CN210546473U - Vision-based collaborative robot logistics sorting system - Google Patents
Vision-based collaborative robot logistics sorting system Download PDFInfo
- Publication number
- CN210546473U CN210546473U CN201921288743.8U CN201921288743U CN210546473U CN 210546473 U CN210546473 U CN 210546473U CN 201921288743 U CN201921288743 U CN 201921288743U CN 210546473 U CN210546473 U CN 210546473U
- Authority
- CN
- China
- Prior art keywords
- detection device
- logistics
- visual detection
- vision
- cooperative robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a cooperation machine personage flow divides sorting system based on vision, including commodity circulation transfer chain, branch vanning, three degree of freedom's visual detection device, cooperation robot and control system, visual detection device cooperation activity is installed in the top of commodity circulation transfer chain, and visual detection device self-adaptation is harmonious and is discerned position and the information of carrying on the commodity circulation transfer chain to the position of end is got to discernment this cooperation robot clamp. The utility model discloses not only reduce the error rate of equipment, raise the efficiency moreover, alleviate personnel's work, it both satisfies the task volume of commodity circulation letter sorting, can guarantee system's letter sorting quality with the help of visual system again to realize the automation and the intellectuality of production, can further ensure operation personnel's safety, alleviate intensity of labour, improve work efficiency, be the requirement of following commodity circulation trade technological continuation development.
Description
Technical Field
The utility model relates to a commodity circulation intelligence letter sorting equipment field, the more specifically cooperation robot commodity circulation letter sorting system that says so based on vision.
Background
Enterprises in the logistics industry need a large amount of manual work to operate, and introduction of intelligent and automatic robot equipment is urgently needed to improve production efficiency and quality of factories and reduce labor cost of the enterprises. However, the traditional mode is basically based on manual sorting, the labor degree is high, mistakes are easy to make, the traditional industrial robot is highly dependent on teaching and programming operations of professional technical personnel, most of the traditional industrial robot can only be used for simple and repeated work in a structured environment, the flexibility and the quick adaptability are lacked, certain dangerousness is realized, and the isolation operation is needed. Meanwhile, for the traditional visual detection device, the position of a general camera is fixedly installed, the flexibility is lacked, when the situation change is large, particularly the size and the conveying position of the logistics piece are uncertain, and the variability is large, so that the visual detection device of the traditional equipment cannot be adjusted and calibrated adaptively, the logistics piece is not easy to be prepared and identified, and the identification rate and the identification efficiency are reduced.
On the other hand, under normal conditions, the industrial robot can move to the correct position, but it may also have the influence of errors or disturbances generated under the conditions that the judgment process is increased, firstly, the visual position judgment has certain precision, the initially given position has certain error, and when the error is larger, the robot cannot complete the gripping. The second is, because the repeated work of robot, because of components and parts ageing or wearing and tearing, perhaps the robot receives the base position of disturbance and has produced the removal, moves to given position this time, and the error is great, reduces and snatchs the success rate.
This technical scheme is in order to solve the technical limitation that prior art exists, adopts the quick letter sorting mode of cooperation machine personage stream based on vision, not only can reduce the error rate of equipment, can raise the efficiency moreover, alleviate personnel's work, it both satisfies the task volume of commodity circulation letter sorting, can guarantee system's letter sorting quality with the help of visual system again to realize the automation and the intellectuality of production, can further ensure operation personnel's safety, alleviate intensity of labour, improve work efficiency, be the requirement of future commodity circulation trade technology continuation development.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a cooperation machine personage flow sorting system based on vision, its main aim at overcome the above-mentioned not enough and shortcoming that prior art exists.
The utility model adopts the technical scheme as follows:
a vision-based collaborative robot figure flow sorting system comprises a logistics conveying line, a sub-packaging box, a three-degree-of-freedom visual detection device, a collaborative robot and a control system, wherein the visual detection device is movably arranged above the logistics conveying line in a matched manner, and the visual detection device adaptively coordinates and identifies the position and information of a conveying piece on the logistics conveying line and identifies the position of a clamping end of the collaborative robot; the cooperative robot is arranged on two sides of the logistics conveying line in a matched mode, the sub-packaging boxes are uniformly distributed around the cooperative robot in a matched and corresponding mode, and the cooperative robot is used for clamping a conveying piece on the logistics conveying line and conveying the conveying piece into the corresponding sub-packaging boxes in a sorted mode; and the control system is respectively connected with the logistics conveying line, the visual detection device and the cooperative robot.
Furthermore, the visual detection device comprises a section support body, a three-degree-of-freedom moving mechanism and an image acquisition device, the section support body is movably sleeved above the logistics conveying line in a matched mode, the three-degree-of-freedom moving mechanism is arranged on the section support body in a matched mode and is in driving connection with the image acquisition device, and the three-free-bottom moving mechanism comprises an X-axis direction linear transmission device, a Y-axis direction linear transmission device and a Z-axis direction linear transmission device.
Further, X axle direction linear transmission includes the hold-in range, along first slide rail, the fixed block that X axle direction set up, along first connecting plate and the first driving motor that X axle direction erect, driving synchronous pulley and driven synchronous pulley have been installed in the cooperation respectively at the both ends of hold-in range, and this first connecting plate has two, and the symmetry of cooperation is established respectively on the section bar stake body, first slide rail is fixed to be installed the up end of first connecting plate, the hold-in range cooperation is around locating on the first slide rail, the fixed block is fixed to be installed on the hold-in range, first driving motor with driving synchronous pulley drives mutually and connects the setting, and drives the fixed block removes the setting along X axle direction.
Furthermore, the Y-axis linear transmission device comprises a second connecting plate, a second sliding rail, a third connecting plate, a second transmission motor and a screw rod assembly, wherein the second connecting plate moves along the Y-axis direction, the second transmission motor drives the third connecting plate to move, the screw rod assembly is matched with the second transmission motor, two ends of the second connecting plate are respectively and fixedly connected with the fixed block, the bottoms of two ends of the second connecting plate are also provided with a second sliding block in a matched mode, the second sliding block is arranged on the first sliding rail in a matched and sliding mode, and the fixed block drives the second connecting plate to move along the X-axis direction; the middle part of the second connecting plate is provided with a sliding rail slotted hole, the second sliding rail is fixedly arranged on the second connecting plate at two sides of the sliding rail slotted hole along the Y-axis direction, the third connecting plate is arranged in the sliding rail slotted hole in a matching and sliding manner, third sliding blocks are respectively arranged at the bottom parts of two sides of the third connecting plate, the third sliding blocks are arranged on the second sliding rail in a matching and sliding manner, and the second transmission motor drives the third sliding blocks to move along the Y-axis direction through screw rod assemblies arranged on the second transmission motor.
Furthermore, the Z-axis linear transmission device comprises a fourth connecting plate, a third slide rail, a camera connecting plate, a fourth transmission motor and a screw rod assembly arranged on the fourth transmission motor, wherein the fourth connecting plate is vertically arranged on the third connecting plate, the third slide rail is arranged on the fourth connecting plate in a matched manner along the Z-axis direction, the camera connecting plate is arranged on the third slide rail in a sliding manner, and the fourth transmission motor drives the camera connecting plate to move along the Z-axis direction through the screw rod assembly arranged on the fourth transmission motor.
Furthermore, the bottom of the section bar bracket body is provided with a supporting pile and a wheel type moving piece in a matching way.
Still further, the image acquisition device is any one of a video camera or a camera.
Further, the sub-containers are tray-type sub-containers, and the central position of each sub-container is consistent to the central position of the cooperative robot.
Still further, the cooperative robot is a seven-degree-of-freedom cooperative robot.
