CN115215107A - Automatic stacking method - Google Patents
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- CN115215107A CN115215107A CN202210824821.1A CN202210824821A CN115215107A CN 115215107 A CN115215107 A CN 115215107A CN 202210824821 A CN202210824821 A CN 202210824821A CN 115215107 A CN115215107 A CN 115215107A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 238000006073 displacement reaction Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 15
- 230000003028 elevating effect Effects 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 8
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- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 238000004806 packaging method and process Methods 0.000 abstract description 2
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- 230000005540 biological transmission Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
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- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention relates to the field of logistics packaging, in particular to an automatic stacking method, which comprises the following steps: the method comprises the following steps that firstly, a plurality of working positions are provided with walking channels among the working positions, a conveying belt for inputting articles is arranged, a palletizing robot is arranged, the palletizing robot comprises a walking vehicle, an operating frame and a multi-joint manipulator, a gripper mechanism is arranged at the front end of the multi-joint manipulator, a parking mechanism is arranged on the walking vehicle, the walking vehicle comprises a plurality of walking wheels, and the gripper mechanism can realize vertical, horizontal and front-back displacement and can realize rotation of at least 90 degrees under the driving of the multi-joint manipulator; and secondly, when the stacking robot is positioned at a walking channel corresponding to one of the working positions, grabbing the articles on the conveying belt by using the grabbing mechanism and then transferring the articles to the working positions, and horizontally and longitudinally staggered stacking of the articles is realized through rotation of 90 degrees. The production line solves the technical problem that the production cost is greatly improved when more production volumes of the existing production plant production lines are not large.
Description
Technical Field
The invention relates to the field of logistics packaging, in particular to an automatic stacking method for objects.
Background
At present, loading and unloading are carried out more manually in the logistics field, but unloading by using a robot is also started to be gradually applied, and the loading and unloading position will be mainly occupied in the future. The prior loading and unloading device can refer to the Chinese patent application number: CN202010768197.9 discloses a loading and unloading equipment and loading and unloading system, relating to the field of logistics machinery, for optimizing the performance of the loading and unloading equipment. The loading and unloading equipment comprises a base assembly, a cantilever assembly and a conveying assembly. The base assembly is configured to provide support. The cantilever assembly comprises a first bracket assembly and a first conveying member, and the first bracket assembly is arranged on the base assembly; the first conveying member is mounted on the first bracket component. The conveying assembly comprises a second bracket assembly, a second conveying piece and a sucker assembly; the second bracket component is arranged on the first bracket component, the second conveying component is arranged on the second bracket component, and the sucker component is arranged on the second bracket component in a turnover way; the suction cup assembly is configured to attract the article onto the second transport. Wherein, the conveying direction of the first conveying member is consistent with that of the second conveying member. According to the loading and unloading equipment provided by the technical scheme, the direction does not need to be changed in the process of conveying the articles, the continuity of conveying action is improved, and the conveying efficiency is improved.
In the existing production line, various operation modes are provided for realizing automatic stacking, but a fixed structure is adopted usually, so that the production line has more varieties, and the cost is greatly improved when the production capacity is not large.
Disclosure of Invention
Therefore, aiming at the problems, the invention provides an automatic stacking method, which solves the technical problem that the production cost is greatly improved when more production volumes are not large in the existing production plant assembly line.
In order to realize the purpose, the invention adopts the following technical scheme: an automatic palletizing method comprising the steps of:
the method comprises the steps that firstly, a plurality of working positions are arranged, a walking channel is arranged among the working positions, a conveying belt used for inputting articles is arranged on one side of the walking channel, a palletizing robot is arranged and moves back and forth among the working positions along the walking channel, the palletizing robot is used for grabbing and palletizing the articles on the conveying belt to the working positions and comprises a walking vehicle, a rotatable operating frame arranged on the walking vehicle and more than one multi-joint manipulator arranged on the operating frame, a gripper mechanism used for grabbing the articles is arranged at the front end of the multi-joint manipulator, a parking mechanism used for supporting and fixing the walking vehicle is arranged on the walking vehicle, the walking vehicle comprises a plurality of walking wheels, the parking mechanism is used for lifting the walking vehicle to lift the walking wheels, and the gripper mechanism can realize vertical, left and right, front and back displacement and forth under the driving of the multi-joint manipulator and can realize rotation of at least 90 degrees;
and secondly, when the stacking robot is positioned at a walking channel corresponding to one of the working positions, grabbing the articles on the conveying belt by using the grabbing mechanism and then transferring the articles to the working positions, and realizing the stacking of the articles in a transversely and longitudinally staggered manner through the rotation of 90 degrees.
Furthermore, the number of the multi-joint mechanical arms is two, the two multi-joint mechanical arms are symmetrically arranged along the circumferential direction of the operation frame, and when the operation frame rotates, the two multi-joint mechanical arms are in a contraction state.
Further, the gripper mechanism comprises a disc body and a plurality of sucker structures arranged on the lower end of the disc body, and a first camera used for acquiring graphic information of objects below is arranged on the disc body.
Furthermore, be equipped with a plurality of side centre gripping cylinders on the week side of disk body, be equipped with the grip block on the free end of the piston rod of each side centre gripping cylinder, the grip block is close to or keeps away from the disk body under the effect of centre gripping cylinder.
Furthermore, be provided with elasticity clamping structure on the grip block, elasticity clamping structure is including locating a plurality of springs that the grip block is close to disk body one side, and locate the interior splint on a plurality of spring free ends.
Furthermore, the inner clamping plate is a flexible plate, and one side surface of the inner clamping plate, which is close to the disc body, is a rough surface.
Furthermore, during stacking, the stacking sequence of each layer is given, stacking is carried out according to the stacking sequence, stacking structures of adjacent layers are different during stacking, and more than two adjacent empty side faces which cannot form a barrier are arranged at the stacking position during any stacking sequence, so that a blocked object side face is formed.
Further, the objects are located right above the stacking sequence positions before stacking and are deviated to the empty side faces, intersection is formed between the objects and projections of at least two adjacent empty side faces on a horizontal plane, the objects are gradually close to the object side faces in the downward moving process, and when the lower surfaces of the objects are in contact with the bottom, the side faces of the objects are also in contact with the object side faces.
Furthermore, a main lifting mechanism is arranged on the walking vehicle, and the operation frame is arranged on the main lifting mechanism to realize lifting.
Further, parking mechanism is including locating the parking elevating system more than three on the walking car, locating the supporting legs platform of parking elevating system lower extreme, and when needs realized that tongs mechanism carries out the transfer of article, parking elevating system starts, and the supporting legs platform descends, realizes liftoff in order to realize the walking wheel to the lifting of walking car.
By adopting the technical scheme, the invention has the beneficial effects that: according to the scheme, the robot palletizer is used for achieving movement among a plurality of working positions and achieving transfer and palletizing of articles on the conveying belt to the working positions, the working positions can be used for placing trays, the robot palletizer needs to achieve movement, the robot palletizer needs to grab at a fixed point and perform palletizing, stability of the robot palletizer is greatly reduced, a walking vehicle, an operation frame, a multi-joint manipulator, a gripper mechanism and a parking mechanism are arranged, distribution of the whole robot palletizer can be reasonable, stability is better, the parking mechanism is used for achieving lifting of the walking vehicle so as to achieve lift-off of walking wheels, the gripper mechanism can achieve vertical, left-right, front-back displacement under driving of the multi-joint manipulator, and at least 90-degree rotation can be achieved. Therefore, stable grabbing, stacking according to actual needs, quick transfer and the like can be achieved.
Furthermore, the number of articulated manipulator is two, and two articulated manipulators set up along the circumference symmetry of handling frame, and when the handling frame rotated, two articulated manipulators were in the shrink state, and the operation in duplex position can be realized to such setting, and also when a articulated manipulator was carrying out the pile up neatly of article, another articulated manipulator then carried out snatching of article, accomplished work back, and the rotation through the handling frame drives articulated manipulator and carries out the transposition, and then repeated action realizes tying the operation of station. Because when snatching and pile up neatly at article, the articulated manipulator is in the state of extending, in order to improve the security, also prevents the increase of the centrifugal force of article, and articulated manipulator withdrawal when needs rotate for tongs mechanism is close to the handling frame, also makes article close to the handling frame, thereby improves the stability of walking car, can realize work efficiency's greatly increased moreover. The sucking disc structure snatchs article, is applicable to the article of rule, like square box etc. its stability is better, snatchs fast, convenient, and the setting of first camera can realize being used for acquireing below article graphical information to the identification system of auxiliary computer judges the operation.
Furthermore, the setting of side centre gripping cylinder can realize some objects that the surface regularity is relatively poor, carries out the centre gripping supplementary, realizes effectively, stably snatching article. When snatching, adsorb the upper surface of article at first, and rear side centre gripping cylinder promotes the grip block and carries out the centre gripping, and the articulated manipulator rises at last, realizes snatching article.
Furthermore, through the arrangement of the elastic clamping structure, effective flexible clamping can be achieved, the inner clamping plate can be arranged to be a flexible plate, and one side face, close to the disc body, of the inner clamping plate is a rough face, so that a better clamping effect can be achieved.
Further, during stacking, generally speaking, a computer gives a stacking order, stacking levels and distribution of each layer, it is required to ensure that stacking structures of adjacent levels are different, and in any stacking order, more than two adjacent empty side surfaces which cannot form a barrier are arranged at the stacking position, and a side surface which is a real object and forms the barrier is arranged, so that the stability of stacking can be effectively ensured. And in the time of pile up neatly, can be more smooth and easy, when articulated manipulator moved, article before the pile up neatly was located the position of pile up neatly order and the empty side of deviation, and just has the intersection with the projection of at least two adjacent empty sides on the horizontal plane, and article move down the in-process, are close to the side of the material object gradually, and when the lower surface of article contacted with the bottom, its side also contacted with the side of the material object. The process of contracting to expanding to being close to the pile up neatly position from the realization of many joint manipulator is an acceleration process, is a process of slowing down to the complete pile up neatly position being close to the pile up neatly position, and the aim at that sets up like this realizes that more effective efficiency improves also can make the pile up neatly more stable.
Furthermore, in order to realize the operation range of the multi-joint manipulator, a main lifting mechanism is arranged, so that the lifting of the operation frame is realized, and the increase of the operation space is realized.
Further, the arrangement of the parking mechanism can realize more stable support, and the number of the parking lifting mechanisms is generally four.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a grip structure;
FIG. 3 is a schematic view of the structure of the clamping plate, the spring and the inner clamping plate;
FIG. 4 is a schematic view of the structure of a pile;
fig. 5 is a schematic view of the palletized stack in a top view.
Reference numerals:
1. a walking vehicle; 11. rotating the platform; 12. a rotation driving device; 13. a main lifting mechanism; 14. a parking mechanism; 141. a parking lifting mechanism; 142. supporting the foot platform; 15. a traveling wheel; 2. an operation frame; 3. a multi-joint manipulator; 4. a gripper mechanism; 41. a tray body; 42. a sucker structure; 43. a first camera; 44. a clamping cylinder; 45. a clamping plate; 46. a spring; 47. an inner splint; 481. a support plate 481; 482. a flexible rubber pad; 49. lifting the cylinder; 5. a second camera; 6. an article.
Detailed Description
The invention will now be further described with reference to the accompanying drawings and detailed description.
Referring to fig. 1, 2 and 3, the embodiment provides a palletizing robot, including walking car 1, rotationally locate handling frame 2 on walking car 1, locate two at least multi-joint manipulators 3 on handling frame 2, be provided with on walking car 1 and rotate platform 11 and be used for driving and rotate platform 11 pivoted rotation drive device 12, be equipped with main elevating system 13 on rotating platform 11, handling frame 2 is located on main elevating system 13 in order to realize going up and down, and each multi-joint manipulator 3 locates on handling frame 2 along circumference evenly distributed. And a gripper mechanism 4 for gripping an article is arranged at the front end of the multi-joint manipulator 3.
The multi-joint manipulator is a conventional technical means in the field, the structure of the multi-joint manipulator is well known, and a plurality of related products are available on the market. The main lifting mechanism is mainly used for lifting the operation frame, is a conventional technical means in the field, has a known structure, and can be realized by adopting structures such as an air cylinder, an oil cylinder, an electric push rod and the like.
Be provided with on the walking car 1 and be used for supporting fixed parking mechanism 14 to walking car 1, walking car 1 includes a plurality of walking wheels 15, parking mechanism 14 is used for realizing liftoff in order to realize walking wheel 15 to the lifting of walking car 1. The parking mechanism 14 includes three or more parking elevating mechanisms 141 provided on the traveling vehicle 1, and a support foot platform 142 provided at a lower end of the parking elevating mechanism 141. Four parking lifting mechanisms 141 are provided in this embodiment, and accordingly four support foot platforms 142 are provided. The parking lifting mechanism 141 in this scheme is driven by a worm and gear mechanism, wherein the parking lifting mechanism 141 can adopt mechanisms such as a cylinder, an oil cylinder, a rack and pinion transmission, a worm and gear transmission, an electric push rod and the like, and the parking lifting mechanism is realized by a rack and pinion transmission mode in this scheme, which is a conventional technical means and is not repeated herein. The walking vehicle can adopt the existing RGV trolley and can also adopt other similar structures, and the parking mechanism can be additionally arranged on the RGV trolley, and the lifting of the supporting leg platform is realized through the parking lifting mechanism.
The gripper mechanism 4 comprises a disc body 41 and a plurality of sucker structures 42 arranged on the lower end of the disc body 41, the sucker structures are communicated with an external negative pressure device, and the walking vehicle is provided with a set track and can be realized by arranging a traction air pipe above the walking vehicle, and the walking vehicle can also be used for realizing negative pressure adsorption gripping by utilizing the self-provided negative pressure device. Be equipped with the first camera 43 that is used for acquireing below article graphical information on the disk body 41, be equipped with a plurality of side centre gripping cylinders 44 on the week side of disk body 41, be equipped with grip block 45 on the free end of the piston rod of each side centre gripping cylinder 44, grip block 45 is close to or keeps away from disk body 41 under the effect of centre gripping cylinder. The clamping plate 41 is provided with an elastic clamping structure, and the elastic clamping structure comprises a plurality of springs 46 arranged on one side of the clamping plate close to the plate body and an inner clamping plate 47 arranged on the free ends of the springs 46. The inner clamping plate 47 is a flexible plate, and one side surface of the inner clamping plate 47, which is close to the disc body, is a rough surface. A supporting plate 481 is further arranged between the inner clamping plate 47 and the spring, the inner clamping plate 47 is rotatably arranged on the supporting plate 481 through a spherical hinge, and a flexible rubber pad 482 is arranged on one side, close to the inner clamping plate 47, of the supporting plate 481. This allows for better grip adaptation to new energy. In order to prevent interference, the bottom of the side clamping cylinder 44 is hinged on the disk body 41, a lifting cylinder 49 is also hinged on the disk body, the free end of the piston rod of the lifting cylinder is hinged with the free end of the side clamping cylinder 44, and the lifting and lowering of the counter clamping cylinder are realized. When clamping is needed to be achieved, the lifting cylinder and the side clamping cylinder act simultaneously, and the purpose of descending clamping can be achieved.
Wherein the first camera also can be replaced by an infrared sensor. In addition, the upper end of the lifting mechanism can be provided with a second camera 5, so that the whole external environment can be judged.
The setting of side centre gripping cylinder can realize some objects that the surface regularity is relatively poor, carries out the centre gripping supplementary, realizes effectively, stably snatching article. When snatching, adsorb the upper surface of article at first, and rear side centre gripping cylinder promotes the grip block and carries out the centre gripping, and the articulated manipulator rises at last, realizes snatching article. Through the setting of elasticity clamping structure, can realize effectual flexible centre gripping, the inner splint can set up to the flexbile plate moreover, and the side that the inner splint is close to the disk body is the mat surface to can realize better centre gripping effect.
1. Through the setting of handling frame, realize the installation of two at least articulated manipulators, articulated manipulator belongs to conventional technique, but can realize the operation of multistation through the installation of a plurality of articulated manipulators, also realizes snatching with the dislocation of release. And bear through the walking car and can realize convenient quick travel, but the walking car is because the characteristic of its walking, and stability is lower relatively, sets up parking mechanism in this time, can realize the firm of multirow walking car, utilizes parking mechanism to carry out the lifting to the walking car to realize that the walking wheel breaks away from ground and can promote its steadiness greatly. When the displacement is needed, the parking mechanism resets, so that the traveling wheels contact the ground again to perform the displacement. The running vehicle used here may be a vehicle body structure similar to an RGV car.
2. Through the setting of parking elevating system, supporting legs platform, can realize good steadiness, can set up level sensor moreover according to the gradient of ground or carriage bottom surface on the walking car to control respectively the lift of different parking elevating system, thereby realize the level of walking car and keep.
3. The arrangement of the gripper mechanism can realize the stretching of the sucker structure, so that the sucker is utilized to adsorb an object and then pull the object to the supporting platform, the supporting platform is utilized to support the object in the vertical direction, the sucker structure is stabilized in an auxiliary mode, and the good grabbing effect of the object is realized.
5. The setting of first camera mainly realizes being connected with identification system, perhaps makes the staff to the discernment of snatching article to provide probably for quick, automatic snatching.
6. The main lifting mechanism is arranged, and aims to increase the size of the working surface of most of the joint manipulators and realize larger operation space.
Based on the robot palletizer, the invention provides an automatic palletizing method, which comprises the following steps:
the method comprises the following steps that firstly, a plurality of working positions are arranged, a walking channel is arranged among the working positions, a conveying belt used for inputting articles is arranged on one side of the walking channel, a stacking robot is arranged and moves back and forth among the working positions along the walking channel, the stacking robot is used for grabbing and stacking the articles on the conveying belt to the working positions, a parking mechanism is used for lifting a walking vehicle to lift off the walking wheel, the grabbing mechanism can realize vertical, left and right, front and back displacement under the driving of a multi-joint manipulator and can realize rotation of at least 90 degrees;
and secondly, when the stacking robot is positioned at a walking channel corresponding to one of the working positions, grabbing the articles on the conveying belt by using the grabbing mechanism and then transferring the articles to the working positions, and realizing the stacking of the articles in a transversely and longitudinally staggered manner through the rotation of 90 degrees.
During stacking, the stacking sequence of each layer is given, stacking is carried out according to the stacking sequence, the stacking structures of adjacent layers are different, and more than two adjacent empty side surfaces which cannot form barriers are arranged at the stacking position in any stacking sequence, so that the blocked object side surfaces are formed.
The objects are positioned right above the stacking sequence before stacking and are deviated to the empty side surfaces, intersection is formed between the objects and the projections of at least two adjacent empty side surfaces on the horizontal plane, the objects are gradually close to the object side surfaces in the downward moving process, and when the lower surfaces of the objects are contacted with the bottom, the side surfaces of the objects are also contacted with the object side surfaces.
When the gripper mechanism needs to transfer articles, the parking lifting mechanism is started, the supporting leg platform descends, and lifting of the walking vehicle is achieved so that the walking wheels can be lifted off the ground.
Reference is also made to figure 4 which is a schematic illustration of the structure of a pile in a palletization process in which the palletization sequence a-H is carried out in sequence at the uppermost layer, wherein the H-palletization position is an illustration of the fact that there is no palletization yet. When stacking is carried out along the stacking sequence, more than two adjacent empty side surfaces which cannot form blocking are arranged at any stacking position, and the side surface where three dotted lines are located forms two empty side surfaces and forms a blocking object side surface S by taking the H stacking position as reference.
Referring again to fig. 5, when an item is transferred by the articulated robot to the palletization position, it should be above the palletization position and offset to the empty side. However, in order to take efficiency into consideration, it is generally not preferable that the offset amount is too large, and the offset amount is usually set to 5% to 10%. When being close to the pile up neatly position, lift up the cylinder and relax article with side centre gripping cylinder, realize lifting up, realize the absorption to article by sucker structure, place after complete, sucker structure suction disappears, accomplishes and places.
The invention has the beneficial effects that: according to the scheme, the robot palletizer is used for achieving movement among a plurality of working positions and achieving transfer and palletizing of articles on the conveying belt to the working positions, the working positions can be used for placing trays, the robot palletizer needs to achieve movement, the robot palletizer needs to grab at a fixed point and perform palletizing, stability of the robot palletizer is greatly reduced, a walking vehicle, an operation frame, a multi-joint manipulator, a gripper mechanism and a parking mechanism are arranged, distribution of the whole robot palletizer can be reasonable, stability is better, the parking mechanism is used for achieving lifting of the walking vehicle so as to achieve lift-off of walking wheels, the gripper mechanism can achieve vertical, left-right, front-back displacement under driving of the multi-joint manipulator, and at least 90-degree rotation can be achieved. Therefore, stable grabbing, stacking according to actual needs, quick transfer and the like can be achieved.
Furthermore, the number of the multi-joint mechanical arms is two, the two multi-joint mechanical arms are symmetrically arranged along the circumferential direction of the operating frame, and when the operating frame rotates, the two multi-joint mechanical arms are in a contraction state. Because when snatching and pile up neatly at article, the articulated manipulator is in the state of extending, in order to improve the security, also prevents the increase of the centrifugal force of article, and articulated manipulator withdrawal when needs rotate for tongs mechanism is close to the handling frame, also makes article close to the handling frame, thereby improves the stability of walking car, can realize work efficiency's greatly increased moreover. The sucking disc structure snatchs article, is applicable to the article of rule, like square box etc. its stability is better, snatchs fast, convenient, and the setting of first camera can realize being used for acquireing below article graphical information to the identification system of auxiliary computer judges the operation.
Further, during stacking, generally speaking, a computer gives a stacking order, stacking levels and distribution of each layer, it is required to ensure that stacking structures of adjacent levels are different, and in any stacking order, more than two adjacent empty side surfaces which cannot form a barrier are arranged at the stacking position, and a side surface which is a real object and forms the barrier is arranged, so that the stability of stacking can be effectively ensured. And during stacking, the multi-joint manipulator can be smoother, when the multi-joint manipulator moves, the articles are positioned right above stacking sequence positions before stacking and are deviated to the empty side, the projections of the articles and at least two adjacent empty sides on a horizontal plane form an intersection, the articles gradually approach to the side of the real object in the moving-down process, and when the lower surface of the articles is contacted with the bottom, the side of the articles is also contacted with the side of the real object. The process that from the realization of articulated manipulator contract to expand to be close to the pile up neatly position is an acceleration process, is a process that slows down near the pile up neatly position to the process of complete pile up neatly, and the aim at that sets up like this realizes that more effective efficiency improves also can make the pile up neatly more stable.
In practical applications, the time S1 for the articulated robot to extend from the retracted state to above a given palletizing position is set to 0.2-0.5 seconds, while the time S2 from the palletizing position to palletizing completion is usually set to 0.6-1 seconds, although the specific time needs to be set according to the actual palletized objects, generally S1: S2=1 (2-3). This may ensure better stability. The time period of S1 is a gradual acceleration process, and the time period of S2 is a gradual deceleration process, that is, the highest speed in the time period of S1 is equal to the highest speed in the time period of S2.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An automatic palletizing method is characterized by comprising the following steps:
the method comprises the steps that firstly, a plurality of working positions are arranged, a walking channel is arranged among the working positions, a conveying belt used for inputting articles is arranged on one side of the walking channel, a palletizing robot is arranged and moves back and forth among the working positions along the walking channel, the palletizing robot is used for grabbing and palletizing the articles on the conveying belt to the working positions, the palletizing robot comprises a walking vehicle, a rotatable operating frame arranged on the walking vehicle and more than one multi-joint manipulator arranged on the operating frame, a gripper mechanism used for grabbing the articles is arranged at the front end of the multi-joint manipulator, a parking mechanism used for supporting and fixing the walking vehicle is arranged on the walking vehicle, the walking vehicle comprises a plurality of walking wheels, the parking mechanism is used for lifting the walking vehicle to lift off the walking wheels, and the gripper mechanism can realize vertical, left and right, front and back displacement and forth under the driving of the multi-joint manipulator and can realize rotation of at least 90 degrees;
and secondly, when the stacking robot is positioned at a walking channel corresponding to one of the working positions, grabbing the articles on the conveying belt by using the grabbing mechanism and then transferring the articles to the working positions, and realizing the stacking of the articles in a transversely and longitudinally staggered manner through the rotation of 90 degrees.
2. An automatic palletization method as claimed in claim 1, characterized in that: the number of articulated manipulator is two, and two articulated manipulators set up along the circumference symmetry of handling frame, and when the handling frame rotated, two articulated manipulators were in the shrink state.
3. An automatic palletization method as claimed in claim 1, characterized in that: the gripper mechanism comprises a disc body and a plurality of sucker structures arranged on the lower end of the disc body, and a first camera used for acquiring graphic information of objects below is arranged on the disc body.
4. An automatic palletization method as claimed in claim 3, characterized in that: the disc body is characterized in that a plurality of side clamping cylinders are arranged on the peripheral sides of the disc body, a clamping plate is arranged at the free end of a piston rod of each side clamping cylinder, and the clamping plate is close to or far away from the disc body under the action of the clamping cylinders.
5. An automatic palletization method according to claim 4, characterized in that: the clamping plate is provided with an elastic clamping structure, and the elastic clamping structure comprises a plurality of springs and an inner clamping plate, wherein the springs are arranged on one side, close to the disc body, of the clamping plate, and the inner clamping plate is arranged at the free ends of the springs.
6. An automatic palletization method according to claim 5, characterized in that: the inner clamping plate is a flexible plate, and one side surface of the inner clamping plate, which is close to the plate body, is a rough surface.
7. An automatic palletization method as claimed in claim 3, characterized in that: during stacking, the stacking sequence of each layer is given, stacking is carried out according to the stacking sequence, stacking structures of adjacent layers are different during stacking, more than two adjacent empty side faces which cannot form a barrier are arranged at the stacking position during any stacking sequence, and the side face which is a real object and forms the barrier is formed.
8. An automatic palletization method according to claim 7, characterized in that: the objects are located right above the stacking sequence positions before stacking and are deviated to the empty side, intersection is formed between the objects and projections of at least two adjacent empty sides on a horizontal plane, the objects are gradually close to the object side in the downward moving process, and when the lower surfaces of the objects are in contact with the bottom, the side is also in contact with the object side.
9. An automatic palletization method as claimed in any one of claims 1 to 8, wherein: the walking vehicle is provided with a main lifting mechanism, and the operation frame is arranged on the main lifting mechanism to realize lifting.
10. An automatic palletization method according to any one of claims 1 to 8, characterized in that: the parking mechanism is including locating the parking elevating system more than three on the walking car, locating the supporting legs platform of parking elevating system lower extreme, when needs realize that tongs mechanism carries out the transfer of article, parking elevating system starts, and the supporting legs platform descends, realizes liftoff in order to realize the walking wheel to the lifting of walking car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210824821.1A CN115215107B (en) | 2022-07-13 | 2022-07-13 | Automatic stacking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210824821.1A CN115215107B (en) | 2022-07-13 | 2022-07-13 | Automatic stacking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115215107A true CN115215107A (en) | 2022-10-21 |
| CN115215107B CN115215107B (en) | 2024-06-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116788598A (en) * | 2023-08-24 | 2023-09-22 | 南通通机股份有限公司 | Destacking and stacking system of toothpaste tube box robot |
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|---|---|
| CN115215107B (en) | 2024-06-21 |
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