CN210392961U - Pile up neatly system is torn open to mixed box robot intelligence - Google Patents
Pile up neatly system is torn open to mixed box robot intelligence Download PDFInfo
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- CN210392961U CN210392961U CN201921461270.7U CN201921461270U CN210392961U CN 210392961 U CN210392961 U CN 210392961U CN 201921461270 U CN201921461270 U CN 201921461270U CN 210392961 U CN210392961 U CN 210392961U
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Abstract
The utility model discloses a mix box robot intelligence and tear a yard buttress system open has solved many kinds of, the mixed box supplied materials of many sizes and has been difficult to carry out the pile up neatly through one set of system and the problem of operation of breaking a jam. The utility model discloses a pile up neatly machine people body, install the pile up neatly machine people base in pile up neatly machine people body bottom, install the end effector that the end was picked up to the pile up neatly machine people body, install the pile up neatly position conveyer in pile up neatly machine people body both sides, install the tray conveyer at pile up neatly machine people body rear, install the roller conveyer in pile up neatly machine people body the place ahead, place the tray on pile up neatly position conveyer and tray conveyer, a 3D camera directly over the pile up neatly position conveyer front end is fixed in with the installation to the rail that is used for providing operation scope safety protection for the pile up neatly machine people body. The utility model has the advantages of small occupied area, low cost and the like.
Description
Technical Field
The utility model relates to a storage commodity circulation pile up neatly and the technical field that breaks a jam, concretely relates to mix box robot intelligence system of breaking a jam.
Background
Along with the development of industry, intelligent equipment is widely applied to the industries of production, manufacturing, storage and logistics, so that a large amount of manpower is saved for enterprises, the production efficiency is improved, and the production cost is reduced.
An important link in the field of production, manufacturing and warehouse logistics is the stacking and unstacking of goods, especially for goods packaged in large quantities of boxes. Utilize the manpower to the pile up neatly of goods and unstack, the human cost of greatly increased enterprise not only, artifical unstacking buttress inefficiency increases personnel health risk moreover.
The existing warehouse logistics stacking and unstacking system can replace manual work of unstacking and unstacking goods to a great extent, and is widely applied. However, for various types and sizes of mixed box incoming materials, the stacking and unstacking operations are difficult to perform through one set of system, and the stacking and unstacking operations are usually realized through a plurality of sets of different functional systems.
With the flexible development of intelligent manufacturing, higher requirements are put forward on the capability of warehouse logistics to adapt to product diversity. Therefore, the design of a set of intelligent pallet removing system with a small-occupied-area and low-investment hybrid box robot is very important for production, manufacturing and warehouse logistics.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a take up an area of little, with low costs mixed box robot intelligence unstacking and stacking system solves the mixed box supplied materials of many article types, many sizes and is difficult to carry out the pile up neatly and the problem of the operation of unstacking through one set of system.
The utility model discloses a following technical scheme realizes:
1. the utility model provides a mix a box robot intelligence and tear a yard buttress system open, includes: the robot palletizer comprises a robot palletizer body, a robot palletizer base arranged at the bottom of the robot palletizer body, an end effector arranged at a picking end of the robot palletizer body, pile position conveyors arranged at two sides of the robot palletizer body, a tray conveyor arranged at the rear part of the robot palletizer body, a roller conveyor arranged in front of the robot palletizer body, trays placed on the pile position conveyors and the tray conveyor, an electric control cabinet used for controlling the normal operation of a robot, auxiliary equipment and sensors, a fence used for providing safe protection for the operation range of the robot palletizer body and a 3D camera fixedly arranged right above the front end of the pile position conveyor, wherein the base of the robot palletizer is preferably fixedly connected with a ground footing bolt, and the end effector is arranged on a flange at the tail end of the robot palletizer body; preferably, the 3D camera is connected to the ground through a fixing frame. The chain plate conveyor structures of the stack position conveyor and the tray conveyor can be conveyor structures such as belts, rollers and chains.
Furthermore, the roller conveyor is composed of rollers and is driven by two sections, the speeds of the two sections can be different and can be adjusted, and the moving speed of the roller conveyor is 0-0.8 m/s. The inlet end of the roller conveyor is an inlet end of the box body, the outlet end of the roller conveyor is a shaping end of the box body, and the outlet end of the roller conveyor is close to the robot palletizer body.
Furthermore, an identification device is arranged at the inlet end of the roller conveyor and used for identifying the overall dimension of the box body and the goods category information; a displacement sensor and a shaping device are installed at the outlet end of the roller conveyor, and two-stage blocking devices are installed at intervals in the middle of the roller conveyor; photoelectric sensors are respectively arranged on the shaping device and the two-stage blocking device and are driven by cylinders; the two-stage blocking devices are provided with two sets and are respectively arranged on two different sections of drives of the roller conveyor.
The identification device is arranged above the inlet end part of the roller conveyor, and after the goods box body enters the roller conveyor, the identification device reads the size of the box body and the goods class information and sends the information to the control system; the two-stage blocking devices are arranged at intervals, are arranged at the lower part of the roller conveyor and are used for accumulating and waiting the box body, the material coming from the box body is judged by utilizing a photoelectric sensor, and the blocking devices are driven by cylinders and give action instructions by a control system; the two shaping devices are arranged on two sides of the shaping end of the roller conveyor, are arranged side by side, are used for orderly arranging the box bodies, are driven by the air cylinders and give action instructions by the control system; the cylinder is connected with a displacement sensor, and the width data of the box body is measured in shaping so as to prevent the box body from entering the wrong direction due to the length or width.
Preferably, the identification device is an RFID identification door.
Furthermore, the end effector comprises a vacuum chuck, an aluminum plate, an aluminum profile bracket and a laser ranging sensor; the lower surface of the aluminum plate is provided with a vacuum chuck, the side surface of the aluminum plate is provided with a laser ranging sensor, and the upper surface of the aluminum plate is connected with an aluminum profile support. The laser ranging sensor is used for measuring the height from the lower surface of the end effector to the upper surface of the box body during stacking and unstacking;
furthermore, the vacuum chucks are arranged in rows in a horizontal and vertical mode, and when the vacuum chucks are in the maximum compression amount, a distance is reserved between the laser ranging sensor and the vacuum chucks in the vertical direction.
Furthermore, the front end and the rear end of the stack position conveyor are provided with first baffle plates, two sides of the front end are provided with clamping mechanisms, each clamping mechanism comprises a clamping mechanism baffle plate, a clamping mechanism cylinder and a clamping mechanism guide rod, the clamping mechanism baffle plates are connected to the stack position conveyor and located on two sides of the tray, and the clamping mechanism baffle plates are connected with the clamping mechanism cylinders through the clamping mechanism guide rods.
Furthermore, there are the deflector in tray conveyer front and back end both sides, and the tray stacks on tray conveyer, and the front end is equipped with the second and hinders the board.
Further, the number of the stacking position conveyors is not less than 2, and the stacking position conveyors are arranged on the side of the stacking robot body; the number of the tray conveyors is not less than 1; the number of the 3D cameras is 1 or more. Preferably, the number of the pile position conveyors is 2-4; the number of the tray conveyors is 1 or 2.
Further, the exit ends of the stack position conveyor, the tray conveyor and the roller conveyor penetrate through the side wall of the fence, and safety protection of the operation range of the robot palletizer body is provided in the fence.
A single tray is placed on the stacking conveyor, two sides of the tray are clamped tightly by the baffle plates, the baffle plates are pushed by the air cylinders, and the tray and goods are conveyed out of the fence by the conveyor after stacking is completed. Similarly, the goods to be unstacked are sent from the outside of the fence. The stack position conveyors are arranged on two sides of the robot palletizer body, and the speed of the conveyors is 0-0.5 m/s.
The stacked empty trays in multiple layers are placed on the tray conveyor, and guide baffles are arranged on two sides of each empty tray and used for caching and placing the empty trays during stacking and unstacking. After the stacking of the trays on the stacking conveyor is completed and the trays are conveyed out of the fence, the stacking robot body end picking device picks and places the empty trays on the stacking conveyor at the empty position, and after the stacking is completed in the same way, the empty trays are placed on the tray conveyor. The number of the tray conveyors is 1-2, the tray conveyors are placed behind the stacking robot body, and the speed of the conveyors is 0-0.5 m/s. The number of the empty trays is 1-7.
The utility model discloses have following advantage and beneficial effect: the system can be used for stacking or unstacking a plurality of box bodies with different specifications and different types; the stacking robot body can complete stacking or unstacking of a box body within 4s-7 s; the application of the recognition device ensures the accurate recognition of the multi-class box bodies and reduces the error rate of stacking; the 3D camera and the laser ranging sensor accurately identify and measure parameters such as the number, the size, the space coordinates and the like of the box bodies to be unstacked of each layer, and guide is provided for the robot to grab the box bodies; the system has high intelligent degree, each component subsystem has high maturity, the stacking and unstacking speed is high, the occupied area is small, and the adaptability is strong.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is the structural schematic diagram of the middle roller conveyor of the present invention.
Fig. 3 is a schematic structural view of the middle stack conveyor of the present invention.
Fig. 4 is a schematic structural view of the pallet conveyor of the present invention.
Fig. 5 is a schematic structural diagram of the middle pick-up of the present invention.
Reference numbers and corresponding part names in the drawings:
1-a palletizing robot, 2-a palletizing robot base, 3-an end effector, 301-a vacuum chuck, 302-an aluminum plate, 303-an aluminum profile support, 304-a laser ranging sensor, 4-a palletizing position conveyor, 402-a clamping mechanism baffle, 403-a clamping mechanism guide rod, 404-a clamping mechanism cylinder, 405-a second baffle, 5-a pallet conveyor, 502-a guide plate, 503-a first baffle, 6-a roller conveyor, 602-a displacement sensor, 603-a shaping device, 604-a recognition device, 605-a two-stage blocking device, 7-a pallet, 8-an electric control cabinet, 9-a fence and 10-a 3D camera.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following examples and drawings, and the exemplary embodiments and descriptions thereof of the present invention are only used for explaining the present invention, and are not intended as limitations of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the present invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, it should be understood that the terms "front", "back", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the scope of the present invention.
Examples
As shown in figure 1, a mix box robot intelligence unstacking buttress system, include: the stacking robot comprises a stacking robot body 1, a stacking robot base 2 arranged at the bottom of the stacking robot body 1, an end effector 3 arranged at the picking end of the stacking robot body 1, stacking position conveyors 4 arranged at two sides of the stacking robot body 1, a tray conveyor 5 arranged at the rear of the stacking robot body 1, a roller conveyor 6 arranged in front of the stacking robot body 1, trays 7 arranged on the stacking position conveyors 4 and the tray conveyor 5, an electrical control cabinet 8 used for controlling the normal operation of a robot, auxiliary equipment and sensors, a fence 9 used for providing safe protection for the operation range of the stacking robot body 1 and a 3D camera 10 arranged and fixed right above the front end of the stacking position conveyor 4, preferably, the base 2 of the stacking robot is fixedly connected with the ground through a foundation bolt, and the end effector 3 is arranged on a flange at the tail end of the stacking robot body 1; preferably, the 3D camera 10 is connected to the ground through a fixing frame. The chain scraper conveyor structures of the stack conveyor 4 and the tray conveyor 5 can be conveyor structures such as belts, rollers, chains and the like.
As shown in figure 2, the roller conveyor 6 is divided into two sections of drives, the speeds of the two sections of drives can be different, and the moving speed of the roller conveyor 6 is 0m/s-0.8 m/s. The two-stage blocking devices 605 are distributed below the two sections of roller conveyors 6 and used for buffer waiting of the box body, and the blocking devices give instructions by the control system to control the blocking devices to move up and down, so that the box body is blocked/released from moving on the roller conveyors 6.
The recognition device 604 at the inlet end of the roller conveyor 6 shown in fig. 2 is used for reading the information of the size and the type of goods of the box, so that the control system obtains the information of the external size and the type of goods of the box, and the information is used for guiding the action of the robot palletizer body 1 and planning the stacking position of the box.
The shaping device 603 at the outlet end of the roller conveyor 6 shown in fig. 2 is used for regulating the box body before the box body is picked up by the robot, meanwhile, the displacement sensor 602 at the outlet end measures the size of the box body, the fed-back data is sent to the control system, the fed-back data is compared with the size data read by the identification device, and the box body is picked up by the robot end effector 3 after the fed-back data is consistent with the size data read by the identification device.
As shown in figure 3, the tray 7 on the stack conveyor 4 can move back and forth, the clamping mechanisms on the two sides of the front end of the conveyor clamp the tray 7, the baffle 405 at the front end of the stack conveyor 4 positions the tray 7, the tray 7 is prevented from shaking on the conveyor, and the accuracy of placing the box body on the tray 7 is ensured. After the pallet 7 is stacked, the pallet is moved from the front end to the rear end of the conveyor and stops moving when reaching the position of the rear end baffle 405. The moving speed of the conveyer is 0m/s-0.5 m/s.
As shown in fig. 4, empty trays 7 are placed on the tray conveyor 5, 1-7 trays 7 are stacked and can move back and forth on the conveyor for feeding the empty trays 7 during stacking and recovering the empty trays 7 during unstacking, the guide plates 502 on both sides prevent the trays 7 from being displaced laterally, and the stop plate 405 on the front end is used for positioning and stopping the trays 7. The moving speed of the conveyer is 0m/s-0.5 m/s.
As shown in fig. 5, the end effector 3 support is constructed by aluminum profiles, the vacuum chucks 301 are installed on the aluminum plate 302, and the plurality of vacuum chucks 301 are arranged in a plurality of rows and columns. The laser range sensor 304 is disposed on the side of the end effector 3 at a position lower than the maximum compression position of the vacuum chuck 301 in order to prevent the laser range sensor 304 from colliding with the casing. The laser ranging sensor 304 is used for collecting distance information of the upper surface of the box body during stacking and unstacking and is in cross-linking with the control system.
As shown in fig. 1, the 3D camera 10 is used for collecting the stack shape during unstacking, and obtains parameters such as the number, size, and spatial coordinates of each layer of boxes. The data detected by the laser ranging sensor 304 are sent to the control system. And after acquiring the stack image and the distance data, the control system issues an unstacking instruction to the stacking robot body 1.
Stacking flow: a plurality of box bodies with different specifications and types enter from the inlet end of the roller conveyor 6 in sequence in a mixed mode, and data of the box bodies are collected when the box bodies pass through the recognition device 604. When the preorder box body reaches the outlet end part, the shaping device 603 acts to push the box body to be regular, and the displacement sensor 602 simultaneously measures the size data of the box body. Meanwhile, the front-end roller conveyor 6 slows down, and the blocking device moves upwards to block the subsequent box body from moving. The end effector 3 of the robot palletizer 1 picks up the preamble boxes and places them on the tray 7 of the palletising conveyor 4 in the planned position. The blocking device moves downwards, and the subsequent box body continues to move. The stacking operation is repeated until one of the trays 7 is stacked, the same type of box is placed on one tray at the moment, then the stacking conveyor 4 moves to send the tray 7 with the box out of the fence 9, the tray is moved away by the forklift, then the end picker 3 of the robot palletizer body 1 picks an empty tray 7 on the tray conveyor 5 and places the empty tray 7 in the front end position of the stacking conveyor 4, and the next tray 7 is palletized continuously. After the empty tray 7 of the tray conveyor 5 is used up, the tray conveyor 5 is fed into the stacked trays 7 by a forklift to enter the tray conveyor 5. Therefore, the intelligent mixed box robot palletizing system can carry out classified palletizing according to different specification types of boxes of supplied materials.
Unstacking process: the tray 7 with the box goods enters the fence 9 from the outlet end outside the fence 9 through the tray conveyor 5, and the 3D vision camera 10 acquires the parameters such as the number, the size, the space coordinates and the like of each layer of boxes. The end effector 3 of the robot palletizer body 1 reaches the upper part of the box body to be unstacked through the guide parameters of the 3D vision camera 10, and the laser ranging sensor 304 measures the accurate distance between the end effector 3 and the box body. The end effector 3 picks up the box body accurately according to the stack shape and sends the box body to the outlet end part of the roller conveyor 6, at the moment, the roller conveyor 6 moves reversely, the shaping device 603 and the blocking device are in the original position, and the box body is sent out. And (3) picking up the empty trays 7 by the end effector 3 and putting the empty trays 7 into the front end of the tray conveyor 5 until the stacking of the tray 7 boxes on the stack position conveyor 4 is finished, and sending out the empty trays 7 by the conveyor and sending the empty trays 7 by a forklift when the number of the empty trays 7 is enough. From this, pile up neatly function of breaking a jam of multiple different specification types box is realized to mixed box robot intelligence pile up neatly system of tearing open.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. The utility model provides a mix a yard buttress system is torn open to box robot intelligence which characterized in that includes: the stacking robot comprises a stacking robot body (1), a stacking robot base (2) arranged at the bottom of the stacking robot body (1), an end picking device (3) arranged at a picking end of the stacking robot body (1), stacking position conveyors (4) arranged on two sides of the stacking robot body (1), a tray conveyor (5) arranged at the rear of the stacking robot body (1), a roller conveyor (6) arranged in front of the stacking robot body (1), trays (7) placed on the stacking position conveyors (4) and the tray conveyor (5), a rail (9) used for providing safety protection in an operation range for the stacking robot body (1) and a 3D camera (10) fixedly arranged right above the front end of the stacking position conveyor (4).
2. The intelligent unstacking and stacking system for the hybrid box robot as claimed in claim 1, wherein the roller conveyor (6) is composed of rollers and is driven in two sections, and the speeds of the two sections are adjustable.
3. The intelligent mixed box body robot unstacking and stacking system as claimed in claim 2, wherein an identification device (604) is arranged at the inlet end of the roller conveyor (6) and is used for identifying the box body external dimension and the goods category information; a displacement sensor (602) and a shaping device (603) are arranged at the outlet end of the roller conveyor (6), and two-stage blocking devices (605) are arranged at intervals in the middle;
photoelectric sensors are respectively arranged on the shaping device (603) and the two-stage blocking device (605), and are driven by cylinders;
the two-stage blocking devices (605) are respectively arranged on two different sections of drives of the roller conveyor (6).
4. The intelligent mixed box robot unstacking and stacking system as claimed in claim 1, wherein first blocking plates (405) are arranged at the front end and the rear end of the stacking conveyor (4), clamping mechanisms are arranged on two sides of the front end of the stacking conveyor and comprise clamping mechanism blocking plates (402), clamping mechanism air cylinders (404) and clamping mechanism guide rods (403) which are connected to the stacking conveyor (4) and located on two sides of the tray (7), and the clamping mechanism blocking plates (402) are connected with the clamping mechanism air cylinders (404) through the clamping mechanism guide rods (403).
5. The intelligent mixed box robot unstacking and stacking system as claimed in claim 1, wherein guide plates (502) are arranged on two sides of the front end and the rear end of the tray conveyor (5), the trays (7) are stacked on the tray conveyor (5), and a second baffle plate (503) is arranged at the front end.
6. The intelligent unstacking and stacking system for the hybrid box robot as claimed in claim 1, wherein the number of the stacking position conveyors (4) is not less than 2, and the stacking position conveyors are arranged on the side of the stacking robot body (1); the number of the tray conveyors (5) is not less than 1; the number of the 3D cameras (10) is 1 or more.
7. The intelligent unstacking and stacking system for the hybrid box robot as claimed in any one of claims 1 to 6, wherein the outlet ends of the pile conveyor (4), the tray conveyor (5) and the roller conveyor (6) penetrate through the side wall of the fence (9), and safety protection of the operation range of the stacking robot body (1) is provided in the fence (9).
8. The intelligent unstacking and stacking system for the hybrid box robots as claimed in any one of claims 1 to 6, wherein an electrical control cabinet (8) for controlling the robots, auxiliary equipment and sensors to normally operate is used as a control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921461270.7U CN210392961U (en) | 2019-09-04 | 2019-09-04 | Pile up neatly system is torn open to mixed box robot intelligence |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921461270.7U CN210392961U (en) | 2019-09-04 | 2019-09-04 | Pile up neatly system is torn open to mixed box robot intelligence |
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| CN210392961U true CN210392961U (en) | 2020-04-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113772306A (en) * | 2021-02-26 | 2021-12-10 | 北京京东振世信息技术有限公司 | Goods palletizing system and method |
| CN114426161A (en) * | 2021-12-09 | 2022-05-03 | 珠海格力智能装备有限公司 | Stereoscopic storage system and control method thereof |
-
2019
- 2019-09-04 CN CN201921461270.7U patent/CN210392961U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113772306A (en) * | 2021-02-26 | 2021-12-10 | 北京京东振世信息技术有限公司 | Goods palletizing system and method |
| CN114426161A (en) * | 2021-12-09 | 2022-05-03 | 珠海格力智能装备有限公司 | Stereoscopic storage system and control method thereof |
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