A use method of a vision-based cooperative robot logistics sorting system comprises the following specific steps:
step 1: conveying the logistics pieces, wherein the logistics pieces to be sorted are placed on a logistics conveying line, the logistics conveying line starts to run and convey, and the identification bar codes on the logistics pieces are ensured to be positioned right above the logistics pieces;
step 2: reading information of the logistics pieces, stopping the logistics conveying line after the logistics pieces to be sorted are conveyed to a to-be-detected area, moving and adjusting the angle and distance identified by the camera by the visual detection device according to the positions of the barcodes of the logistics pieces, then identifying and reading the information of the barcodes on the logistics pieces, and uploading the information to the control system;
and step 3: positioning the position of the logistics piece, moving and adjusting the position of the camera again by the visual detection device, positioning the position of the logistics piece, and uploading the positioned position information to the control system;
and 4, step 4: the control system processes and records the information, processes and records the data information uploaded in the step 2 and the step 3 respectively, determines the sorting and packing box position of the logistics pieces and the clamping position of the logistics pieces, and sends the determined instruction to the cooperative robot;
and 5: the cooperative robot controls the tail end object clamping claw to move to the clamping position of the logistics piece according to the information instruction sent in the step 4;
step 6: confirming the position of the object clamping claw by the visual detection device, positioning the position of the tail end object clamping claw which moves to the object flow clamping position by the cooperative robot by the visual detection device, uploading the position positioning information to the control system, judging whether the position difference exists in the movement of the tail end object clamping claw of the robot by the control system, if the position difference does not exist, entering step 9, and if the position difference exists, entering step 7;
and 7: the visual detection device positions the logistics piece again, adjusts the angle again, positions the position information of the logistics piece, and uploads the position information to the control system;
and 8: the cooperative robot adjusts the position of the tail end object clamping claw, the control system processes the position information obtained in the step 7, a position moving instruction is sent to the cooperative robot according to the information processing result, the cooperative robot moves the tail end object clamping claw to the specified position according to the instruction, and then the step 6 is carried out;
and step 9: the cooperation robot finishes logistics piece clamping and transporting, the tail end object clamping claw of the cooperation robot clamps logistics pieces on the logistics conveying line and transports the logistics pieces to a designated sub-packaging box, sorting and transporting of the logistics pieces are finished, then the logistics conveying line operates again, and the cooperation robot returns to the initial position to wait for the next instruction.
Furthermore, the identification reading mode of the visual detection device in the step 2 is specifically as follows, when the logistics piece is not located at the middle position of the to-be-detected area of the logistics conveying line, the camera is located right above the logistics piece by adjusting the linear transmission device in the X-axis direction and the linear transmission device in the Y-axis direction of the visual detection device, and identification reading of the identification code is performed; when the height of the logistics piece is larger than the preset height, the camera can focus and recognize and read the information of the identification code by adjusting the Z-axis direction linear transmission device of the visual detection device.
Further, the sub-packaging boxes in the step 9 are tray-type sub-packaging boxes, and the central position of each sub-packaging box is consistent to the central position of the cooperative robot.
Through the above-mentioned right the utility model discloses a description compares with prior art, the advantage of the utility model lies in:
1. the utility model discloses a visual detection device that three degrees of freedom removed realizes the function of the portable regulation of camera, and the camera position has the degree of freedom of three direction, can solve traditional camera fixed mounting's defect according to the actual conditions self-adaptation adjustment at scene, is applicable to the discernment, the location and the snatching processing of different commodity circulation pieces better.
2. The utility model adopts the seven-degree-of-freedom cooperative robot to operate, compared with a six-axis robot, the additional axis allows the robot to avoid some specific targets, so that the end effector can reach specific positions conveniently, and can adapt to some special working environments more flexibly; at the same time, the increased degrees of freedom may improve the kinematics and dynamics associated with the robot. In addition, the robot in the scheme has light self weight, does not need a firm heavy base, can be conveniently moved and placed, can realize the functions of dragging a teaching system, collision detection, a flexible control system and the like, has a flexible joint and a lightweight structure, can protect human colleagues from being injured, and plays a superior cooperative work efficiency.
3. The utility model discloses a design more is suitable for commodity circulation piece letter sorting step and method of this visual detection device and cooperation robot operation, not only can further improve the letter sorting efficiency and the automation level of commodity circulation piece, can reduce the error of snatching of cooperation robot moreover, guarantees that it snatchs the success rate.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic top view of the present invention.
Fig. 3 is a schematic side view of the present invention.
Fig. 4 is a schematic structural diagram of the vision inspection device of the present invention.
Fig. 5 is a schematic top view of the structure of fig. 4.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1 to 5, a cooperative robot flow sorting system based on vision includes a logistics conveying line 1, a sub-packaging box 2, a three-degree-of-freedom vision detection device 3, a cooperative robot 4 and a control system (not shown in the figures), wherein the vision detection device 3 is movably installed above the logistics conveying line 1 in a matching manner, and the vision detection device 3 adaptively coordinates and identifies the position and information of a conveying piece on the logistics conveying line 1 and identifies the position of a clamping end of the cooperative robot 4; the cooperation robots 4 are installed on two sides of the logistics conveying line 1 in a matching mode, the sub-packaging boxes 2 are evenly distributed around the cooperation robots 4 in a matching and corresponding mode, and the cooperation robots 4 are used for clamping conveying pieces on the logistics conveying line 1 and conveying the conveying pieces into the corresponding sub-packaging boxes 2 in a sorting mode; the control system is respectively connected with the logistics conveying line 1, the visual detection device 3 and the cooperative robot 4 in a control mode.
Furthermore, the visual inspection device 3 includes a section support body 31, a three-degree-of-freedom moving mechanism 32 and an image acquisition device 33, the section support body 31 is movably sleeved above the logistics conveying line 1 in a matching manner, the three-degree-of-freedom moving mechanism 32 is installed on the section support body 32 in a matching manner and is in driving connection with the image acquisition device 33, and the three-degree-of-freedom moving mechanism 32 includes an X-axis linear transmission device 321, a Y-axis linear transmission device 322 and a Z-axis linear transmission device 323.
Further, the X-axis linear transmission device 321 includes a synchronous belt 3211, a first slide rail 3212, a fixed block 3213, a first connection plate 3214 and a first transmission motor 3215, the first connection plate 3214 and the first transmission motor 3215 are disposed along the X-axis direction, the driving synchronous pulley 3216 and the driven synchronous pulley 3217 are disposed at two ends of the synchronous belt 3211, the first connection plate 3214 is disposed on the profile support body 32, the first slide rail 3212 is disposed at an upper end of the first connection plate 3214, the synchronous belt 3211 is disposed on the first slide rail 3212, the fixed block 3213 is disposed on the synchronous belt 3211, the first transmission motor 3215 is disposed to drive the driving synchronous pulley 3216, and drives the fixed block 3213 to move along the X-axis direction.
Furthermore, the Y-axis linear actuator 322 includes a second connecting plate 3221, a second sliding rail 3222, a third connecting plate 3223, a second driving motor (not shown in the drawings due to a view angle) for driving the third connecting plate 3223 to move, and a lead screw assembly (not shown in the drawings due to a view angle) provided therewith, two ends of the second connecting plate 3221 are respectively and fixedly connected to the fixing block 3213, the bottom of the two ends of the second connecting plate 3221 is further provided with a second slider 3224 in a matching manner, the second slider 3224 is installed on the first sliding rail 3212 in a matching manner, and the fixing block 3213 drives the second connecting plate 3221 to move along the X-axis direction; a slide rail slot is formed in the middle of the second connecting plate 3221, the second slide rail 3222 is fixedly mounted on the second connecting plate 3221 at two sides of the slide rail slot along the Y-axis direction, the third connecting plate 3223 is slidably mounted in the slide rail slot in a matching manner, third sliders 3225 are respectively disposed at bottom portions at two sides of the third connecting plate 3223, the third sliders 3225 are slidably mounted on the second slide rail 3222 in a matching manner, and the second transmission motor drives the third sliders 3225 to move along the Y-axis direction through a screw rod assembly provided therewith.
Furthermore, the Z-axis linear actuator 323 includes a fourth connecting plate 3231, a third sliding rail 3232, a camera connecting plate 3233, a fourth driving motor (not shown in the drawings due to the view angle) and a screw assembly (not shown in the drawings due to the view angle) provided therewith, the fourth connecting plate 3231 is vertically installed on the third connecting plate 3223, the third sliding rail 3232 is cooperatively erected on the fourth connecting plate 3231 along the Z-axis direction, the camera connecting plate 3233 is slidably installed on the third sliding rail 3232, and the fourth driving motor drives the camera connecting plate 3233 to move along the Z-axis direction through the screw assembly provided therewith.
Furthermore, the bottom of the section bar support body 31 is provided with a support pile 311 and a wheel type moving member 312 in a matching manner.
Further, the image capturing device 33 is any one of a video camera and a camera.
Further, the packing cases 2 are tray-type packing cases, and the center position of each packing case 2 is kept consistent to the center position of the cooperative robot 4.
Further, the cooperative robot 4 is a seven-degree-of-freedom cooperative robot.
A use method of a vision-based cooperative robot logistics sorting system comprises the following specific steps:
step 1: conveying the logistics pieces, wherein the logistics pieces to be sorted are placed on a logistics conveying line, the logistics conveying line starts to run and convey, and the identification bar codes on the logistics pieces are ensured to be positioned right above the logistics pieces;
step 2: reading information of the logistics pieces, stopping the logistics conveying line after the logistics pieces to be sorted are conveyed to a to-be-detected area, moving and adjusting the angle and distance identified by the camera by the visual detection device according to the positions of the barcodes of the logistics pieces, then identifying and reading the information of the barcodes on the logistics pieces, and uploading the information to the control system;
and step 3: positioning the position of the logistics piece, moving and adjusting the position of the camera again by the visual detection device, positioning the position of the logistics piece, and uploading the positioned position information to the control system;
and 4, step 4: the control system processes and records the information, processes and records the data information uploaded in the step 2 and the step 3 respectively, determines the sorting and packing box position of the logistics pieces and the clamping position of the logistics pieces, and sends the determined instruction to the cooperative robot;
and 5: the cooperative robot controls the tail end object clamping claw to move to the clamping position of the logistics piece according to the information instruction sent in the step 4;
step 6: confirming the position of the object clamping claw by the visual detection device, positioning the position of the tail end object clamping claw which moves to the object flow clamping position by the cooperative robot by the visual detection device, uploading the position positioning information to the control system, judging whether the position difference exists in the movement of the tail end object clamping claw of the robot by the control system, if the position difference does not exist, entering step 9, and if the position difference exists, entering step 7;
and 7: the visual detection device positions the logistics piece again, adjusts the angle again, positions the position information of the logistics piece, and uploads the position information to the control system;
and 8: the cooperative robot adjusts the position of the tail end object clamping claw, the control system processes the position information obtained in the step 7, a position moving instruction is sent to the cooperative robot according to the information processing result, the cooperative robot moves the tail end object clamping claw to the specified position according to the instruction, and then the step 6 is carried out;
and step 9: the cooperation robot finishes logistics piece clamping and transporting, the tail end object clamping claw of the cooperation robot clamps logistics pieces on the logistics conveying line and transports the logistics pieces to a designated sub-packaging box, sorting and transporting of the logistics pieces are finished, then the logistics conveying line operates again, and the cooperation robot returns to the initial position to wait for the next instruction.
Furthermore, the identification reading mode of the visual detection device in the step 2 is specifically as follows, when the logistics piece is not located at the middle position of the to-be-detected area of the logistics conveying line, the camera is located right above the logistics piece by adjusting the linear transmission device in the X-axis direction and the linear transmission device in the Y-axis direction of the visual detection device, and identification reading of the identification code is performed; when the height of the logistics piece is larger than the preset height, the camera can focus and recognize and read the information of the identification code by adjusting the Z-axis direction linear transmission device of the visual detection device.
Further, the sub-packaging boxes in the step 9 are tray-type sub-packaging boxes, and the central position of each sub-packaging box is consistent to the central position of the cooperative robot.
Through the above-mentioned right the utility model discloses a description compares with prior art, the advantage of the utility model lies in:
1. the utility model discloses a visual detection device that three degrees of freedom removed realizes the function of the portable regulation of camera, and the camera position has the degree of freedom of three direction, can solve traditional camera fixed mounting's defect according to the actual conditions self-adaptation adjustment at scene, is applicable to the discernment, the location and the snatching processing of different commodity circulation pieces better.
2. The utility model adopts the seven-degree-of-freedom cooperative robot to operate, compared with a six-axis robot, the additional axis allows the robot to avoid some specific targets, so that the end effector can reach specific positions conveniently, and can adapt to some special working environments more flexibly; at the same time, the increased degrees of freedom may improve the kinematics and dynamics associated with the robot. In addition, the robot in the scheme has light self weight, does not need a firm heavy base, can be conveniently moved and placed, can realize the functions of dragging a teaching system, collision detection, a flexible control system and the like, has a flexible joint and a lightweight structure, can protect human colleagues from being injured, and plays a superior cooperative work efficiency.
3. The utility model discloses a design more is suitable for commodity circulation piece letter sorting step and method of this visual detection device and cooperation robot operation, not only can further improve the letter sorting efficiency and the automation level of commodity circulation piece, can reduce the error of snatching of cooperation robot moreover, guarantees that it snatchs the success rate.
The above is only the concrete implementation of the present invention, but the design concept of the present invention is not limited to this, and all the design concepts are to be utilized to improve the present invention insubstantially, and all the behaviors belonging to the infringement of the protection scope of the present invention should be considered.
Claims (6)
1. A vision-based collaborative robotic character stream sorting system, characterized by: the system comprises a logistics conveying line, a subpackaging box, a three-degree-of-freedom visual detection device, a cooperative robot and a control system, wherein the visual detection device is movably arranged above the logistics conveying line in a matched manner, and the visual detection device adaptively coordinates and identifies the position and information of a conveying piece on the logistics conveying line and identifies the position of a clamping end of the cooperative robot; the cooperative robot is arranged on two sides of the logistics conveying line in a matched mode, the sub-packaging boxes are uniformly distributed around the cooperative robot in a matched and corresponding mode, and the cooperative robot is used for clamping a conveying piece on the logistics conveying line and conveying the conveying piece into the corresponding sub-packaging boxes in a sorted mode; and the control system is respectively connected with the logistics conveying line, the visual detection device and the cooperative robot.
2. The vision-based collaborative robotic character stream sorting system of claim 1, wherein: the visual detection device comprises a section support body, a three-degree-of-freedom moving mechanism and an image acquisition device, the section support body is matched with the movable sleeve and is arranged above the logistics conveying line, the three-degree-of-freedom moving mechanism is matched and arranged on the section support body and is in driving connection with the image acquisition device, and the three-free bottom moving mechanism comprises an X-axis direction linear transmission device, a Y-axis direction linear transmission device and a Z-axis direction linear transmission device.
3. The vision-based collaborative robotic character stream sorting system of claim 2, wherein: the bottom of the section bar bracket body is provided with a supporting pile and a wheel type moving piece in a matching way.
4. The vision-based collaborative robotic character stream sorting system of claim 2, wherein: the image acquisition device is any one of a video camera or a camera.
5. The vision-based collaborative robotic character stream sorting system of claim 1, wherein: the sub-packing boxes are tray type sub-packing boxes, and the central position of each sub-packing box is consistent to the central position of the cooperative robot.
6. The vision-based collaborative robotic character stream sorting system of claim 1, wherein: the cooperative robot is a seven-degree-of-freedom cooperative robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921288743.8U CN210546473U (en) | 2019-08-09 | 2019-08-09 | Vision-based collaborative robot logistics sorting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921288743.8U CN210546473U (en) | 2019-08-09 | 2019-08-09 | Vision-based collaborative robot logistics sorting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210546473U true CN210546473U (en) | 2020-05-19 |
Family
ID=70669017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921288743.8U Active CN210546473U (en) | 2019-08-09 | 2019-08-09 | Vision-based collaborative robot logistics sorting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210546473U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110420888A (en) * | 2019-08-09 | 2019-11-08 | 福建（泉州）哈工大工程技术研究院 | A kind of the cooperation robot materials-sorting system and its application method of view-based access control model |
| CN112916411A (en) * | 2021-01-19 | 2021-06-08 | 重庆电子工程职业学院 | Intelligent logistics screening device |
| CN114643205A (en) * | 2020-12-18 | 2022-06-21 | 沈阳新松机器人自动化股份有限公司 | Rapid multi-variety robot material sorting device and method |
-
2019
- 2019-08-09 CN CN201921288743.8U patent/CN210546473U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110420888A (en) * | 2019-08-09 | 2019-11-08 | 福建（泉州）哈工大工程技术研究院 | A kind of the cooperation robot materials-sorting system and its application method of view-based access control model |
| CN114643205A (en) * | 2020-12-18 | 2022-06-21 | 沈阳新松机器人自动化股份有限公司 | Rapid multi-variety robot material sorting device and method |
| CN112916411A (en) * | 2021-01-19 | 2021-06-08 | 重庆电子工程职业学院 | Intelligent logistics screening device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210546473U (en) | Vision-based collaborative robot logistics sorting system | |
| US8923602B2 (en) | Automated guidance and recognition system and method of the same | |
| US20210114826A1 (en) | Vision-assisted robotized depalletizer | |
| US7244093B2 (en) | Object handling apparatus | |
| CN107234615B (en) | Workpiece placement system, workpiece placement device and workpiece placement control method | |
| EP1621296A1 (en) | Transfer robot system comprising a manipulator and a temporary container depository moving synchronously with the manipulator | |
| CN106078208A (en) | A kind of intelligent manufacturing system based on industrial robot | |
| CN110884884B (en) | Mobile clamp apparatus and method | |
| CN210546403U (en) | Three-degree-of-freedom visual detection platform | |
| US11203124B2 (en) | Item handling manipulator | |
| CN110420888A (en) | A kind of the cooperation robot materials-sorting system and its application method of view-based access control model | |
| CN106540887A (en) | Building waste intelligent robot sorting system and method | |
| US11180317B1 (en) | Rotary sortation and storage system | |
| CN113954072B (en) | Visual-guided intelligent wood door workpiece recognition and positioning system and method | |
| CN111070197A (en) | Automatic clamp, automatic grabbing device, mechanical arm and robot | |
| CN114405866A (en) | Vision-guided steel plate sorting method, vision-guided steel plate sorting device and system | |
| CN114643382B (en) | Automatic blade batch loading and unloading method based on robot system | |
| CN110907455A (en) | Three-body machine for detecting appearance of computer bottom cover and detection method thereof | |
| CN111843981A (en) | Multi-robot cooperative assembly system and method | |
| CN110694928A (en) | Anti-mixing detection equipment and detection method thereof | |
| CN108597290A (en) | Intelligence manufacture training platform | |
| JPH10244431A (en) | Production system | |
| CN109048065B (en) | Automatic processing system for front and rear axles of automobile | |
| CN211463946U (en) | Prevent compounding check out test set | |
| CN216286298U (en) | Device for acquiring relative position between devices and automatic feeding system of Tray core sheet material |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |