounting bracket,
61- pile type height detecting system sensor stand, 62- pile type height detecting system sensor,
71- detection system sensor, 72- detection system sensor stand, 73- telescopic rod,
101- articulated robot end effector, 102- articulated robot,
201- pallet input and output material station, 202- pallet, 203- pallet positional stations,
301- roller transmits station, 302- labelling machine, 303- shaping station.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here in attached drawing description and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the range of the utility model protection.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, or
The utility model product using when the orientation or positional relationship usually put, be merely for convenience of description the utility model and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " etc. are only used for area
Divide description, is not understood to indicate or imply relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
See that Fig. 1 and Fig. 2, the utility model have robot de-stacking Palletizer 100, the robot de-stacking Palletizer
100 have articulated robot 102 and articulated robot end effector 101, the upside of the robot de-stacking Palletizer 100
Equipped with pallet flow system 200, the left side of the robot de-stacking Palletizer 100 is equipped with labeling system 300, the robot
The downside of de-stacking Palletizer 100 is equipped with piling station 400.
Above-mentioned is the core technology scheme of the utility model, has robot de-stacking Palletizer 100, the robot is torn open
Pile Palletizer 100 has articulated robot 102 and articulated robot end effector 101, and the robot de-stacking stacking is set
Standby 100 upside is equipped with pallet flow system 200, and the left side of the robot de-stacking Palletizer 100 is equipped with labeling system
300, the downside of the robot de-stacking Palletizer 100 is equipped with piling station 400.Pallet flow system 200 is by flat work pieces
It is transported to designated position, robot de-stacking Palletizer 100 carries out de-stacking work, the flat work pieces after de-stacking are transported to labeling
System 300 is labelled, and is put after labeling to piling station 400 and is carried out stacking processing.
See that Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the articulated robot end effector 101 have connecting flange 1, the connection
Flange 1 connects the end of the articulated robot 102, and the connecting flange 1 is connected with adsorption-buffering system 2, and the absorption is slow
Flushing system 2 is connected with main cavity mounting plate 3, main chamber body mounting plate 3 be equipped with vacuum suction system 4, vision positioning system 5,
Pile type height detecting system 6 and fall detection system 7, the vacuum suction system 4 have vacuum suction system stepper motor 41,
Vacuum suction system guide rail 42 and vacuum generating device 43, the vacuum suction system stepper motor 41 are connected to the vacuum and inhale
On attached system guideways 42, the vacuum generating device 43 is connected to the vacuum suction system stepper motor 41 and is connected to described
On vacuum suction system guide rail 42, the downside of main chamber body mounting plate 3 is equipped with sponge 8, and de-stacking can when grabbing flat work pieces
To provide certain cushion effect.Vision positioning system 5 and pile type height detecting system 6 determine pile type and the position of flat work pieces,
The coordinate system to de-stacking workpiece is calculated, then vacuum suction system stepper motor 41 exists according to program in vacuum suction system 4
It is moved to the top to de-stacking workpiece on vacuum suction system guide rail 42, passes through the flat of program designation the utility model visual guidance
Face unstacking robot end effector decline crawl flat work pieces.Vacuum generating device 43 grabs flat work pieces Shi Huiyu plane work
Part contacts and is given a upward active force, which shifts up by main chamber body mounting plate 3, and the absorption is slow
Flushing system 2 buffers the active force.After flat work pieces are raised, the adsorption-buffering system 2 automatically resets.
The vacuum generating device 43 has the first vacuum generating device 431 set gradually from left to right, the second vacuum
Generating device 432 and third vacuum generating device 433, first vacuum generating device 431, the second vacuum generating device 432
The vacuum suction system stepper motor 41, the first vacuum hair are respectively connected with the left side of third vacuum generating device 433
3 the first vacuum generators 44, the third vacuum hair are equipped on generating apparatus 431 and second vacuum generating device 432
Generating apparatus 433 is equipped with 1 the second vacuum generator 45, and the size of second vacuum generator 45 is greater than first vacuum
Generator 44,3 the first vacuum generators 44 on first vacuum generating device 431 are arranged in equilateral triangle, and described the
3 the first vacuum generators 44 on two vacuum generating devices 432 are arranged in spaced linear.First vacuum generating device 431,
Two vacuum generating devices 432 and third vacuum generating device 433.This 3 groups of vacuum generating devices 431 are set, can be worked independently
It can also work together, it is adaptable.Vacuum suction system stepper motor 41 can make first vacuum generating device 431,
Second vacuum generating device 432 and third vacuum generating device 433 are translated in vacuum suction system guide rail 42 or so adjusts orientation,
Cope with the flat work pieces of different location.In order to make adaptibility to response more preferably, the first vacuum generator 44 and second vacuum occur
The difference of 45 power of device copes with the flat work pieces of different gravity, and it is true that the pull of vacuum of the second vacuum generator 45 is greater than first
The pull of vacuum of empty generator 44.In addition, the moulding of 3 the first vacuum generators 44 of the first vacuum generating device 431 arranges
More adapt to absorption miniature circular flat work pieces；The moulding of 3 the first vacuum generators 44 on second vacuum generating device 432 is arranged
Column more adapt to absorption strip flat work pieces.
The vision positioning system 5 has vision camera 51, camera support 52, light source 53, light source mounting bracket 54, described
There are two the tools of camera support 52, is uniformly set to the leading flank both sides of main chamber body mounting plate 3, and the vision camera 51 is set to institute
Camera support 52 is stated, the light source mounting bracket 54 is connected to four Bian Bianyuan of main chamber body mounting plate 3, and the light source 5 connects
It is connected to the light source mounting bracket 54.The light source mounting bracket 54 and the light source 53 are equipped with 6, and main cavity mounting plate 3 is left
Each one of right side, ensures that two vision cameras 51 can have enough brightness to can determine flat work pieces by front and back sides each two
Pile type and position.The light source mounting bracket 54 also sets up adjustable angle structure and copes with different environment.
The pile type height detecting system 6 is located at left side and the leading flank angular position of main chamber body mounting plate 3,
The pile type height detecting system 6 has pile type height detecting system sensor stand 61 and pile type height detecting system sensor
62.Pile type height detecting system 6 mainly to measure the height of pile type, cooperates together with vision positioning system 5 and calculates wait tear open
The coordinate system of pile flat work pieces.
First vacuum generating device 431, second vacuum generating device 432 and the third vacuum generating device
433 have also been electrically connected and fall detection system 7, and the detection system 7 that falls is with detection system sensor 71, detection system
Sensor stand 72 and telescopic rod 73, the detection system sensor 71 are connected to the detection system sensor stand 72, institute
Telescopic rod 73 is stated to be arranged close to the left side of the detection system sensor stand 72.During carrying, if article falls
The case where falling can make alarm by sensor feedback to system.
See that Fig. 1 and Fig. 2, the pallet flow system 200 have pallet input and output material station 201, pallet 202 and pallet positioning
Station 203, the pallet input and output material station 201 are located at the two sides of the pallet positional stations 203, the pallet input and output material station
201 and the pallet positional stations 203 constitute U-shaped.The length of pallet input and output material station 201 can be set according to specific requirements,
Pallet positional stations 203 are used to suspend the transmission of pallet 202, facilitate crawl de-stacking.
The labeling system 300 has roller transmission station 301, labelling machine 302 and shaping station 303, the labelling machine
302 are installed between the roller transmission station 301 and the shaping station 303.After flat work pieces de-stacking, it is first placed in roller biography
Station 301 is sent, labelling machine 302 is next transferred to, shaping station 303 is moved to after 302 mark of labelling machine, in shaping station
Subsequent palletizing operation is waited after 303 adjustment placing directions.
400 adjacent symmetric of piling station is equipped with pallet 202 in the piling station 400 there are two setting.Stacking work
Enough positions and space are provided after setting pallet 202 is on position 400 convenient for mark and carry out palletization operations.
The right side of the robot de-stacking Palletizer 100, the left side of the labeling system 300, the robot de-stacking
The portion of the downside of Palletizer 100 and the downside of the labeling system 300 is equipped with safety guard net 500.
The working principle of the utility model are as follows: in pallet flow system 200, flat work pieces are placed in pallet 202 and are passed through
Pallet positional stations 203 are transported to by pallet input and output material station 201.Robot de-stacking Palletizer 100 carries out de-stacking work, closes
Save the top for the flat work pieces that robot 102 drives articulated robot end effector 101 to reach to de-stacking.Vision positioning system
5 and pile type height detecting system 6 determine flat work pieces pile type and position, calculate the coordinate system to de-stacking workpiece, then very
Vacuum suction system stepper motor 41 is moved on vacuum suction system guide rail 42 to de-stacking according to program in empty adsorption system 4
The top of workpiece, it is flat by the plane unstacking robot end effector decline crawl of program designation the utility model visual guidance
Face workpiece.According to different flat work pieces, using different vacuum generating devices 43, vacuum generating device 43 grabs flat work pieces
Shi Huiyu flat work pieces contact and are given a upward active force, and the active force is by main chamber body mounting plate 3 to upper
It moves, the adsorption-buffering system 2 buffers the active force.After flat work pieces are raised, the adsorption-buffering system 2 is automatic
It resets.Wherein portion of sponge is contacted with article surface, is adsorbed by the vacuum that vacuum suction system 4 generates to article, so
It is transported to specified position afterwards, it, can be by falling detection system 7 if the case where article is fallen during carrying
System is fed back, alarm is made.The roller that flat work pieces after de-stacking are transported to labeling system 300 is transmitted into station 301, then
It is sent to labelling machine 302, is moved to shaping station 303 after 302 mark of labelling machine, adjusts placing direction in shaping station 303
After wait subsequent palletizing operation to be labelled, put after labeling to piling station 400 carry out stacking processing.
Particular embodiments described above has carried out into one the purpose of this utility model, technical scheme and beneficial effects
Step is described in detail, it should be understood that being not limited to this foregoing is merely specific embodiment of the utility model
Utility model, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done should all wrap
Containing being within the protection scope of the utility model.
Claims (10)
1. a kind of vision guide de-stacking robot palletizer equipment, has robot de-stacking Palletizer (100), it is characterised in that:
The robot de-stacking Palletizer (100) has articulated robot (102) and articulated robot end effector (101), institute
The upside for stating robot de-stacking Palletizer (100) is equipped with pallet flow system (200), the robot de-stacking Palletizer
(100) left side is equipped with labeling system (300), and the downside of the robot de-stacking Palletizer (100) is equipped with piling station
(400)。
2. a kind of vision guide de-stacking robot palletizer equipment according to claim 1, it is characterised in that: the joint machine
Device people end effector (101) has connecting flange (1), and the connecting flange (1) connects the end of the articulated robot (102)
End, the connecting flange (1) are connected with adsorption-buffering system (2), and the adsorption-buffering system (2) is connected with main cavity mounting plate
(3), main chamber body mounting plate (3) is equipped with vacuum suction system (4), vision positioning system (5), pile type height detecting system
(6) it and falls detection system (7), the vacuum suction system (4) has vacuum suction system stepper motor (41), vacuum suction
System guideways (42) and vacuum generating device (43), the vacuum suction system stepper motor (41) are connected to the vacuum suction
On system guideways (42), the vacuum generating device (43) is connected to the vacuum suction system stepper motor (41) and is connected to
On the vacuum suction system guide rail (42), the downside of main chamber body mounting plate (3) is equipped with sponge (8).
3. a kind of vision guide de-stacking robot palletizer equipment according to claim 2, it is characterised in that: the vacuum hair
Generating apparatus (43) have set gradually from left to right the first vacuum generating device (431), the second vacuum generating device (432) and
Third vacuum generating device (433), first vacuum generating device (431), the second vacuum generating device (432) and third are true
The vacuum suction system stepper motor (41) is respectively connected on the left of empty generating device (433), first vacuum fills
It sets and is equipped with 3 the first vacuum generators (44), the third vacuum on (431) and second vacuum generating device (432)
Generating device (433) is equipped with 1 the second vacuum generator (45), and the size of second vacuum generator (45) is greater than described
First vacuum generator (44), 3 the first vacuum generators (44) on first vacuum generating device (431) are in equilateral three
Angle arranges, and 3 the first vacuum generators (44) on second vacuum generating device (432) arrange in spaced linear.
4. a kind of vision guide de-stacking robot palletizer equipment according to claim 2, it is characterised in that: the vision is fixed
Position system (5) has vision camera (51), camera support (52), light source (53), light source mounting bracket (54), the camera support
(52) there are two tool, the leading flank both sides of main chamber body mounting plate (3) are uniformly set to, the vision camera (51) is set to described
Camera support (52), the light source mounting bracket (54) are connected to four Bian Bianyuan of main chamber body mounting plate (3), the light source
(53) it is connected to the light source mounting bracket (54).
5. a kind of vision guide de-stacking robot palletizer equipment according to claim 2, it is characterised in that: the pile type is high
Degree detection system (6) is located at left side and the leading flank angular position of main chamber body mounting plate (3), the pile type height inspection
Examining system (6) has pile type height detecting system sensor stand (61) and pile type height detecting system sensor (62).
6. a kind of vision guide de-stacking robot palletizer equipment according to claim 3, it is characterised in that: described first is true
Empty generating device (431), second vacuum generating device (432) and the third vacuum generating device (433) are also electric respectively
It is connected with and falls detection system (7), described fall detection system (7) are sensed with detection system sensor (71), detection system
Device bracket (72) and telescopic rod (73), the detection system sensor (71) are connected to the detection system sensor stand
(72), the telescopic rod (73) is arranged close to the left side of the detection system sensor stand (72).
7. a kind of vision guide de-stacking robot palletizer equipment according to claim 1, it is characterised in that: the pallet flow
Transfer from one department to another to unite (200) with pallet input and output material station (201), pallet (202) and pallet positional stations (203), the pallet disengaging
Material station (201) is located at the two sides of the pallet positional stations (203), the pallet input and output material station (201) and the pallet
Positional stations (203) constitute U-shaped.
8. a kind of vision guide de-stacking robot palletizer equipment according to claim 1, it is characterised in that: the labeling system
There is system (300) roller transmission station (301), labelling machine (302) and shaping station (303), the labelling machine (302) to be installed on
Between roller transmission station (301) and the shaping station (303).
9. a kind of vision guide de-stacking robot palletizer equipment according to claim 1, it is characterised in that: the stacking work
Position (400) adjacent symmetric is equipped with pallet (202) on the piling station (400) there are two setting.
10. a kind of vision guide de-stacking robot palletizer equipment according to claim 1, it is characterised in that: the machine
The right side of people's de-stacking Palletizer (100), the left side of the labeling system (300), the robot de-stacking Palletizer (100)
Downside and the labeling system (300) downside portion be equipped with safety guard net (500).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920119515.1U CN209701823U (en) | 2019-01-24 | 2019-01-24 | A kind of vision guide de-stacking robot palletizer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920119515.1U CN209701823U (en) | 2019-01-24 | 2019-01-24 | A kind of vision guide de-stacking robot palletizer equipment |
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| Publication Number | Publication Date |
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| CN209701823U true CN209701823U (en) | 2019-11-29 |
Family
ID=68641319
Family Applications (1)
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|---|---|---|---|
| CN201920119515.1U Active CN209701823U (en) | 2019-01-24 | 2019-01-24 | A kind of vision guide de-stacking robot palletizer equipment |
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| CN (1) | CN209701823U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911755A (en) * | 2021-10-26 | 2022-01-11 | 安徽海螺暹罗耐火材料有限公司 | Automatic pile up neatly system of breaking a jam of finished product is able to bear or endure firebrick |
| CN114249135A (en) * | 2021-12-31 | 2022-03-29 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic workpiece unstacking and feeding system and method |
| CN117735201A (en) * | 2023-12-26 | 2024-03-22 | 杭州三奥智能科技有限公司 | Automatic feeding stacking mechanism of vision guiding robot |
-
2019
- 2019-01-24 CN CN201920119515.1U patent/CN209701823U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911755A (en) * | 2021-10-26 | 2022-01-11 | 安徽海螺暹罗耐火材料有限公司 | Automatic pile up neatly system of breaking a jam of finished product is able to bear or endure firebrick |
| CN114249135A (en) * | 2021-12-31 | 2022-03-29 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic workpiece unstacking and feeding system and method |
| CN117735201A (en) * | 2023-12-26 | 2024-03-22 | 杭州三奥智能科技有限公司 | Automatic feeding stacking mechanism of vision guiding robot |
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