CN117302705B - Unstacking and conveying system and unstacking and conveying method - Google Patents
Unstacking and conveying system and unstacking and conveying method Download PDFInfo
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- CN117302705B CN117302705B CN202311511587.8A CN202311511587A CN117302705B CN 117302705 B CN117302705 B CN 117302705B CN 202311511587 A CN202311511587 A CN 202311511587A CN 117302705 B CN117302705 B CN 117302705B
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- 238000000034 method Methods 0.000 title claims abstract description 64
- 239000000463 material Substances 0.000 claims abstract description 237
- 230000007246 mechanism Effects 0.000 claims abstract description 173
- 238000010008 shearing Methods 0.000 claims abstract description 79
- 230000007704 transition Effects 0.000 claims abstract description 46
- 238000012545 processing Methods 0.000 claims abstract description 40
- 238000004519 manufacturing process Methods 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000004044 response Effects 0.000 claims description 23
- 230000009471 action Effects 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 12
- 230000008093 supporting effect Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004801 process automation Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 239000011159 matrix material Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0025—Removing or cutting binding material, e.g. straps or bands
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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Abstract
The invention discloses an unstacking and conveying system and an unstacking and conveying method, wherein a stack is formed by stacking materials, the materials are bundled with bands, the unstacking system comprises a central processing unit, a 3D visual camera, an unstacking mechanical arm, a clamping device, a transition device and an AGV, the central processing unit is in communication connection with the 3D visual camera, the unstacking mechanical arm, the clamping device, the transition device and the AGV, the mechanical arm comprises a head mechanism, and a sucker, a band shearing mechanism and a clamp are arranged on the head mechanism; the clamping device is provided with an upper clamping fork tooth pair and a lower clamping fork tooth pair, the transition device is provided with a gripper and a transition guide rail, and the gripper is in sliding connection with the transition guide rail. The unstacking and conveying system and the unstacking and conveying method disclosed by the invention realize the whole-course automation of conveying materials to a production line after removing the binding tapes, and human intervention is not required.
Description
Technical Field
The invention belongs to the technical field of intelligent storage, and particularly relates to an unstacking and conveying system and an unstacking and conveying method.
Background
In the modern logistics and storage processes, unstacking and carrying are important works, and relate to unstacking orderly stacked material stacks into materials which can be directly used in a production line, and carrying the materials to the production line or a fixed position so as to be directly used in the production line; at present, various materials can be bound by using the binding tape to prevent scattering, so that the binding tape for binding the materials needs to be disassembled and sheared to be unstacked so as to be carried into a production line. However, the conventional unstacking and carrying process often requires a large amount of manual operations, workers need to split and shear materials firstly, then carry stacked materials which are currently split and sheared into corresponding positions or carry out application on a production line, the efficiency is low, the problem that materials fall often occurs in the process of splitting and shearing the bands, and potential safety hazards are easily caused.
Therefore, the AGV (Automated GuidedVehicle, automatic guided vehicle) is adopted in the related art to carry materials, however, the processes of removing the shearing ribbon and carrying the materials after removing the shearing ribbon to the production line are still seriously isolated, and the automation level of the whole unstacking and carrying process comprising the two processes is still to be lifted, so that a system and a realization method capable of automatically realizing the two processes are particularly necessary.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an unstacking and conveying system and an unstacking and conveying method, which can automatically realize the combination of the two processes. The technical scheme adopted by the invention is as follows: the invention provides an unstacking and conveying system, which is characterized in that a stack is formed by stacking materials, the materials are bundled with bands, the unstacking and conveying system comprises a central processing unit, a 3D visual camera, an unstacking mechanical arm, a clamping device, a transition device and an AGV, wherein an upper clamping fork tooth pair and a lower clamping fork tooth pair are arranged on the clamping device, a gripper and a transition guide rail are arranged on the transition device, and the gripper is in sliding connection with the transition guide rail; wherein:
the central processing unit is in communication connection with the 3D vision camera, the unstacking mechanical arm, the clamping device, the transition device and the AGV, and is used for sending a data acquisition instruction to the 3D vision camera in response to receiving an unstacking instruction or a material remaining notification so that the 3D vision camera can identify a three-dimensional data set of a material stack and ribbon data, wherein the three-dimensional data set comprises vertex coordinates of materials at the top of the material stack, central coordinates of the materials at the top of the material stack and depth information of the material stack, the ribbon data comprises the number of ribbons, the length direction of each ribbon and endpoint coordinates of each ribbon in the length direction; the central processing unit is also used for receiving the three-dimensional data set and the ribbon data, calculating and generating pose parameters, wherein the pose parameters also comprise single-piece material length, single-piece material width, total height of a material stack and material placement angle; the central processing unit is also used for sending an initialization instruction to the clamping device; the central processing unit is also used for sending a shearing belt unstacking instruction to the clamping device and the unstacking mechanical arm; the central processing unit is also used for sending a carrying instruction to the AGV in response to receiving the belt shearing completion notification; the central processing unit is also used for controlling the transition device to grasp materials conveyed by the AGV based on the grippers and release the materials after the materials are conveyed onto the conveyor belt based on the transition guide rail;
The 3D vision camera is arranged right above the material stack, and the 3D vision camera is used for identifying the three-dimensional data set and the strapping data of the material stack in response to receiving the acquisition instruction;
the mechanical arm comprises a head mechanism, wherein a sucker, a band shearing mechanism and a clamp are arranged on the head mechanism, the sucker is used for sucking up materials, the band shearing mechanism is used for shearing a material band, and the clamp is used for clamping the band; the unstacking mechanical arm is used for responding to receiving a belt shearing unstacking instruction and executing a belt shearing unstacking method together with the clamping device, wherein the belt shearing unstacking instruction comprises the three-dimensional data set, the ribbon data and the pose parameters; the band shearing and unstacking method can enable the material set after the band is split and sheared to be placed on the lower clamping fork tooth pair;
the upper clamping fork teeth pair comprises a first upper fork tooth and a second upper fork tooth, and the first upper fork tooth and the second upper fork tooth can slide in the horizontal direction; the lower clamping fork teeth comprise a first lower fork tooth and a second lower fork tooth, and the first lower fork tooth and the second lower fork tooth can slide in the vertical direction; the clamping device is used for responding to the received initialization instruction to perform initialization operation; the clamping device is also used for executing a belt shearing and unstacking method together with the unstacking mechanical arm in response to receiving a belt shearing and unstacking instruction;
The AGV is used for lifting the lower clamping fork teeth to the materials contained on the upper clamping fork teeth and conveying the materials to the position between the grippers of the transition device on the basis of the conveying mechanism in response to receiving a conveying instruction;
the transition device is further provided with a movable slide rail, the height of the movable slide rail is the same as that of the production line conveyor belt, one side, away from the gripper, of the movable slide rail is close to the starting end of the production line conveyor belt, and the transition guide rail is arranged on the movable slide rail so that materials can be moved onto the movable slide rail to the production line conveyor belt.
Further, the data identified by the 3D vision camera further includes a stacking number, and when the stacking number is greater than 1, the number of the three-dimensional data set and the number of the band data are consistent with the stacking number.
Further, the head mechanism is also provided with a roller type travel switch mechanism, the roller type travel switch mechanism is provided with a touch roller, the bottom of the touch roller and the bottom of the head mechanism are in the same plane, and the touch roller, the belt shearing mechanism and the clamp are positioned on the same straight line; the unstacking mechanical arm is used for sensing the contact state of the head mechanism and the material through the roller type travel switch mechanism, and when the roller type travel switch mechanism detects that the roller type travel switch mechanism is in contact with the material, the unstacking mechanical arm can control the sucker to suck the material based on the contact action; the unstacking mechanical arm is further used for sensing the contact state of the head mechanism and the ribbon through the roller type travel switch mechanism, when the roller type travel switch mechanism detects that the roller type travel switch mechanism is in contact with the ribbon, the unstacking mechanical arm can control the clamp to clamp the ribbon based on contact actions, then control the ribbon shearing mechanism to shear the ribbon, and under the condition that the ribbon shearing mechanism shears the ribbon, the unstacking mechanical arm can control the head mechanism to pull up the ribbon based on the clamp and move to a preset position, the unstacking mechanical arm controls the clamp to release the ribbon, and the preset position characterizes the ribbon storing position.
Further, the clamping device is further provided with a contact type travel switch mechanism, the contact type travel switch mechanism is provided with a contact, the contact type travel switch mechanism is arranged on the clamping device and is close to one side of the lower clamping fork teeth pair, the clamping device is further used for sensing the contact state of the contact type travel switch mechanism and the lower clamping fork teeth pair through the contact type travel switch mechanism, and when the contact type travel switch mechanism detects that the contact type travel switch mechanism is contacted with the first lower fork teeth, the clamping device can control the lower clamping fork teeth pair to stop moving based on contact actions.
The technical solution of the second aspect adopted by the present invention provides a destacking and conveying method, which is applied to the central processor in the destacking and conveying system provided by the first aspect, and is characterized in that the method includes the steps of:
step S1, a three-dimensional data generating method is executed in response to receiving an unstacking instruction or a material remaining notification; the three-dimensional data generation method comprises the following steps:
step S11, a data acquisition instruction is sent to the 3D vision camera, so that the 3D vision camera can identify a three-dimensional data set of a material stack and ribbon data, wherein the three-dimensional data set comprises vertex coordinates of a top material of the material stack, center coordinates of the top material of the material stack and depth information of the material stack, the ribbon data comprises ribbon numbers, the length direction of each ribbon and endpoint coordinates of each ribbon in the length direction;
And S13, receiving the three-dimensional data set and the ribbon data, and calculating and generating pose parameters, wherein the pose parameters further comprise single-piece material length, single-piece material width, total height of a material stack and material placement angle.
Step S2, an initialization instruction is sent to the clamping device so that the clamping device can execute initialization operation;
step S3, sending a belt shearing and unstacking instruction to the mechanical arm and the clamping device so that the mechanical arm and the clamping device can jointly execute a belt shearing and unstacking method after receiving the belt shearing and unstacking instruction, wherein the belt shearing and unstacking instruction comprises a three-dimensional data set of the material stack, the band data and the pose parameters; the band shearing and unstacking method can enable the material set after the band is split and sheared to be placed on the lower clamping fork tooth pair;
step S4, a carrying instruction is sent to the AGV in response to receiving the belt shearing completion notification, so that the AGV lifts up the material contained on the lower clamping fork teeth pair based on the carrying mechanism after receiving the carrying instruction, and the material is transported to the position between the grippers of the transition device;
and S5, controlling the transition device to grasp the material carried by the AGV based on the gripper, and releasing the material after the material is transported to the moving slide rail based on the transition guide rail so that the material moves to the production line conveyor belt on the moving slide rail.
Further, the initializing operation includes:
step S21, the clamping device controls the distance from the upper clamping fork teeth to the length of the single piece material;
in step S23, the clamping device controls the pair of lower clamping tines to rise to a predetermined height, where the predetermined height is a maximum height that the pair of lower clamping tines can rise.
Further, the method for shearing and unstacking comprises the following steps:
step S41, after the unstacking mechanical arm controls the head mechanism to move above the central coordinates of the materials at the top of the stack, controlling the head mechanism to descend until the head mechanism contacts with the top surface of the materials at the top of the stack;
step S42, after the unstacking mechanical arm controls the sucker to suck materials, controlling the head mechanism to move between the upper clamping fork teeth of the clamping device, controlling the head mechanism to descend until the bottom surface of the materials contacts with the upper clamping fork teeth, recording the difference between the contact surface and the bottom surface of the head mechanism at the moment as the height of single-piece materials, and controlling the sucker to release the materials;
step S43, after the unstacking mechanical arm controls the head mechanism to move above a first predetermined position, selecting one of the bands based on the band data, wherein the first predetermined position is on a top surface of a material placed on the upper clamping fork teeth pair, and the first predetermined position satisfies the following three conditions: the bottom surface of the head mechanism can be completely attached to the top surface of the material, the bottom surface of the head mechanism is not contacted with the binding belt, and the bottom surface of the head mechanism is close to one vertex of the material;
Step S44, the unstacking mechanical arm controls the head mechanism to rotate until the belt shearing mechanism faces a preset direction, and controls the head mechanism to descend until the head mechanism contacts the material, wherein the preset direction is a direction facing a selected ribbon and perpendicular to the selected ribbon;
step S45, the unstacking mechanical arm controls the head mechanism to move towards the preset direction until the selected ribbon enters the clamp, and the unstacking mechanical arm controls the clamp to clamp the selected ribbon and controls the ribbon shearing mechanism to shear the selected ribbon;
step S46, after the unstacking mechanical arm pulls the selected ribbon to a position above a second preset position based on the clamp, controlling the clamp to release the selected ribbon, wherein the second preset position is a position for storing the unstacked ribbon;
step S47, after the unstacking mechanical arm controls the head mechanism to return to the position above the first preset position, selecting one of the left undetached bands based on the band data;
step S48, if the untrimmed ribbon remains, repeating the steps S44-S47; if the non-sheared binding tape does not remain, the clamping device controls the upper clamping fork tooth pair to open so that the materials after the binding tape is sheared fall onto the lower clamping fork tooth pair;
Step S49, when the materials after the band is detached and sheared fall onto the lower clamping fork teeth pair, the clamping device controls the distance of the lower clamping fork teeth pair for lowering the height of the single-piece materials; if the lower clamping fork tooth pair descends to a third preset position, sending a belt shearing completion notification to the central processing unit, wherein the third preset position is in the movement direction of the lower clamping fork tooth pair, and is specifically the same height as the top of the conveying mechanism;
step S410, the 3D vision camera detects whether materials are left on the material stack, if the materials are left, a material left notification is sent to the central processing unit so that the central processing unit can execute the unstacking and conveying method again; and if no materials remain, sending a destacking completion notification to the central processing unit.
Further, the data identified by the 3D vision camera further includes a stacking number, and when the stacking number is greater than 1, the number of the three-dimensional data set and the number of the band data are consistent with the stacking number.
The unstacking and conveying system and the unstacking and conveying method have the following beneficial effects:
according to the invention, the 3D vision camera is arranged, so that the three-dimensional data set and the ribbon data of the material stack can be acquired, and the central processor calculates and converts the pose parameters of the material stack according to the three-dimensional data set and the ribbon data for the application of a follow-up unstacking and carrying related device; the unstacking mechanical arm, the clamping device, the AGV with the carrying mechanism and the transition device are arranged, so that materials are carried to the clamping device from a stacking position by the unstacking mechanical arm and the binding belt is removed; the whole process from unstacking of materials to direct application to production line is automated, and human intervention is not needed. And because the clamping fork teeth on the clamping device can slide in the horizontal direction, the unstacking system can be compatible with unstacking of multiple types of materials on the basis of whole process automation.
Drawings
FIG. 1 is a schematic diagram of an unstacking and handling system according to the present invention;
FIG. 2 is a block diagram of an unstacking and handling system according to the present invention;
FIG. 3 is a schematic view of a destacking robot arm in the destacking handling system according to the present invention;
FIG. 4 is a schematic view of a clamping device in an unstacking and transporting system according to the present invention;
FIG. 5 is a flow chart of a destacking and conveying method of the present invention;
fig. 6 is a flow chart of a method of unstacking a shear band in a unstacking handling method of the present invention.
The method comprises the following steps: 1-central processing unit, 2-3D vision camera, 3-unstacking mechanical arm, 31-head mechanism, 32-sucking disc, 33-cut the area mechanism, 34-anchor clamps, 35-roller type travel switch mechanism, 351-touch gyro wheel, 4-clamping device, 41-upper clamping fork tooth pair, 411-first upper fork tooth, 412-second upper fork tooth, 42-lower clamping fork tooth pair, 421-first lower fork tooth, 422-second lower fork tooth, 43-contact type travel switch mechanism, 5-transition device, 51-tongs, 52-transition guide rail, 53-movable slide rail, 6-AGV, 61-handling mechanism, 7-production line conveyer belt.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and 2, a first aspect of the present invention provides an unstacking and conveying system, wherein the stack is formed by stacking materials, the materials are bundled with bands, the unstacking system comprises a central processing unit 1, a 3D vision camera 2, an unstacking mechanical arm 3, a clamping device 4, a transition device 5 and an AGV6, wherein an upper clamping fork tooth pair 41 and a lower clamping fork tooth pair 42 are arranged on the clamping device 4, a gripper 51 and a transition guide rail 52 are arranged on the transition device 5, and the gripper 51 is in sliding connection with the transition guide rail; wherein:
the central processing unit 1 is in communication connection with the 3D vision camera 2, the unstacking mechanical arm 3, the clamping device 4, the transition device 5 and the AGV6, and the central processing unit 1 is used for sending a data acquisition instruction to the 3D vision camera 2 in response to receiving an unstacking instruction or a material remaining notification so as to enable the 3D vision camera 2 to recognize a three-dimensional data set of a material stack and band data, wherein the three-dimensional data set comprises vertex coordinates of materials at the top of the material stack, center coordinates of the materials at the top of the stack and depth information of the material stack, the band data comprises the number of bands, the length direction of each band and endpoint coordinates of each band in the length direction; the central processing unit 1 is also used for receiving the three-dimensional data set and the ribbon data, calculating and generating the pose parameters, wherein the pose parameters also comprise single-piece material length, single-piece material width, total height of a material stack and material placement angle; the central processing unit 1 is further configured to send an initialization instruction to the clamping device 4; the central processing unit 1 is also used for sending a shearing belt unstacking instruction to the clamping device 4 and the unstacking mechanical arm 3; the central processing unit 1 is further used for sending a carrying instruction to the AGV6 in response to receiving the belt shearing completion notification; the central processing unit 1 is further used for controlling the transition device 5 to grasp materials conveyed by the AGV6 based on the grippers 51 and release the materials after the materials are conveyed onto a conveyor belt based on the transition guide rails 52;
It should be noted that, as shown in fig. 1, the central processing unit 1 is disposed inside the holding device 4, or may be separately disposed as a separate device, which is not limited by the present invention; and the central processing unit 1 can use control devices such as PLC (Programmable Logic Controller ), FPGA (FieldProgrammable GateArray, field programmable gate array) or embedded equipment, and the like, and only needs to meet corresponding control requirements, and the invention is not limited to the control devices.
The 3D vision camera 2 is arranged right above the material stack, and the 3D vision camera 2 is used for identifying the three-dimensional data set and the ribbon data of the material stack in response to receiving the acquisition instruction.
It should be noted that, the three-dimensional data set and the ribbon data of the identified stack may be identified by capturing an image with three-dimensional data, and this image may specifically be an RGBD image, where the RGBD image includes RGB three-channel data and Depth channel data in the base image, where the Depth information at this time indicates distances between different objects or points and the 3D vision camera 2, and the cpu 1 may calculate the height of the objects in the image, for example, the total height of the stack, that is, the difference between the distance between the ground and the 3D vision camera 2 and the distance between the vertex of the top surface of the material and the 3D vision camera 2 after receiving the data; the RGBD image can be converted into a point cloud image, the point cloud image generated at the moment is generated based on the 3D vision camera 2 coordinate system, so that the point cloud image is required to be calibrated, the point cloud image is converted into a three-dimensional image based on the unstacking mechanical arm 3 coordinate system through a calibration matrix, and then the corresponding parameters are identified and calculated. In order to improve the recognition effect of the 3D vision camera 2 on the material stack, an infrared irradiation device may be further disposed on the 3D vision camera 2 to cope with the phenomenon of inaccurate recognition occurring when the recognition object is too deep in color. The present invention does not specifically limit the manner of identifying the three-dimensional data set and the band data.
As shown in fig. 1, 2 and 3, the unstacking mechanical arm 3 comprises a head mechanism 31, wherein a sucker 32, a band shearing mechanism 33 and a clamp 34 are arranged on the head mechanism 31, the sucker 32 is used for sucking up materials, the band shearing mechanism 33 is used for shearing material bands, and the clamp 34 is used for clamping the bands; the unstacking mechanical arm 3 is used for executing a belt shearing unstacking method together with the clamping device 4 in response to receiving a belt shearing unstacking instruction, wherein the belt shearing unstacking instruction comprises the three-dimensional data set, the ribbon data and the pose parameters; the method for shearing and unstacking can enable the material collection of which the ribbon is sheared to be placed on the lower clamping fork teeth pair 42;
as shown in fig. 1, 2 and 4, the upper clamping tine pair 41 includes a first upper tine 411 and a second upper tine 412, and each of the first upper tine 411 and the second upper tine 412 is slidable in a horizontal direction; the lower clamping tine pair 42 includes a first lower tine 421 and a second lower tine 422, each of the first lower tine 421 and the second lower tine 422 being slidable in a vertical direction; the clamping device 4 is used for carrying out initialization operation in response to receiving an initialization instruction; the clamping device 4 is further used for executing a belt shearing and unstacking method together with the unstacking mechanical arm 3 in response to receiving a belt shearing and unstacking instruction;
The AGV6 is provided with a carrying mechanism 61, and the AGV6 is used for lifting the material contained in the lower clamping fork teeth pair 42 based on the carrying mechanism 61 and conveying the material to the space between the grippers 51 of the transition device 5 in response to receiving a carrying instruction; wherein the handling mechanism may be arranged as shown in fig. 1: the automatic belt shearing device comprises two supporting rods and a supporting plate, wherein the distance between the two supporting rods is slightly smaller than the distance between the lower clamping fork teeth pairs 42 in the clamping device 4, so that the AGV6 can extend into the space between the lower clamping fork teeth pairs 42, and the supporting rods can have a good supporting effect on materials completed by belt shearing; the handling mechanism may also be provided with a lifting function to flexibly identify the height of the material placed on the lower pair of gripping tines 42.
The transition device 5 is further provided with a movable slide rail 53, the height of the movable slide rail 53 is the same as that of the production line conveyor belt 7, the production line conveyor belt 7 is a conveyor belt positioned at the discharging position of the starting end of the production line, one side, far away from the grippers 51, of the movable slide rail 53 is close to the starting end of the production line conveyor belt 7, and the transition guide rail 52 is arranged on the movable slide rail 53 so that materials can be moved onto the movable slide rail 53 to the production line conveyor belt 7.
Further, the data identified by the 3D vision camera 2 further includes a stacking number, and when the stacking number is greater than 1, the number of the three-dimensional data group and the band data are both consistent with the stacking number. Taking the stacking number 2 as an example, the 3D vision camera 2 is able to detect two three-dimensional data sets.
Further, as shown in fig. 3, the head mechanism 31 is further provided with a roller type travel switch mechanism 35, the roller type travel switch mechanism 35 is provided with a touch roller 351, the bottom of the touch roller 351 is in the same plane with the bottom of the head mechanism 31, and the touch roller 351, the belt shearing mechanism 33 and the clamp 34 are positioned on the same straight line; the unstacking mechanical arm 3 is used for sensing the contact state of the head mechanism 31 and the material through the roller type travel switch mechanism 35, and when the roller type travel switch mechanism 35 detects that the roller type travel switch mechanism 35 is in contact with the material, the unstacking mechanical arm 3 can control the sucker 32 to suck the material based on the contact action; the unstacking mechanical arm 3 is further used for sensing the contact state of the head mechanism 31 and the ribbon through the roller type travel switch mechanism 35, when the roller type travel switch mechanism 35 detects that the roller type travel switch mechanism 35 is in contact with the ribbon, the unstacking mechanical arm 3 can control the clamp 34 to clamp the ribbon based on contact actions, then the ribbon shearing mechanism 33 is controlled to shear the ribbon, under the condition that the ribbon shearing mechanism 33 shears the ribbon, the unstacking mechanical arm 3 can control the head mechanism 31 to pull up the ribbon based on the clamp 34 and move to the preset position, then the unstacking mechanical arm 3 controls the clamp 34 to release the ribbon, and the preset position characterizes the ribbon storing position.
It should be noted that, in fig. 3, the unstacking mechanical arm 3 is provided with two roller type travel switch mechanisms 35, and the touch roller 351 of the roller type travel switch mechanism 35, which is far away from the suction cup 32, the band shearing mechanism 33 and the clamp 34 are located on the same straight line, so as to sense whether the band moves in place, so that the band shearing mechanism 34 accurately shears the band; the roller type travel switch mechanism 35 close to the sucker 32 and the touch roller bottom of the other roller type travel switch mechanism 35 are all located on the same plane, can jointly act, and together detect the contact state with materials, compared with the arrangement of a single roller type travel switch mechanism 35, the arrangement of the single roller type travel switch mechanism 35 cannot recognize the following conditions: because the material that material or head mechanism slope lead to and head mechanism contact incompletely, this kind of condition is even the material touches roller formula travel switch mechanism 35, and the bottom surface and the material of head mechanism 31 also are most likely not all laminating, can cause very big influence to follow-up tearing open and cutting ribbon process, and set up two roller formula travel switch mechanisms 35, can guarantee to tear open again follow-up under the prerequisite that the material all contacted with two roller formula travel switch mechanisms 35 and cut ribbon process, improved the testing result rate of accuracy greatly, still reduced certain potential safety hazard.
Further, as shown in fig. 4, the clamping device 4 is further provided with a contact type travel switch mechanism 43, the contact type travel switch mechanism 43 is provided with a contact, the contact type travel switch mechanism 43 is arranged on one side, close to the lower clamping fork teeth pair 42, of the clamping device 4, the clamping device 4 is further used for sensing the contact state of the contact type travel switch mechanism 43 and the lower clamping fork teeth pair 42 through the contact type travel switch mechanism 43, and when the contact type travel switch mechanism 43 detects that the contact type travel switch mechanism 43 is in contact with the first lower fork teeth 421, the clamping device 4 can control the lower clamping fork teeth pair 42 to stop moving based on the contact action.
The contact type travel switch mechanism 43 may also be disposed near the second lower fork 422, and the clamping device 4 may control the lower clamping fork pair 42 to stop moving based on the contact action when the contact type travel switch mechanism 43 is detected to contact the second lower fork 422. The present invention does not limit the installation position of the contact type travel switch mechanism 43, and only needs to satisfy that the clamping device 4 can control the lower clamping fork pair 42 to stop moving based on the contact action of the contact type travel switch mechanism 43 and the lower fork in the lower clamping fork pair 42.
As shown in fig. 5, the technical solution of the second aspect adopted by the present invention provides an unstacking and conveying method, which is applied to the central processing unit 1 in the unstacking and conveying system provided in the first aspect, and the method includes the steps of:
step S1, a three-dimensional data generating method is executed in response to receiving an unstacking instruction or a material remaining notification; the three-dimensional data generation method comprises the following steps:
step S11, a data acquisition instruction is sent to the 3D vision camera 2, so that the 3D vision camera 2 can identify a three-dimensional data set of a material stack and ribbon data, wherein the three-dimensional data set comprises vertex coordinates of a top material of the material stack, center coordinates of the top material of the material stack and depth information of the material stack, the ribbon data comprises ribbon numbers, the length direction of each ribbon and endpoint coordinates of each ribbon in the length direction;
and S13, receiving the three-dimensional data set and the ribbon data, and calculating and generating pose parameters, wherein the pose parameters further comprise single-piece material length, single-piece material width, total height of a material stack and material placement angle.
Step S2, an initialization instruction is sent to the clamping device 4 so that the clamping device 4 can execute initialization operation;
Step S3, sending a shearing and unstacking instruction to the unstacking mechanical arm 3 and the clamping device 4 so that the shearing and unstacking mechanical arm 3 and the clamping device 4 jointly execute a shearing and unstacking method after receiving the shearing and unstacking instruction, wherein the shearing and unstacking instruction comprises a three-dimensional data set of the material stack, the strapping data and the pose parameters; the method for shearing and unstacking can enable the material collection of which the ribbon is sheared to be placed on the lower clamping fork teeth pair 42;
step S4, in response to receiving the notification of the completion of the belt shearing, a carrying instruction is sent to the AGV6, so that the AGV6 can lift the material contained on the lower clamping fork teeth pair 42 based on the carrying mechanism 61 after receiving the carrying instruction, and transport the material to the space between the grippers 51 of the transition device 5;
and S5, controlling the transition device 5 to grasp the material conveyed by the AGV6 based on the gripper 51, and releasing the material after the material is conveyed onto the moving slide rail 53 based on the transition guide rail 52, so that the material moves onto the production line conveyor belt 7 on the moving slide rail 53.
Further, the initializing operation includes:
step S21, the clamping device 4 controls the distance that the upper clamping fork teeth pair 41 is opened to the length of the single piece material;
In step S23, the clamping device 4 controls the lower clamping fork pair 42 to rise to a predetermined height, which is the maximum height that the lower clamping fork pair 42 can rise.
Further, as shown in fig. 6, the method for unstacking the shear band includes:
step S41, after the unstacking mechanical arm 3 controls the head mechanism 31 to move above the central coordinates of the materials at the top of the stack, controlling the head mechanism 31 to descend until contacting with the top surface of the materials at the top of the stack;
step S42, after the unstacking mechanical arm 3 controls the suction cup 32 to suck the material, controls the head mechanism 31 to move between the pair of upper clamping tines 41 of the clamping device 4, controls the head mechanism 31 to descend until the bottom surface of the material contacts with the pair of upper clamping tines 41, records the difference between the contact surface and the bottom surface of the head mechanism 31 at the moment as the height of a single piece of material and controls the suction cup 32 to release the material;
step S43, after the unstacking mechanical arm 3 controls the head mechanism 31 to move above a first predetermined position, one of the bands is selected based on the band data, wherein the first predetermined position is on the top surface of the material placed on the upper clamping fork teeth pair (41), and the first predetermined position satisfies the following three conditions: the bottom surface of the head mechanism 31 can be fully attached to the top surface of the material, the bottom surface of the head mechanism 31 is not contacted with the binding belt, and the bottom surface of the head mechanism 31 is close to one vertex of the top surface of the material;
Step S44, the unstacking mechanical arm 3 controls the head mechanism 31 to rotate until the band shearing mechanism 33 is directed to a predetermined direction, and controls the head mechanism 31 to descend until the head mechanism 31 is in contact with the material, wherein the predetermined direction is a direction directed to a selected band and perpendicular to the selected band;
step S45, the unstacking mechanical arm 3 controls the head mechanism 31 to move towards the preset direction until the selected ribbon enters the clamp 34, and the unstacking mechanical arm 3 controls the clamp 34 to clamp the selected ribbon and controls the ribbon shearing mechanism 33 to shear the selected ribbon;
step S46, after the unstacking mechanical arm 3 pulls up the selected ribbon to a position above a second predetermined position based on the clamp 34, the second predetermined position is a position for storing the unstacked ribbon, and the clamp 34 is controlled to release the selected ribbon;
step S47, after the unstacking mechanical arm 3 controls the head mechanism 31 to return to above the first predetermined position, selecting one of the remaining non-pruned bands based on the band data;
step S48, if the untrimmed ribbon remains, repeating the steps S44-S47; if the unclamped ribbon is not left, the clamping device 4 controls the upper clamping fork teeth pair 41 to open so that the material after the ribbon is dismounted falls onto the lower clamping fork teeth pair 42;
Step S49, in the case that the material after the band is split and cut falls onto the lower clamping fork teeth pair 42, the clamping device 4 controls the distance that the lower clamping fork teeth pair 42 descends by the height of the single piece of material; if the lower pair of gripping tines 42 descends to a third predetermined position, in the moving direction of the lower pair of gripping tines 42, specifically, a position at the same height as the top of the carrying mechanism 61, a notification of completion of cutting the belt is sent to the central processor 1;
step S410, the 3D vision camera 2 detects whether there is material left on the material stack, and if there is material left, sends a material left notification to the central processing unit 1 to enable the central processing unit 1 to re-execute the unstacking and conveying method; and if no materials remain, sending a notification of the completion of unstacking to the central processing unit 1.
It should be noted that, in addition to the calculation by the above method, the single-piece material height may also be calculated by the following method: when the unstacking mechanical arm 3 controls the head mechanism 31 to move between the upper clamping fork teeth pair 41 of the clamping device 4, the 3D vision camera re-recognizes the height coordinates of the top material peaks of the material stack, and the numerical value obtained by the difference between the height coordinates in the previously recognized top material peak coordinates and the height coordinates is recorded as the single-piece material height.
It should be noted that the predetermined height is the maximum height that the lower clamping fork pair 42 can ascend, and this maximum height is determined by the installation condition of the lower clamping fork pair 42, but is not higher than the height of the upper clamping fork pair 41; when the cpu 1 receives the notification of completion of unstacking, it may send a notification to the user that unstacking is completed, or sound a notification sound to notify the user that unstacking is completed, with the intention that the user be informed of the completion of unstacking, which is not limited by the present invention.
It should be further noted that, the unstacking mechanical arm 3 of the present invention can work in two systems needing unstacking and carrying at the same time, at this time, the number of other devices in the two unstacking and carrying systems is unchanged, and only one unstacking mechanical arm 3 needs to be set, and when steps of belt shearing, unstacking, carrying, etc. are executed, the material stacks of each system can be operated sequentially.
Further, the data identified by the 3D vision camera 2 further includes a stacking number, and when the stacking number is greater than 1, the number of the three-dimensional data group and the band data are both consistent with the stacking number.
It should be noted that, when the number of the material stacks is greater than 1, in order to meet the user requirement, the unstacking and conveying method may be sequentially performed on the two material stacks, or may be alternatively performed by inserting, where the inserting may be performed by identifying the top positions of the material stacks, and sequentially sucking the materials located at the highest positions through the suction cups 32, without distinguishing which material stack is the material.
The unstacking and conveying system and the unstacking and conveying method have the following beneficial effects:
according to the invention, the 3D vision camera 2 is arranged, so that the three-dimensional data set and the ribbon data of the material stack can be acquired, and the central processor 1 calculates and converts the pose parameters of the material stack according to the three-dimensional data set and the ribbon data for the application of the follow-up unstacking and carrying related devices; the unstacking mechanical arm 3, the clamping device 4, the AGV6 with the carrying mechanism 61 and the transition device 5 are arranged, so that the unstacking mechanical arm 3 carries materials from a stacking position to the clamping device 4 and removes a binding belt; meanwhile, the whole process from unstacking of materials to direct application to production line is automated, and human intervention is not needed. And because the clamping fork teeth 41 on the clamping device 4 can slide in the horizontal direction, the unstacking system can be compatible with unstacking of materials with multiple types on the basis of full process automation.
The present invention and its embodiments have been described above with no limitation, and the embodiments of the present invention are shown in the drawings, and the actual content is not limited thereto, so that those skilled in the art, without departing from the spirit of the invention, should not creatively design similar structural means and examples to the technical solutions to fall within the protection scope of the present invention.
Claims (8)
1. An unstacking and carrying system, which is characterized in that: the material stacking and transporting system comprises a central processing unit (1), a 3D vision camera (2), a unstacking mechanical arm (3), a clamping device (4), a transition device (5) and an AGV (6), wherein an upper clamping fork tooth pair (41) and a lower clamping fork tooth pair (42) are arranged on the clamping device (4), a gripper (51) and a transition guide rail (52) are arranged on the transition device (5), and the gripper (51) is in sliding connection with the transition guide rail (52); wherein:
the central processing unit (1) is in communication connection with the 3D vision camera (2), the unstacking mechanical arm (3), the clamping device (4), the transition device (5) and the AGV (6), the central processing unit (1) is used for sending a data acquisition instruction to the 3D vision camera (2) in response to receiving an unstacking instruction or a material remaining notification so that the 3D vision camera (2) can identify a three-dimensional data set of a material stack and ribbon data, wherein the three-dimensional data set comprises vertex coordinates of materials at the top of the material stack, center coordinates of the materials at the top of the stack and depth information of the material stack, the ribbon data comprises the number of ribbons, the length direction of each ribbon and endpoint coordinates of each ribbon in the length direction; the central processing unit (1) is also used for receiving the three-dimensional data set and the ribbon data, calculating and generating pose parameters, wherein the pose parameters also comprise single-piece material length, single-piece material width, total height of a material stack and material placement angle; the central processing unit (1) is also used for sending an initialization instruction to the clamping device (4); the central processing unit (1) is also used for sending a shearing belt unstacking instruction to the clamping device (4) and the unstacking mechanical arm (3); the central processing unit (1) is also used for sending a carrying instruction to the AGV (6) in response to receiving the belt shearing completion notification; the central processing unit (1) is further used for controlling the transition device (5) to grasp materials conveyed by the AGV (6) based on the grippers (51) and release the materials after the materials are conveyed onto a conveyor belt based on transition guide rails (52);
The 3D vision camera (2) is arranged right above the material stack, and the 3D vision camera (2) is used for identifying the three-dimensional data set and the strapping data of the material stack in response to receiving the acquisition instruction;
the unstacking mechanical arm (3) comprises a head mechanism (31), a sucker (32), a band shearing mechanism (33) and a clamp (34) are arranged on the head mechanism (31), the sucker (32) is used for sucking up materials, the band shearing mechanism (33) is used for shearing a material band, and the clamp (34) is used for clamping the band; the unstacking mechanical arm (3) is used for responding to receiving a belt shearing unstacking instruction and executing a belt shearing unstacking method together with the clamping device (4), wherein the belt shearing unstacking instruction comprises the three-dimensional data set, the ribbon data and the pose parameters; the band shearing and unstacking method can enable the material set after the band is split and sheared to be contained on the lower clamping fork tooth pair (42);
the upper clamping fork pair (41) comprises a first upper fork (411) and a second upper fork (412), and the first upper fork (411) and the second upper fork (412) can slide in the horizontal direction; the lower clamping fork pair (42) comprises a first lower fork (421) and a second lower fork (422), wherein the first lower fork (421) and the second lower fork (422) can slide in the vertical direction; the clamping device (4) is used for carrying out initialization operation in response to receiving an initialization instruction; the clamping device (4) is further used for executing a belt shearing and unstacking method together with the unstacking mechanical arm (3) in response to receiving a belt shearing and unstacking instruction;
The AGV (6) is provided with a carrying mechanism (61), and the AGV (6) is used for responding to a carrying instruction, lifting the materials contained on the lower clamping fork tooth pair (42) based on the carrying mechanism (61) and conveying the materials to the space between the grippers (51) of the transition device (5);
the transition device (5) is further provided with a movable sliding rail (53), the height of the movable sliding rail (53) is the same as that of the production line conveyor belt (7), the production line conveyor belt (7) is a conveyor belt positioned at the discharging position of the starting end of the production line, the movable sliding rail (53) is far away from one side of the gripper (51) and is close to the starting end of the production line conveyor belt (7), and the transition guide rail (52) is arranged on the movable sliding rail (53) so that materials can be moved onto the production line conveyor belt (7) on the movable sliding rail (53).
2. A destacking and conveying system as in claim 1, wherein: the data identified by the 3D vision camera (2) further comprises a stacking number, and when the stacking number is greater than 1, the number of the three-dimensional data group and the number of the binding band data are consistent with the stacking number.
3. A destacking and conveying system as in claim 1, wherein: the head mechanism (31) is also provided with a roller type travel switch mechanism (35), the roller type travel switch mechanism (35) is provided with a touch roller (351), the bottom of the touch roller (351) and the bottom of the head mechanism (31) are in the same plane, and the touch roller (351), the belt shearing mechanism (33) and the clamp (34) are positioned on the same straight line; the unstacking mechanical arm (3) is used for sensing the contact state of the head mechanism (31) and the material through the roller type travel switch mechanism (35), and when the roller type travel switch mechanism (35) detects that the roller type travel switch mechanism (35) is in contact with the material, the unstacking mechanical arm (3) can control the sucker (32) to suck the material based on the contact action; the unstacking mechanical arm (3) is further used for sensing the contact state of the head mechanism (31) and the ribbon through the roller type travel switch mechanism (35), when the roller type travel switch mechanism (35) detects that the roller type travel switch mechanism (35) is in contact with the ribbon, the unstacking mechanical arm (3) can control the ribbon shearing mechanism (33) to shear the ribbon after the ribbon is clamped by the clamp (34) based on contact action, and under the condition that the ribbon shearing mechanism (33) shears the ribbon, the unstacking mechanical arm (3) can control the head mechanism (31) to pull up the ribbon based on the clamp (34) and move to a preset position, the unstacking mechanical arm (3) controls the clamp (34) to release the ribbon, and the preset position represents the storage position.
4. A destacking and conveying system as in claim 1, wherein: the clamping device (4) is further provided with a contact type travel switch mechanism (43), the contact type travel switch mechanism (43) is provided with a contact, the contact type travel switch mechanism (43) is arranged on the clamping device (4) and is close to one side of the lower clamping fork teeth pair (42), the clamping device (4) is further used for sensing the contact state of the contact type travel switch mechanism (43) and the lower clamping fork teeth pair (42) through the contact type travel switch mechanism (43), and when the contact type travel switch mechanism (43) detects that the contact type travel switch mechanism (43) is contacted with the first lower fork teeth (421), the clamping device (4) can control the lower clamping fork teeth pair (42) to stop moving based on contact actions.
5. A destacking handling method applied to the central processor (1) in the destacking handling system according to any of claims 1-4, characterized in that the method comprises the steps of:
step S1, a three-dimensional data generating method is executed in response to receiving an unstacking instruction or a material remaining notification; the three-dimensional data generation method comprises the following steps:
Step S11, a data acquisition instruction is sent to the 3D vision camera (2) so that the 3D vision camera (2) can identify a three-dimensional data set of a material stack and ribbon data, wherein the three-dimensional data set comprises vertex coordinates of a top material of the material stack, center coordinates of the top material of the material stack and depth information of the material stack, the ribbon data comprises ribbon numbers, the length direction of each ribbon and endpoint coordinates of each ribbon in the length direction;
step S13, receiving the three-dimensional data set and the ribbon data, and calculating and generating pose parameters, wherein the pose parameters also comprise single-piece material length, single-piece material width, total height of a material stack and material placement angle;
step S2, an initialization instruction is sent to the clamping device (4) so that the clamping device (4) can execute initialization operation;
step S3, sending a belt shearing and unstacking instruction to the mechanical arm and the clamping device (4) so that the mechanical arm and the clamping device (4) can jointly execute a belt shearing and unstacking method after receiving the belt shearing and unstacking instruction, wherein the belt shearing and unstacking instruction comprises a three-dimensional data set of the material stack, the band data and the pose parameters; the band shearing and unstacking method can enable the material set after the band is split and sheared to be contained on the lower clamping fork tooth pair (42);
Step S4, a carrying instruction is sent to the AGV (6) in response to receiving the belt shearing completion notification, so that the AGV (6) lifts the material contained on the lower clamping fork tooth pair (42) based on a carrying mechanism (61) after receiving the carrying instruction, and the material is transported to between the grippers (51) of the transition device (5);
and S5, controlling the transition device (5) to grasp the material carried by the AGV (6) based on the gripper (51), and releasing the material after the material is transported to the moving slide rail (53) based on the transition guide rail (52), so that the material moves to the production line conveyor belt (7) on the moving slide rail (53).
6. A destacking and handling method as in claim 5, wherein the initializing operation comprises:
step S21, the clamping device (4) controls the distance that the upper clamping fork teeth pair (41) is opened to the length of the single piece material;
in step S23, the clamping device (4) controls the lower clamping fork teeth pair (42) to rise to a preset height, wherein the preset height is the maximum height that the lower clamping fork teeth pair (42) can rise.
7. A destacking and handling method as in claim 5, wherein the shear band destacking method comprises:
Step S41, after the unstacking mechanical arm (3) controls the head mechanism (31) to move above the central coordinates of the materials at the top of the stack, controlling the head mechanism (31) to descend until contacting with the top surface of the materials at the top of the stack;
step S42, after the unstacking mechanical arm (3) controls the sucker (32) to suck materials, the head mechanism (31) is controlled to move between the upper clamping fork teeth pair (41) of the clamping device (4), the head mechanism (31) is controlled to descend until the bottom surface of the materials is contacted with the upper clamping fork teeth pair (41), and after the contact surface is contacted with the bottom surface of the head mechanism (31), the height difference between the contact surface and the bottom surface of the head mechanism (31) is recorded as the height of a single piece of materials and the sucker (32) is controlled to release the materials;
step S43, after the unstacking mechanical arm (3) controls the head mechanism (31) to move above a first preset position, one of the bands is selected based on the band data, wherein the first preset position is on the top surface of the material placed on the upper clamping fork tooth pair (41), and the first preset position meets the following three conditions: the bottom surface of the head mechanism (31) can be completely attached to the top surface of the material, the bottom surface of the head mechanism (31) is not contacted with the binding belt, and the bottom surface of the head mechanism (31) is close to one vertex of the top surface of the material;
Step S44, the unstacking mechanical arm (3) controls the head mechanism (31) to rotate until the belt shearing mechanism (33) faces a preset direction; -controlling the lowering of the head mechanism (31) until the head mechanism (31) is in contact with the material, wherein the predetermined direction is a direction towards and perpendicular to a selected tie;
step S45, the unstacking mechanical arm (3) controls the head mechanism (31) to move towards the preset direction until the selected ribbon enters the clamp (34), and the unstacking mechanical arm (3) controls the clamp (34) to clamp the selected ribbon and controls the ribbon shearing mechanism (33) to shear the selected ribbon;
step S46, after the unstacking mechanical arm (3) pulls the selected ribbon to a position above a second preset position based on the clamp (34), controlling the clamp (34) to release the selected ribbon, wherein the second preset position is a position for storing the unstacked ribbon;
step S47, after the unstacking mechanical arm (3) controls the head mechanism (31) to return to the position above the first preset position, one of the left non-sheared bands is selected based on the band data;
Step S48, if the untrimmed ribbon remains, repeating the steps S44-S47; if the unclamped ribbon does not remain, the clamping device (4) controls the upper clamping fork tooth pair (41) to open so that the material after ribbon dismantling falls onto the lower clamping fork tooth pair (42);
step S49, when the materials after the band is detached and sheared fall onto the lower clamping fork teeth pair (42), the clamping device (4) controls the distance for the lower clamping fork teeth pair (42) to descend the height of the single piece materials; if the lower clamping fork teeth pair (42) descends to a third preset position, sending a belt shearing completion notification to the central processing unit (1), wherein the third preset position is at the same height as the top of the conveying mechanism (61) in the movement direction of the lower clamping fork teeth pair (42);
step S410, the 3D vision camera (2) detects whether materials are left on the material stack, if the materials are left, a material left notification is sent to the central processing unit (1) so that the central processing unit (1) can execute the unstacking and conveying method again; and if no materials remain, sending a destacking completion notification to the central processing unit (1).
8. A destacking and conveying method as set forth in claim 5, wherein: the data identified by the 3D vision camera (2) further comprises a stacking number, and when the stacking number is greater than 1, the number of the three-dimensional data group and the number of the binding band data are consistent with the stacking number.
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| CN217575964U (en) * | 2022-04-14 | 2022-10-14 | 安徽省配天机器人集团有限公司 | Unstacking, shearing and packing belt mechanism and material taking device |
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| DE202021105697U1 (en) * | 2020-11-26 | 2021-10-26 | Tanzer Maschinenbau S.R.L. | Machine for sorting and stacking containers with hinged walls |
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