CN104647373A - Carrying system of robot palletizer and carrying method of robot palletizer - Google Patents
Carrying system of robot palletizer and carrying method of robot palletizer Download PDFInfo
- Publication number
- CN104647373A CN104647373A CN201410805485.1A CN201410805485A CN104647373A CN 104647373 A CN104647373 A CN 104647373A CN 201410805485 A CN201410805485 A CN 201410805485A CN 104647373 A CN104647373 A CN 104647373A
- Authority
- CN
- China
- Prior art keywords
- fixture
- workpiece
- drive unit
- robot
- unit
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a carrying system of a robot palletizer and a carrying method of a robot palletizer. The carrying system comprises a robot unit, a fixture unit connected with the robot unit, an imaging positioning unit, and a controller electrically connected with the imaging positioning unit, wherein the fixture unit comprises a fixture base, a first fixture slidably connected with the fixture base, a first driving device used for driving the first fixture to rotate, a third driving device used for driving the first fixture to slide, a second fixture arranged on the fixture base, and a second driving device used for driving the second fixture to rotate; the first driving device, the second driving device and the third driving device are electrically connected with the controller. The imaging positioning unit is used for accurately positioning the positions of two workpieces; by virtue of the controller, the first driving device and the second driving device are simultaneously driven to respectively enable the first fixture and the second fixture to rotate, and the third driving device is driven to enable the first fixture to translate, so that the robot palletizer can simultaneously grab or discharge two workpieces and accurate positioning is realized.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of handling system of robot palletizer and the method for carrying of robot palletizer.
Background technology
The carrying piling mode that current China palletizing operation adopts has: one is a dead lift; Two is mechanical type stacking machines; Three is robot palletizers.A dead lift exists that labour intensity is large, efficiency is low and the problem of poor stability; And mechanical type stacking machine is by the restriction of the factors such as structure, there is the shortcomings such as floor space is large, operation sequence change trouble, power consumption are large.And robot palletizer is all applicable to the goods of various shaped package, and due to dependable performance, maintenance simple, applied more and more widely.Current robot palletizer adopts teach mode to carry out automatic stacking by piling algorithm, but the position arriving fixing station due to goods has certain deviation with the position specified in advance, therefore robot palletizer possibly cannot grab goods, cannot realize accurate location; In addition, current robot palletizer, when carrying workpiece, generally can only capture a workpiece, carry, therefore inefficiency, cannot meet the demand of high-speed production.
Summary of the invention
The object of the present invention is to provide the method for carrying of a kind of handling system of robot palletizer and a kind of piling machine, two workpiece can be captured simultaneously and increase work efficiency, and realizing pinpoint object.
For realizing object of the present invention, the technical scheme taked is:
A kind of handling system of robot palletizer, comprise robot cell, fixture unit, imaging positioning unit, and the controller to be electrically connected with imaging positioning unit, robot cell comprises mounting seat, and the robot arm to be rotationally connected with mounting seat, fixture unit comprises the clamp base be fixedly connected with robot arm free end, and the first fixture to be slidably connected with clamp base, and the first drive unit driving the first fixture to rotate, and the 3rd drive unit driving the first fixture to slide, and the second fixture be arranged in clamp base, and the second drive unit driving the second fixture to rotate, first drive unit, second drive unit, 3rd drive unit is all electrically connected with controller.
During work, fixture unit is moved to the crawl position of two workpiece by robot cell by robot arm, imaging positioning unit obtains the positional information of two workpiece, and positional information is passed to controller, according to the difference of crawl position, controller drives the first drive unit that the first fixture is rotated according to positional information simultaneously, drive the second drive unit that the second fixture is rotated, the 3rd drive unit is driven to make the first fixture carry out translation, first fixture moves to the crawl position of the first workpiece, first fixture captures the first workpiece, with this simultaneously, second fixture moves to the crawl position of second workpiece, second fixture captures second workpiece, make robot palletizer can capture two workpiece simultaneously, when being carried to the blanking position of two workpiece, imaging positioning unit obtains the positional information of two workpiece blanking positions, and positional information is passed to controller, according to the difference of blanking position, controller drives the first drive unit that the first fixture is rotated according to positional information simultaneously, drive the second drive unit that the second fixture is rotated, 3rd drive unit is according to the distance between two workpiece, the first fixture is driven to carry out translation, first fixture moves to the blanking position of the first workpiece, first fixture decontrols the first workpiece, meanwhile, second fixture moves to the blanking position of second workpiece, second fixture decontrols second workpiece, realize the accurate location of robot palletizer handling system, and greatly improve robot palletizer operating efficiency.
Below technical scheme is further illustrated:
Further, clamp base is provided with horizontal slide rail, and the first fixture and horizontal slide rail are slidably connected.First fixture is slidably connected by horizontal slide rail and clamp base.
Further, fixture unit also comprises the kinematic link connected with the 3rd drive unit, kinematic link is connected with the first fixture.3rd drive unit drives the first fixture to carry out translation by kinematic link.
Further yes, imaging positioning unit comprises image-forming module and locating module, and the output of image-forming module is connected with the input of locating module, and the output of locating module is connected with the input of controller.Imaging positioning unit carries out imaging by image-forming module to the position of workpiece, and the positional information of workpiece is read by locating module, positional information is passed to controller by imaging positioning unit, controller is revised by the first drive unit, the second drive unit and the position of the 3rd drive unit to the first fixture and the second fixture, make robot palletizer can grabbing workpiece and blanking workpiece exactly, realize the accurate location of robot palletizer handling system.
Further, image-forming module comprises the first imaging device, and the first imaging device is fixedly connected with clamp base.After robot palletizer grabbing workpiece, when piling is carried out to workpiece, carry out imaging by the position of piling up of the first imaging device to workpiece, make workpiece be placed on correct position, improve the accuracy of robot palletizer handling system location further.
Further, the handling system of robot palletizer also comprises material loading platform and piling platform, and material loading platform and piling platform are all in the operating radius of robot cell.
Further, image-forming module also comprises the second imaging device, and the second imaging device is positioned at the top of material loading platform.Material loading platform is placed with workpiece to be palletized, before robot palletizer grabbing workpiece, by the second imaging device, imaging is carried out to the riding position of workpiece, by locating module, positional information is delivered to controller again, and the first fixture and the second fixture are moved to correct position, make robot palletizer can grabbing workpiece exactly, improve the accuracy of robot palletizer handling system location further.
Further, fixture unit also comprises the drive motors that mechanical clamp and driving device fixture move up and down, and mechanical clamp and drive motors are all arranged in clamp base.By mechanical clamp, the material for piling workpiece is captured.
The present invention also provides a kind of method for carrying of robot palletizer, carries simultaneously, comprise the following steps two workpiece:
Fixture unit is moved to the top of the first workpiece and second workpiece by robot cell;
Imaging positioning unit obtains the positional information of the first workpiece and second workpiece;
Positional information is passed to controller by imaging positioning unit;
Controller drives the first drive unit that the first fixture is rotated and drives the second drive unit that the second fixture is rotated simultaneously and drive the 3rd drive unit to make the first fixture translation;
First fixture captures the first workpiece, and meanwhile, the second fixture captures second workpiece;
Robot palletizer carries the first workpiece and second workpiece simultaneously.
Compared with prior art, the present invention has following beneficial effect:
Fixture unit is moved to the crawl position of two workpiece by the present invention by robot arm, imaging positioning unit obtains the positional information of two workpiece, and positional information is passed to controller, according to the difference of crawl position, controller drives the first drive unit that the first fixture is rotated according to positional information simultaneously, drive the second drive unit that the second fixture is rotated, the 3rd drive unit is driven to make the first fixture carry out translation, first fixture moves to the crawl position of the first workpiece, first fixture captures the first workpiece, with this simultaneously, second fixture moves to the crawl position of second workpiece, second fixture captures second workpiece, make robot palletizer can capture two workpiece simultaneously, when being carried to the blanking position of two workpiece, imaging positioning unit obtains the positional information of two workpiece blanking positions, and positional information is passed to controller, according to the difference of blanking position, controller drives the first drive unit that the first fixture is rotated according to positional information simultaneously, drive the second drive unit that the second fixture is rotated, 3rd drive unit is according to the distance between two workpiece, the first fixture is driven to carry out translation, first fixture moves to the blanking position of the first workpiece, first fixture decontrols the first workpiece, meanwhile, second fixture moves to the blanking position of second workpiece, second fixture decontrols second workpiece, realize the accurate location of robot palletizer handling system, and greatly improve robot palletizer operating efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of the handling system of embodiment of the present invention robot palletizer;
Fig. 2 is the structural representation of embodiment of the present invention fixture unit and robot cell.
Description of reference numerals:
10. robot cell, 110. mounting seat, 120. robot arm, 20. fixture units, 210. clamp base, 211. horizontal slide rail, 220. first fixtures, 221. first drive units, 222. the 3rd drive units, 230. second fixtures, 231. second drive units, 230. first mechanical clamps, 231. first drive motors, 240. second mechanical clamps, 241. second drive motors, 30. first material loading platforms, 40. second material loading platforms, 50. piling platforms, 60. second imaging devices, 70. first imaging devices, 80. compressors, 910. wood composite pallet, 920. foam.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail:
As depicted in figs. 1 and 2, a kind of handling system of robot palletizer, comprise robot cell 10, fixture unit 20, imaging positioning unit, and the controller to be electrically connected with imaging positioning unit, robot cell 10 comprises mounting seat 110, and the robot arm 120 to be rotationally connected with mounting seat 110, fixture unit 20 comprises the clamp base 210 be fixedly connected with robot arm 120 free end, and the first fixture 220 to be slidably connected with clamp base 210, and the first drive unit 221 be arranged in clamp base 210, second fixture 230, second drive unit 231 and the 3rd drive unit 222, first drive unit 221 drives the first fixture 220 to rotate, second drive unit 231 drives the second fixture 230 to rotate, 3rd drive unit 222 drives the first fixture 220 to slide, first drive unit 221, second drive unit 231, 3rd drive unit 222 is all electrically connected with controller.
During work, fixture unit 20 is moved to the crawl position of two workpiece by robot cell 10 by robot arm 120, imaging positioning unit obtains the positional information of two workpiece, and positional information is passed to controller, according to the difference of crawl position, controller drives the first drive unit 221 that first fixture 220 is rotated according to positional information simultaneously, drive the second drive unit 231 that second fixture 230 is rotated, and drive the 3rd drive unit 222 to make the first fixture 220 carry out translation according to the distance of two workpiece, first fixture 220 moves to the crawl position of the first workpiece, first fixture 220 captures the first workpiece, with this simultaneously, second fixture 230 moves to the crawl position of second workpiece, second fixture 230 captures second workpiece, make robot palletizer can capture two workpiece simultaneously, when being carried to the blanking position of two workpiece, imaging positioning unit obtains the positional information of two workpiece blanking positions, and positional information is passed to controller, according to the difference of blanking position, controller drives the first drive unit 221 that first fixture 220 is rotated according to positional information simultaneously, drive the second drive unit 231 that second fixture 230 is rotated, 3rd drive unit 222 is according to the distance between two workpiece, the first fixture 220 is driven to carry out translation, first fixture 220 moves to the blanking position of the first workpiece, first fixture 220 decontrols the first workpiece, meanwhile, second fixture 230 moves to the blanking position of second workpiece, second fixture 230 decontrols second workpiece, realize the accurate location of robot palletizer handling system, and greatly improve robot palletizer operating efficiency.
In the present embodiment, as shown in Figure 2, fixture unit 20 also comprises the kinematic link (accompanying drawing does not identify) and horizontal slide rail 211 that connect with the 3rd drive unit 222, kinematic link is connected with the first fixture 220, horizontal slide rail 211 is arranged in clamp base 210, and the first fixture 220 is slidably connected with horizontal slide rail 211.3rd drive unit 222 drives the first fixture 220 along horizontal slide rail 211 translation by kinematic link.
As shown in Figure 1, the handling system of robot palletizer also comprises the first material loading platform 30, second material loading platform 40 and piling platform 50, first material loading platform 30, second material loading platform 40 and piling platform 50 all in the operating radius of robot cell 10.First material loading platform 30 places workpiece to be palletized, second material loading platform 40 prevents the material for piling workpiece, robot palletizer first the second material loading platform 40 will be used for the materials handling of piling workpiece to piling platform 50, then by workpiece handling to the material be positioned at for piling workpiece on piling platform 50.
As shown in Figure 2, fixture unit 20 also comprises and being all arranged in clamp base 210 for the first mechanical clamp 230 of the material of piling workpiece and the second mechanical clamp 240 and the first drive motors 231 driving the first mechanical clamp 230 to move up and down and the second drive motors 241, first mechanical clamp 230, first drive motors 231, second mechanical clamp 240 driving the second mechanical clamp 240 to move up and down and the second drive motors 241 for capturing.The handling system of robot palletizer is captured by the material of the first mechanical clamp 230 and the second mechanical clamp 240 pairs of piling workpiece.
In the present embodiment, the first drive unit 221 and the second drive unit 231 are servo electric rotating machine, and the 3rd drive unit 222 is servo translation motor, and the first drive motors 231 and the second drive motors 241 are common electric machine.
Imaging positioning unit comprises image-forming module and locating module, and the output of image-forming module is connected with the input of locating module, and the output of locating module is connected with the input of controller.Imaging positioning unit carries out imaging by image-forming module to the position of workpiece, and the positional information of workpiece is read by locating module, positional information is passed to controller by imaging positioning unit, controller is revised the position to the first fixture 220 and the second fixture 230 by the first drive unit 221, second drive unit 231 and the 3rd drive unit 222, make robot palletizer can grabbing workpiece and blanking workpiece exactly, realize the accurate location of robot palletizer handling system.
As shown in Figure 2, image-forming module comprises the top that the second imaging device 60, second imaging device 60 is positioned at material loading platform.Material loading platform is placed with workpiece to be palletized, before robot palletizer grabbing workpiece, imaging is carried out by the riding position of the second imaging device 60 pairs of workpiece, by locating module, positional information is delivered to controller again, and the first fixture 220 and the second fixture 230 are revised to correct position, make robot palletizer can grabbing workpiece exactly, improve the accuracy of robot palletizer handling system location further.
As shown in Figure 2, image-forming module also comprises the first imaging device 70, first imaging device 70 and is fixedly connected with clamp base 210.After robot palletizer grabbing workpiece, when piling is carried out to workpiece, by the first imaging device 70 pairs of workpiece will position of piling up carry out imaging, by locating module, positional information is delivered to controller again, and the first fixture 220 and the second fixture 230 are revised to correct position, by making workpiece be placed on correct piling position, improve the accuracy of robot palletizer handling system location further.
In the present embodiment, need the workpiece carrying out piling to be compressor 80, the material for piling compressor 80 comprises wood composite pallet 910 and foam 920, first imaging device 70 is 3D imaging device, second imaging device 60 is 2D imaging device, and the concrete technology of compressor 80 piling is:
First by robot cell 10, fixture unit 20 is moved to the second material loading platform 40, by the first mechanical clamp 230 and the second mechanical clamp 240, wood composite pallet 910 is carried on piling platform 50;
By robot cell 10, fixture unit 20 is moved to the second material loading platform 40 again, by the first mechanical clamp 230 and the second mechanical clamp 240, surface is carried on piling platform 50 with the foam 920 of fixing hole;
By robot cell 10, fixture unit 20 is moved to the first material loading platform 30 again, the riding position of the second imaging device 60 to will capture two compressors 80 be positioned at above the first material loading platform 30 carries out imaging, and by locating module, the positional information of two compressors 80 is passed to controller, comprise the relative position between the crawl point of two compressors 80 and two compressors 80, update information is passed to the first drive unit 221 by controller, second drive unit 231 and the 3rd drive unit 222, first drive unit 221 drives the first fixture 220 to rotate, second drive unit 231 drives the second fixture 230 to rotate, 3rd drive unit 222 carries out translation according to the relative position of two compressors 80 to the first fixture 220, the first fixture 220 and the second fixture 230 is finally made to move to the crawl position of two compressors 80 respectively, two compressors 80 are captured simultaneously,
By robot cell 10, two compressors 80 are moved to piling platform 50 again, and be positioned at surface with above the foam 920 of fixing hole, the first imaging device 70 be positioned in clamp base 210 carries out imaging to two the fixing hole positions will piling up two compressors 80, and by locating module, the positional information of two fixing holes is passed to controller, update information is passed to the first drive unit 221 by controller, second drive unit 231 and the 3rd drive unit 222, first drive unit 221 drives the first fixture 220 to rotate, second drive unit 231 drives the second fixture 230 to rotate, 3rd drive unit 222 carries out translation according to the relative position of two compressors 80 to the first fixture 220, two compressors 80 are finally made to aim at the fixing hole that will pile up respectively, and two compressors 80 are piled up to two fixing holes simultaneously, repeat above action, surface is carried to on the foam 920 of fixing hole by needing the compressor 80 of piling, in the present embodiment, because the angle when angle of three drive units, Distance geometry compressor 80 are put into fixing hole, distance are changes, therefore the first imaging device are set to 3D imaging device, adopt 3D imaging again accurately to locate,
After compressor 80 has been carried, by robot cell 10, fixture unit 20 is moved to the second material loading platform 40 again, by the first mechanical clamp 230 and the second mechanical clamp 240, lower surface is all carried on piling platform 50 with the foam 920 of fixing hole, and be positioned at above the compressor 80 piled up, the first imaging device 70 be positioned in clamp base 210 carries out imaging to having piled up compressor 80 position, and by locating module, the positional information of compressor 80 is passed to controller, controller driven machine people unit 10 carries out position adjustment, lower surface is made all to pile up on compressor 80 with the foam 920 of fixing hole, complete the piling of compressor 80, realize the full-automatic technique of compressor 80 piling.
As shown in Figure 1, can also by two-layer compressor 80 piling together, palletization is wood composite pallet 910 for first putting one deck, put the foam 920 of one deck upper surface with fixing hole again, put one deck compressor 80 again, put one deck upper and lower surface more all with the foam 920 of fixing hole, then put one deck compressor 80, finally put the foam 920 of one deck lower surface with fixing hole.Can also according to actual needs, by compressor 80 piling more than one deck together.
As shown in Figure 1, the first material loading platform 30, second material loading platform 40 and piling platform 50 are all configured with conveyer belt, facilitate the conveying of each object.
The present invention also provides a kind of method for carrying of robot palletizer, carries simultaneously, comprise the following steps two workpiece:
Fixture unit 20 is moved to the top of the first workpiece and second workpiece by robot cell 10;
Imaging positioning unit obtains the positional information of the first workpiece and second workpiece;
Positional information is passed to controller by imaging positioning unit;
Controller drives the first drive unit 221 to drive the first fixture 220 to rotate and drives the second drive unit 231 that second fixture 230 is rotated simultaneously and drive the 3rd drive unit 222 to make the first fixture 220 translation;
First fixture 220 moves to the crawl position of the first workpiece, and the first fixture 220 captures the first workpiece, and meanwhile, the second fixture 230 moves to the crawl position of second workpiece, and the second fixture 230 captures second workpiece;
Robot palletizer carries the first workpiece and second workpiece simultaneously.
Fixture unit 20 is moved to the crawl position of two workpiece by the present invention by robot arm 120, imaging positioning unit is to the positional information of two workpiece, and positional information is passed to controller, according to the difference of crawl position, controller drives the first drive unit 221 that first fixture 220 is rotated according to positional information simultaneously, drive the second drive unit 231 that second fixture 230 is rotated, and drive the 3rd drive unit 222 to make the first fixture 220 carry out translation according to the distance of two workpiece, first fixture 220 moves to the crawl position of the first workpiece, first fixture 220 captures the first workpiece, with this simultaneously, second fixture 230 moves to the crawl position of second workpiece, second fixture 230 captures second workpiece, make robot palletizer can capture two workpiece simultaneously, when being carried to the blanking position of two workpiece, imaging positioning unit obtains the positional information of two workpiece blanking positions, and positional information is passed to controller, according to the difference of blanking position, controller drives the first drive unit 221 that first fixture 220 is rotated according to positional information simultaneously, drive the second drive unit 231 that second fixture 230 is rotated, 3rd drive unit 222 is according to the distance between two workpiece, the first fixture 220 is driven to carry out translation, first fixture 220 moves to the blanking position of the first workpiece, first fixture 220 decontrols the first workpiece, meanwhile, second fixture 230 moves to the blanking position of second workpiece, second fixture 230 decontrols second workpiece, realize the accurate location of robot palletizer handling system, and greatly improve robot palletizer operating efficiency.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this description is recorded.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (9)
1. the handling system of a robot palletizer, it is characterized in that, comprise robot cell, fixture unit, imaging positioning unit, and the controller to be electrically connected with described imaging positioning unit, described robot cell comprises mounting seat, and the robot arm to be rotationally connected with described mounting seat, described fixture unit comprises the clamp base be fixedly connected with described robot arm free end, and the first fixture to be slidably connected with described clamp base, and the first drive unit driving described first fixture to rotate, and the 3rd drive unit driving described first fixture to slide, and the second fixture be arranged in described clamp base, and the second drive unit driving described second fixture to rotate, described first drive unit, described second drive unit, described 3rd drive unit is all electrically connected with described controller.
2. the handling system of robot palletizer according to claim 1, is characterized in that, described clamp base is provided with horizontal slide rail, and described first fixture and described horizontal slide rail are slidably connected.
3. the handling system of robot palletizer according to claim 2, is characterized in that, fixture unit also comprises the kinematic link connected with described 3rd drive unit, described kinematic link is connected with described first fixture.
4. the handling system of robot palletizer according to claim 1, it is characterized in that, described imaging positioning unit comprises image-forming module and locating module, the output of described image-forming module is connected with the input of described locating module, and the output of described locating module is connected with the input of described controller.
5. the handling system of robot palletizer according to claim 4, is characterized in that, described image-forming module comprises the first imaging device, and described first imaging device is fixedly connected with described clamp base.
6. the handling system of the robot palletizer according to any one of claim 1 to 5, is characterized in that, also comprises material loading platform and piling platform, and described material loading platform and described piling platform are all in the operating radius of described robot cell.
7. the handling system of robot palletizer according to claim 6, is characterized in that, described image-forming module also comprises the second imaging device, and described second imaging device is positioned at the top of described material loading platform.
8. people's handling system of piling machine according to claim 6, it is characterized in that, the drive motors that described fixture unit also comprises mechanical clamp and drives described mechanical clamp to move up and down, described mechanical clamp and described drive motors are all arranged in described clamp base.
9. a method for carrying for robot palletizer, is characterized in that, robot palletizer is provided with the handling system of the robot palletizer as described in any one of claim 1 to 8, carries simultaneously, comprise the following steps two workpiece:
Fixture unit is moved to the top of the first workpiece and second workpiece by robot cell;
Imaging positioning unit obtains the positional information of the first workpiece and second workpiece;
Positional information is passed to controller by imaging positioning unit;
Controller drives the first drive unit that the first fixture is rotated and drives the second drive unit that the second fixture is rotated simultaneously and drive the 3rd drive unit to make the first fixture translation;
First fixture captures the first workpiece, and meanwhile, the second fixture captures second workpiece;
Robot palletizer carries the first workpiece and second workpiece simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410805485.1A CN104647373B (en) | 2014-12-19 | 2014-12-19 | The handling system of robot palletizer and the method for carrying of robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410805485.1A CN104647373B (en) | 2014-12-19 | 2014-12-19 | The handling system of robot palletizer and the method for carrying of robot palletizer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104647373A true CN104647373A (en) | 2015-05-27 |
| CN104647373B CN104647373B (en) | 2016-03-02 |
Family
ID=53239267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410805485.1A Active CN104647373B (en) | 2014-12-19 | 2014-12-19 | The handling system of robot palletizer and the method for carrying of robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104647373B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105668208A (en) * | 2015-12-30 | 2016-06-15 | 国网浙江省电力公司电力科学研究院 | Feeding and discharging equipment for collectors |
| CN107214697A (en) * | 2016-03-21 | 2017-09-29 | 上海夏普电器有限公司 | The robot system and product Transfer method transported for product |
| CN107381077A (en) * | 2017-08-11 | 2017-11-24 | 广州达意隆包装机械股份有限公司 | The pipeline system and stacking control method that a kind of yard of case and code bottle automatically switch |
| CN107826311A (en) * | 2017-11-30 | 2018-03-23 | 常州华数锦明智能装备技术研究院有限公司 | Product based on robot technology concentrates the palletizing system of stacking |
| CN107932501A (en) * | 2017-10-31 | 2018-04-20 | 江苏新美星包装机械股份有限公司 | Stacking machine arranges the control method of case manipulator |
| CN111071792A (en) * | 2020-01-15 | 2020-04-28 | 马鞍山杰创塑胶科技有限公司 | Production and processing machine for blade of steel plate shearing machine |
| CN111331579A (en) * | 2020-03-04 | 2020-06-26 | 广东伟创五洋智能设备有限公司 | Automatic stacking robot and automatic stacking system |
| CN117961474A (en) * | 2024-03-29 | 2024-05-03 | 全兴汽车配件（福州）有限公司 | Automatic replacement automobile door plate machining device and process |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1391275A2 (en) * | 2002-08-23 | 2004-02-25 | Fanuc Ltd | Object handling apparatus |
| CN101817452A (en) * | 2010-04-02 | 2010-09-01 | 大连佳林设备制造有限公司 | Packing and palletizing robot |
| CN202481767U (en) * | 2012-01-17 | 2012-10-10 | 石家庄爱驰自动化设备有限公司 | Heavy section steel robot palletizer system |
| CN103192378A (en) * | 2013-02-06 | 2013-07-10 | 李月芹 | Stacking robot |
| US20140031985A1 (en) * | 2012-07-26 | 2014-01-30 | Fanuc Corporation | Apparatus and method of taking out bulk stored articles by robot |
| CN103862480A (en) * | 2014-03-25 | 2014-06-18 | 江苏中科机器人科技有限公司 | Mechanical paw and multi-station mechanical paw for palletizing robot |
-
2014
- 2014-12-19 CN CN201410805485.1A patent/CN104647373B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1391275A2 (en) * | 2002-08-23 | 2004-02-25 | Fanuc Ltd | Object handling apparatus |
| CN101817452A (en) * | 2010-04-02 | 2010-09-01 | 大连佳林设备制造有限公司 | Packing and palletizing robot |
| CN202481767U (en) * | 2012-01-17 | 2012-10-10 | 石家庄爱驰自动化设备有限公司 | Heavy section steel robot palletizer system |
| US20140031985A1 (en) * | 2012-07-26 | 2014-01-30 | Fanuc Corporation | Apparatus and method of taking out bulk stored articles by robot |
| CN103192378A (en) * | 2013-02-06 | 2013-07-10 | 李月芹 | Stacking robot |
| CN103862480A (en) * | 2014-03-25 | 2014-06-18 | 江苏中科机器人科技有限公司 | Mechanical paw and multi-station mechanical paw for palletizing robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105668208A (en) * | 2015-12-30 | 2016-06-15 | 国网浙江省电力公司电力科学研究院 | Feeding and discharging equipment for collectors |
| CN105668208B (en) * | 2015-12-30 | 2017-12-29 | 国网浙江省电力公司电力科学研究院 | A kind of loading and unloading equipment of collector |
| CN107214697A (en) * | 2016-03-21 | 2017-09-29 | 上海夏普电器有限公司 | The robot system and product Transfer method transported for product |
| CN107381077A (en) * | 2017-08-11 | 2017-11-24 | 广州达意隆包装机械股份有限公司 | The pipeline system and stacking control method that a kind of yard of case and code bottle automatically switch |
| CN107932501A (en) * | 2017-10-31 | 2018-04-20 | 江苏新美星包装机械股份有限公司 | Stacking machine arranges the control method of case manipulator |
| CN107826311A (en) * | 2017-11-30 | 2018-03-23 | 常州华数锦明智能装备技术研究院有限公司 | Product based on robot technology concentrates the palletizing system of stacking |
| CN111071792A (en) * | 2020-01-15 | 2020-04-28 | 马鞍山杰创塑胶科技有限公司 | Production and processing machine for blade of steel plate shearing machine |
| CN111331579A (en) * | 2020-03-04 | 2020-06-26 | 广东伟创五洋智能设备有限公司 | Automatic stacking robot and automatic stacking system |
| CN117961474A (en) * | 2024-03-29 | 2024-05-03 | 全兴汽车配件（福州）有限公司 | Automatic replacement automobile door plate machining device and process |
| CN117961474B (en) * | 2024-03-29 | 2024-06-07 | 全兴汽车配件（福州）有限公司 | Automatic replacement automobile door plate machining device and process |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104647373B (en) | 2016-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204505276U (en) | The handling system of robot palletizer | |
| CN104647373B (en) | The handling system of robot palletizer and the method for carrying of robot palletizer | |
| CN104891196B (en) | Clamp method is piled up in a kind of automatic brick stacking machine of single brick high frequency and its adobe | |
| CN106809435B (en) | Stacking mechanism | |
| CN103213852B (en) | Multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically | |
| CN205571715U (en) | Battery laser welding equipment | |
| CN105499799A (en) | Battery laser welding equipment | |
| JP3217922U (en) | Yoke trimming device with automatic yoke feeding system installed | |
| CN105731086A (en) | Bottle unloading method and device | |
| CN104723075A (en) | Automatic lens locking and attaching machine | |
| WO2022141135A1 (en) | Dual-robot cooperative palletizing integrated apparatus, system and method | |
| CN205166406U (en) | Lift change table | |
| US20220348424A1 (en) | High-Speed Multi-Purpose Mix Load Robotic End-Of-Arm Tooling and Method of Using Same | |
| CN204297699U (en) | Compressor piling fixture and robot palletizer | |
| CN106391504A (en) | Battery sorting and receiving machine | |
| CN106395301A (en) | Box stacking mechanism and battery sorting receiver | |
| CN204524735U (en) | A kind of automatic lens locks machine | |
| CN106078759A (en) | A kind of portal frame type arm-and-hand system | |
| CN106629089B (en) | Stacking system and implementation method thereof | |
| CN104692081B (en) | Lifting transplantation device | |
| CN107344362A (en) | Workpiece grabbing system | |
| CN104443991A (en) | Three-dimensional warehousing system | |
| CN106552777A (en) | Packing batteries in package boxes mechanism and battery sorting collecting machine | |
| CN206032704U (en) | TV backplate pile up neatly system | |
| CN106311620A (en) | Battery material conveying mechanism and battery classifying and collecting machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |