CN109761052B - Conveying system for robot stacking - Google Patents
Conveying system for robot stacking Download PDFInfo
- Publication number
- CN109761052B CN109761052B CN201811544703.5A CN201811544703A CN109761052B CN 109761052 B CN109761052 B CN 109761052B CN 201811544703 A CN201811544703 A CN 201811544703A CN 109761052 B CN109761052 B CN 109761052B
- Authority
- CN
- China
- Prior art keywords
- conveying
- line
- sorting
- conveying line
- materials
- 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)
- Specific Conveyance Elements (AREA)
Abstract
A conveying system for robot stacking comprises a feeding conveying line, a sorting conveying line, a first detection sensor, a second detection sensor, a material parameter detection device and a controller. The letter sorting transfer chain is closed cyclic annular, and the entry of letter sorting transfer chain links to each other with the export of feeding transfer chain, and the exit of letter sorting transfer chain is equipped with reversible conveying mechanism. The first detection sensor is used for detecting whether materials enter the sorting conveying line or not; the material parameter detection device is used for detecting the designated parameters of each material entering the sorting conveying line; the second detection sensor is used for detecting whether the materials conveyed by the sorting conveying line reach the outlet of the sorting conveying line. The controller is used for receiving detection signals sent by the first detection sensor and the second detection sensor and designated parameter information sent by the material parameter detection device and controlling the work of the reversible conveying mechanism, so that materials entering the sorting conveying line are sequentially output from an outlet of the sorting conveying line according to the stacking sequence of the robot, and the robot is automatically stacked.
Description
Technical Field
The invention relates to a robot stacking technology.
Background
Most of domestic stacking work is finished manually. Under the conditions of light weight, small volume, low stacking speed, various and irregular shapes of materials, manual stacking is feasible, but manual labor is not enough to meet the stacking requirement under many conditions. With the development of industrial automation technology, robots are gradually applied to stacking work.
When the palletizing robot system is used for palletizing materials with different sizes and specifications, the palletizing sequence is usually different from the initial sequence of material conveying. The initial sequence of material transport is often random, and the pile up neatly machine people then need carry out the pile up neatly according to the principle of tray space utilization maximize. For example, a robot palletizer system can palletize according to a sequence of material volumes from large to small so as to achieve the purpose of maximizing the space utilization rate of a tray, and therefore a plurality of randomly input irregular materials need to be output according to the requirement of the robot palletizer according to the stacking sequence, and the purpose of automatic palletizing is achieved.
Disclosure of Invention
The invention aims to provide a conveying system for robot stacking, which can automatically output a plurality of randomly input irregular materials according to the requirement of a stacking sequence of a stacking robot, thereby realizing automatic stacking of the robot.
The technical scheme adopted by the invention is as follows: the invention provides a conveying system for robot palletizing, which comprises: a feed conveyor line; the sorting conveying line is in a closed annular shape, an inlet of the sorting conveying line is connected with an outlet of the feeding conveying line, a reversible conveying mechanism is arranged at the outlet of the sorting conveying line, and the reversible conveying mechanism can selectively control whether the materials are output from the outlet of the sorting conveying line or are continuously conveyed along the sorting conveying line; the first detection sensor is used for detecting whether materials enter the sorting conveying line or not; the material parameter detection device is used for detecting the designated parameters of each material entering the sorting conveying line; the second detection sensor is used for detecting whether the materials conveyed by the sorting conveying line reach the outlet of the sorting conveying line; the controller is used for receiving detection signals sent by the first detection sensor and the second detection sensor and designated parameter information sent by the material parameter detection device and controlling the work of the reversible conveying mechanism, so that materials entering the sorting conveying line are sequentially output from an outlet of the sorting conveying line according to the stacking sequence of the robot; wherein the order of robot palletization is associated with specified parameters.
The invention has at least the following advantages and characteristics:
1. according to the conveying system for robot stacking provided by the embodiment of the invention, randomly input materials are conveyed on the annular sorting conveying line, and the reversing mechanism arranged at the outlet of the sorting conveying line is controlled by the controller, so that the materials entering the sorting conveying line can be sequentially output from the outlet of the sorting conveying line according to the stacking sequence of the robot, the workload of workers for sorting and stacking the materials is reduced, and the efficiency of stacking the materials with different sizes is improved;
2. the conveying system for robot palletizing is simple in structure and easy to implement.
Drawings
Fig. 1 shows a general schematic view of an embodiment of the inventive conveying system for robot palletization.
Figure 2 shows a schematic view of one embodiment of the sorting conveyor line of the present invention.
Fig. 3 shows a partial schematic view of one embodiment of the robotic gripper conveyor line of the present invention.
FIG. 4 shows a partial schematic view of one embodiment of the feed delivery line of the present invention.
Fig. 5 shows an electrical control block diagram of the transport system for robot palletization according to the invention.
Fig. 6 to 9 show examples of control flows of the controller according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Referring to fig. 1 to 5, a conveying system for robot palletizing according to an embodiment of the present invention includes a feeding conveying line 1, a robot grabbing conveying line 2, a sorting conveying line 3, a first detecting sensor 41, a second detecting sensor 42, a material parameter detecting device 5, and a controller 6.
The sorting conveying line 3 is in a closed ring shape. The entry 31 of letter sorting transfer chain 3 links to each other with the export of feeding transfer chain 1, and the export 32 of letter sorting transfer chain 3 is connected with the entry of robot grabbing material transfer chain 2, and pile up neatly machine people 100 can grab the material 200 of carrying on robot grabbing material transfer chain 2, puts it on the tray 300. At the outlet 32 of the sorting conveyor line 3, a reversible conveyor mechanism 3d is provided, which reversible conveyor mechanism 3d is able to selectively control whether material is output from the outlet 32 of the sorting conveyor line 3 or continues to be conveyed along the sorting conveyor line 3.
Sorting transfer chain 3 includes first branch conveyor line 3a, the universal platform 3b of carrying of entry and second branch conveyor line 3c, but switching over conveying mechanism 3d is switching over and carries the platform. The first conveying branch line 3a, the inlet universal conveying platform 3b, the second conveying branch line 3c and the reversible conveying platform 3d jointly form a closed annular conveying line. The inlet universal conveying platform 3b is arranged between one end of the first conveying branch line 3a and one end of the second conveying branch line 3c and is close to the outlet of the feeding conveying line 1, and the inlet universal conveying platform 3b is used for conveying the materials 200 conveyed by the first conveying branch line 3a and the feeding conveying line 1 to the second conveying branch line 3c respectively. The inlet universal conveyor table 3b has a plurality of balls 31b on its conveying surface, and these balls can slide the material 200 in any direction. The reversible conveyor table 3d is arranged between the other end of the first branch conveyor line 3a and the other end of the second branch conveyor line 3c and is in close proximity to the entrance of the robot gripper conveyor line 2. In this embodiment, the reversible conveying table 3d is a chain roller table type conveying table, and the conveying direction of the chain roller table type conveying table is perpendicular to the conveying direction of the roller table. In a further embodiment, a plurality of balls are arranged on the conveying surface of the reversible conveying table 3d, and a first baffle is arranged on the side of the reversible conveying table 3d facing the inlet of the robot gripper conveyor line 2 and a second baffle is arranged on the side facing the first branch conveyor line 3 a. When the materials are required to flow out of the annular conveying line, the first baffle plate is lowered by the reversible conveying table 3d, the second baffle plate is raised, the materials flow into the inlet of the robot material grabbing conveying line 2, and the conveying surface of the reversible conveying table 3d slightly rubs the bottom surface of the materials; when material needs to flow into the first branch conveyor line 3a instead of the robot gripper conveyor line 2, the reversible conveyor table 3d will raise the first stop leading to the robot gripper conveyor line 2 and lower the second stop. In another embodiment, the reversible conveying table 3d is provided with a plurality of conveying rollers with variable angles on the conveying surface, and the angles of the conveying rollers can be adjusted by the control of the controller 6. The feeding conveying line 1, the first conveying branch line 3a, the second conveying branch line 3b and the robot grabbing conveying line 2 are roller way conveying lines.
The first detecting sensor 41 is used for detecting whether the material 200 enters the sorting conveying line 3. The material parameter detecting device 5 is used for detecting a specified parameter of each material entering the sorting conveyor line 3, and the specified parameter can be volume, length, width, height and the like of the material. The second detecting sensor 42 is used for detecting whether the materials conveyed by the sorting conveying line 3 reach the outlet of the sorting conveying line 3. In a specific embodiment, the first detecting sensor 41 and the material parameter detecting device 5 are respectively disposed at the boundary position of the outlet of the feeding conveying line 1 and the inlet of the sorting conveying line 3, the second detecting sensor 42 is disposed at the outlet position of the sorting conveying line 3, and the first detecting sensor 41 and the second detecting sensor 42 are photoelectric sensors.
The controller 6 is configured to receive detection signals sent by the first detection sensor 41 and the second detection sensor 42 and designated parameter information sent by the material parameter detection device 5, and control the operation of the reversible conveying mechanism 3d, so that the materials entering the sorting conveying line 3 are sequentially output to the robot gripper conveying line 2 from the outlet of the sorting conveying line according to the robot stacking sequence. Wherein the order of robot palletizing is associated with specified parameters, in a specific embodiment, the order of robot palletizing is that the material volumes are palletized in a descending order, which requires that the materials entering the sorting conveyor line 3 are output from the outlet of the sorting conveyor line to the robot material grabbing conveyor line 2 in a descending order of the material volumes for the palletizing robot 100 to palletize in a descending order of the material volumes.
The controller 6 is used for establishing an output queue of the designated parameters of the materials, and setting a pointer to enable the initial position of the pointer to point to the head position of the output queue; every time the first detection sensor 41 detects that the material enters the sorting conveying line, the specified parameters of the material entering the sorting conveying line are added into the output queue, and every time the second detection sensor 42 detects that the material reaches the outlet 32 of the sorting conveying line 3, whether the material is to be output from the outlet 32 of the sorting conveying line 3 is judged according to the specified parameters of the material reaching the outlet 32, the queue content of the current output queue and the robot stacking sequence; if the output is not needed, the materials are continuously conveyed along the sorting conveying line 3 by controlling the reversible conveying mechanism 3d, and the pointer is moved backwards by one bit; if output is required, the materials are output from the outlet 32 of the sorting conveying line 3 by controlling the reversible conveying mechanism 3d, the specified parameters corresponding to the output materials are deleted from the output queue, and the pointer is moved forward by one bit; and after the pointer moves backward by one bit or moves forward by one bit, if the pointer points to the tail position of the output queue currently, the pointer is moved to point to the head position of the queue.
The above-described operating principle and process of the controller 6 are explained below by way of a simple example. In this example, 3 materials randomly flow into the sorting conveyor line 3 and then are sequentially output from the sorting conveyor line 3 in order of the size from large to small, and fig. 6 to 9 show the control flow of the controller 6. In the output queue Q, the volume of the material which firstly enters the sorting conveying line 3 is 0.02 cubic meter, the volume of the material which secondly enters the sorting conveying line 3 is 0.03 cubic meter, and the volume of the material which finally enters the sorting conveying line 3 is 0.05 cubic meter. These materials are all rectangular parallelepiped packing cases. As shown in fig. 6, the starting position of the pointer P points to the head position of the output queue Q, i.e. the volume value of the material that enters the sorting conveyor line 3 first. When the second detecting sensor 42 detects that the material which firstly enters the sorting conveying line 3 reaches the outlet 32 of the sorting conveying line 3, whether the material is to be output from the outlet 32 of the sorting conveying line 3 is judged according to the volume size, the queue content of the current output queue Q (namely the volume values of the three materials which currently enter the output queue Q) and the stacking sequence of the robot. Since the robot palletizing order is in the order of the size from large to small, the controller 6 judges that no output is required, and then controls the material which firstly enters the sorting conveyor line 3 to continue to be conveyed along the sorting conveyor line 3, and moves the pointer P one bit backwards to point to the volume value of the material which secondly enters the sorting conveyor line 3, as shown in fig. 7. Similar to the above process, since the volume of the material which enters the sorting line 3 next is not the largest in the output queue, when the second detecting sensor 42 detects that the material which enters the sorting line 3 next reaches the outlet 32 of the sorting line 3, the controller will make the material continue to be conveyed along the sorting line 3 and move the pointer P one bit backwards, pointing to the volume value of the material which enters the sorting line 3 last, as shown in fig. 8. The volume value of the material finally entering the sorting conveyor line 3 is the largest in the current output queue, so when the second detecting sensor 42 detects that the material finally entering the sorting conveyor line 3 reaches the outlet 32 of the sorting conveyor line 3, the controller 6 controls the reversible conveyor mechanism 3d to output the material finally entering the sorting conveyor line 3 from the outlet 32 of the sorting conveyor line 3, delete the corresponding volume value (i.e. 0.05 cubic meter) from the output queue Q, and move the pointer P forward by one bit, and since the pointer P moves forward by one bit just points to the tail position of the output queue, the pointer P needs to be adjusted to point to the head position of the queue, i.e. to 0.02 cubic meter, as shown in fig. 9. By circulating in this way, the controller 6 can control the materials with the volume of 0.03 cubic meter and the volume of 0.02 cubic meter to be output from the outlet 32 of the sorting conveying line 3 in sequence, so that the requirement of the stacking sequence of the stacker robot is met. The control mode can be used for freely and continuously adding materials during working, and has good real-time operability.
In the present embodiment, the controller 6 is a PLC controller.
Optionally, the conveying system for robot palletization comprises a third detection sensor 43 and a blocking mechanism. The third detecting sensor 43 is used for detecting whether the material reaches a predetermined position of the feed conveying line 1, and in this embodiment, the third detecting sensor 43 is a photoelectric sensor. The blocking mechanism comprises a blocking member 71 and a blocking member driving mechanism, the blocking member driving mechanism is used for driving the blocking member 71 to move between a blocking position and a releasing position, the blocking member 71 defaults to the blocking position, the blocking member 71 in the blocking position prevents the material reaching the preset position from being conveyed towards the outlet of the feeding conveying line (namely, the material is abutted against the blocking member when the material is at the preset position), and the blocking member 71 in the releasing position enables the material to be output from the preset position to the outlet of the feeding conveying line 1. In the present embodiment, the first stopper 71 is a shutter, and the first stopper driving mechanism is an elevation driving cylinder 72 that drives the shutter 71 to ascend and descend. In this embodiment, the predetermined position is adjacent to the outlet of the feed conveyor line 1.
The controller 6 is used for receiving the detection signal sent by the third detection sensor 43 and controlling the operation of the blocking mechanism. When the third detection sensor 43 detects that the material reaches the predetermined position, the controller 6 controls the material parameter detection device 5 to detect the designated parameter of the material reaching the predetermined position, and controls the operation of the blocking member driving mechanism when receiving the designated parameter of the material sent by the material parameter detection device 5, so that the blocking member 71 moves to the release position, and when the third detection sensor 43 detects that no material exists at the predetermined position, controls the blocking driving mechanism to move, so that the blocking member 71 returns to the blocking position.
In this embodiment, the material parameter detecting device 5 is a code scanning device; the side of the material 200 is provided with an identification code 201 containing information of specified parameters, and the identification code 201 includes but is not limited to a bar code, a two-dimensional code and the like. After the code scanning device 5 successfully scans the codes, the controller 6 obtains the designated parameter information of the corresponding materials. In other embodiments, the material parameter detecting device 5 may also be a 3D camera or the like, and the volume information of the material may also be obtained by using the photographing function of the 3D camera. When the material 200 reaches the predetermined position, the material abuts against the blocking member 71 and cannot move continuously, which is beneficial for subsequent visual imaging.
Further, the conveying system for robot palletizing according to the present embodiment includes a rotating member 81 and a rotating member driving mechanism for driving the rotating member 81 to rotate. A rotary member 81 is arranged at said predetermined position of said feeder-conveyor line 1 for receiving material conveyed from the feeder-conveyor line inlet.
The controller 6 is configured to control the operation of the rotating member driving mechanism, wherein when the third detecting sensor 43 detects that the material 200 reaches a predetermined position, the controller 6 controls the code scanning device 5 to scan the code, and if the code scanning device 5 does not detect the identification code 201, the controller 6 sends a code scanning failure message to the controller 6, the controller 6 controls the rotating member 81 to rotate by a predetermined angle, and controls the code scanning device 5 to scan the code again until the code scanning device 5 scans the code successfully, and the controller 6 receives a code scanning result of the code scanning device 5. In this way, no matter which side of the rectangular parallelepiped packaging box the identification code 201 is disposed on, it can be ensured that it is scanned by the code scanning device 5. In this embodiment, the rotary member 81 is a turntable, and the rotation driving mechanism is a driving motor 82. The predetermined angle is 90 °.
According to the conveying system for robot stacking provided by the embodiment of the invention, randomly input materials are conveyed on the annular sorting conveying line, and the reversing mechanism arranged at the outlet of the sorting conveying line is controlled by the controller, so that the materials entering the sorting conveying line can be sequentially output from the outlet of the sorting conveying line according to the stacking sequence of the robot, the workload of workers for sorting and stacking the materials is reduced, and the efficiency of stacking the materials with different sizes is improved.
Claims (10)
1. A conveying system for robotic palletizing, comprising:
a feed conveyor line;
the sorting conveying line is in a closed annular shape, an inlet of the sorting conveying line is connected with an outlet of the feeding conveying line, and a reversible conveying mechanism is arranged at the outlet of the sorting conveying line; the reversible conveyor mechanism is capable of selectively controlling whether material is output from an outlet of the sorting conveyor line or continues to be conveyed along the sorting conveyor line;
the first detection sensor is used for detecting whether materials enter the sorting conveying line or not;
the material parameter detection device is used for detecting the designated parameters of each material entering the sorting conveying line;
the second detection sensor is used for detecting whether the materials conveyed by the sorting conveying line reach the outlet of the sorting conveying line;
the controller is used for receiving detection signals sent by the first detection sensor and the second detection sensor and designated parameter information sent by the material parameter detection device and controlling the work of the reversible conveying mechanism, so that materials entering the sorting conveying line are sequentially output from an outlet of the sorting conveying line according to the stacking sequence of the robot; wherein the order of robot palletization is associated with the specified parameters.
2. A conveyor system for robot palletization according to claim 1, wherein the conveyor system for robot palletization comprises a third detection sensor and a blocking mechanism;
the third detection sensor is used for detecting whether the materials reach a preset position of the feeding conveying line; the blocking mechanism comprises a blocking piece and a blocking piece driving mechanism, the blocking piece driving mechanism is used for driving the blocking piece to move between a blocking position and a releasing position, the blocking piece is in the blocking position by default, the blocking piece prevents the materials reaching the preset position from being conveyed towards the outlet direction of the feeding conveying line when in the blocking position, and the materials can be output from the preset position to the outlet of the feeding conveying line when in the releasing position;
the controller is used for receiving a detection signal sent by the third detection sensor and controlling the blocking mechanism to work.
3. A conveying system for robotic palletising as claimed in claim 2 wherein the material parameter sensing means is a sweep palletising device; and an identification code containing the information of the specified parameters is arranged on the side surface of the material.
4. A conveyor system for robot palletization according to claim 3, wherein the conveyor system for robot palletization comprises a rotary member and a rotary member driving mechanism for driving the rotary member in rotation; the rotary member is arranged at the preset position of the feed conveying line and is used for receiving the materials conveyed from the inlet of the feed conveying line;
the controller is used for controlling the rotating part driving mechanism to work, wherein the controller is used for controlling the code scanning device to scan codes when the third detection sensor detects that the materials reach a preset position, controlling the rotating part to rotate by a preset angle when receiving the information that the code scanning device fails, and controlling the code scanning device to scan codes again until the code scanning is successful.
5. The conveyor system for robotic palletizing as in claim 2, wherein the first detecting sensor, the second detecting sensor and the third detecting sensor are all photoelectric sensors.
6. A conveyor system for robotic palletising as claimed in claim 1 wherein the controller is adapted to establish an output queue of specified parameters of the material and to set a pointer with a start position pointing to a head position of the output queue; when the first detection sensor detects that the materials enter the sorting conveying line each time, the designated parameters of the materials entering the sorting conveying line are added into the output queue, and when the second detection sensor detects that the materials reach the outlet of the sorting conveying line each time, whether the materials are output from the outlet of the sorting conveying line is judged according to the designated parameters of the materials reaching the outlet, the queue content of the current output queue and the stacking sequence of the robot; if the materials do not need to be output, the materials are continuously conveyed along the sorting conveying line by controlling the reversible conveying mechanism, and the pointer is moved backwards by one bit; if output is needed, the materials are output from the outlet of the sorting conveying line by controlling the reversible conveying mechanism, the specified parameters corresponding to the output materials are deleted from the output queue, and the pointer is moved forward by one bit; and after the pointer moves backward by one bit or moves forward by one bit, if the pointer points to the tail position of the output queue currently, the pointer is moved to point to the head position of the queue.
7. A conveyor system for robotic palletising as claimed in claim 6 wherein the specified parameter is the volume of material;
the robot stacking sequence is stacking according to the sequence of the material volumes from large to small.
8. The conveyor system for robotic palletizing according to claim 1, wherein the sorting conveyor line comprises a first conveyor branch, an entry universal conveyor table and a second conveyor branch, and the reversible conveyor mechanism is a reversible conveyor table; the first conveying branch line, the inlet universal conveying platform, the second conveying branch line and the reversible conveying platform form a closed annular conveying line together; the inlet universal conveying platform is arranged between one end of the first conveying branch line and one end of the second conveying branch line and is close to the outlet of the feeding conveying line, and the inlet universal conveying platform is used for respectively conveying the materials conveyed by the first conveying branch line and the feeding conveying line to the second conveying branch line; the reversible conveying table is arranged between the other end of the first conveying branch line and the other end of the second conveying branch line.
9. The conveying system for robot palletizing according to claim 8, wherein the feeding conveying line, the first conveying branch line and the second conveying branch line are roller conveying lines.
10. A conveyor system for robotic palletising as claimed in claim 1 wherein the controller is a PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811544703.5A CN109761052B (en) | 2018-12-17 | 2018-12-17 | Conveying system for robot stacking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811544703.5A CN109761052B (en) | 2018-12-17 | 2018-12-17 | Conveying system for robot stacking |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109761052A CN109761052A (en) | 2019-05-17 |
| CN109761052B true CN109761052B (en) | 2020-11-24 |
Family
ID=66451905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811544703.5A Active CN109761052B (en) | 2018-12-17 | 2018-12-17 | Conveying system for robot stacking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109761052B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211070897U (en) * | 2019-11-29 | 2020-07-24 | 北京旷视机器人技术有限公司 | Sorting equipment |
| CN113262982B (en) * | 2020-04-15 | 2023-05-26 | 北京旷视机器人技术有限公司 | Goods sorting method, system, device, electronic equipment and storage medium |
| CN113895680B (en) * | 2021-09-30 | 2022-12-30 | 江西省舌尖王国供应链管理有限公司 | Boxing robot and boxing method for intelligent logistics |
| CN114906523B (en) * | 2022-04-24 | 2024-06-07 | 北京旷视机器人技术有限公司 | Bin issuing method, apparatus, storage medium and program product |
| CN116424836B (en) * | 2023-06-09 | 2024-02-20 | 廊坊永创包装机械有限公司 | Robot stacking system and working method thereof |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| LU88144A1 (en) * | 1992-07-07 | 1994-04-01 | Wurth Paul Sa | Installation for lining an interior wall of an enclosure with brick masonry |
| JP4527513B2 (en) * | 2004-12-10 | 2010-08-18 | 株式会社日立製作所 | Fuel cell stack stacker |
| WO2008138556A2 (en) * | 2007-05-14 | 2008-11-20 | Krones Ag | Method and device for handling packages |
| CN204607070U (en) * | 2015-04-29 | 2015-09-02 | 盐城市荣立新型建材有限公司 | A kind of brickmaking Full automatic stacking system |
| CN205802155U (en) * | 2016-06-15 | 2016-12-14 | 浙江德尚智能科技有限公司 | Hopper stacking system based on robot |
| JP6729217B2 (en) * | 2016-09-07 | 2020-07-22 | 株式会社ダイフク | Equipment for loading goods |
| CN107512546B (en) * | 2017-09-21 | 2023-05-12 | 湖州德奥机械设备有限公司 | Conveying system and conveying method |
| CN107826311B (en) * | 2017-11-30 | 2023-07-21 | 常州华数锦明智能装备技术研究院有限公司 | Product concentrated stacking system based on robot technology |
| CN108483000A (en) * | 2018-04-23 | 2018-09-04 | 青岛科捷物流科技有限公司 | A kind of square crossing band sorting system |
-
2018
- 2018-12-17 CN CN201811544703.5A patent/CN109761052B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109761052A (en) | 2019-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109761052B (en) | Conveying system for robot stacking | |
| CN109625986B (en) | Robot stacking system and stacking method thereof | |
| CN110498243B (en) | Intelligent mixed box body robot pile-detaching system and control method | |
| CN109279373B (en) | Flexible unstacking and stacking robot system and method based on machine vision | |
| EP2998077B1 (en) | Robot system, robot apparatus, and method for picking workpiece | |
| CN106564761B (en) | Robot palletizer system | |
| CN205634755U (en) | Fully automatic feeding machine | |
| CN109775376B (en) | Robot unstacking method for irregular random materials | |
| CN109693903A (en) | A kind of cargo handling system | |
| CN106218948A (en) | The full-automatic packaging system of autoclave aerated concrete building block | |
| CN106241397A (en) | Autoclave aerated concrete building block pallet-free stacking and stacking technology | |
| CN212355733U (en) | Automatic destacking and loading device | |
| CN212238247U (en) | Robot sorting system with flexible feeding mechanism | |
| CN210392961U (en) | Pile up neatly system is torn open to mixed box robot intelligence | |
| CN208775881U (en) | A kind of vertical brick palletizing system | |
| CN215046655U (en) | Material receiving device | |
| CN217369339U (en) | Automatic garbage sorting system with multiple parallel grabbing targets | |
| CN212424675U (en) | Automatic car loader | |
| CN108328350A (en) | Stacking pipeline and casting machine production line | |
| CN110589421B (en) | Equipment for automatically conveying and processing materials | |
| CN113909159A (en) | Automatic garbage sorting system and sorting method with multi-target adsorption and grabbing | |
| CN112478757A (en) | Material conveying equipment with grabbing function | |
| CN110844609A (en) | Pallet roller bed stacking device and control method | |
| CN110589428A (en) | Automatic stacking and conveying system and method | |
| US20240182242A1 (en) | Sortation of items using an image fingerprint to right the items |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |