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A palletizing system and automatic technology, applied in the field of vision-based automatic palletizing systems, can solve problems such as poor flexibility and complicated changes, and achieve the effect of high picking success rate, high level of intelligence, and high degree of automation
Inactive Publication Date: 2019-10-18
杭州灵西机器人智能科技有限公司
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Its flexibility is poor. An automatic package supply and palletizing line can usually only palletize objects of one specification at the same time; when the objects change, it is necessary to redesign the specific auxiliary positioning mechanism according to the size and shape of the objects. Packaging and palletizing systems, poor flexibility, complex changes, etc., so there is an urgent need in the market for technologies that can improve the vision-based automated palletizing system and method structure to improve this equipment
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Embodiment 1
[0033] see Figure 1-3 , the present invention provides a technical solution: a vision-based automatic palletizing system and method, including an automatic package supply line (1), a photoelectric sensor (2), a target object (3), a bracket (4), and a palletizing subsystem , vision system, secondary positioning subsystem, it is characterized in that: described secondary positioning subsystem comprises secondary positioning light source (10) and secondary positioning camera (11); Described stacking subsystem comprises robot (7), terminal Executor (8), fixed frame (9), pallet (12) and secondary positioning subsystem; the vision system includes identification and positioning light source (4), identification and positioning camera (5) and secondary positioning subsystem;
[0034] The robot (7) is a six-degree-of-freedom robot located on the side of the automatic bag supply line (1); the robot (7) is located behind the support (6) along the direction of the conveyor belt; the end e...
Embodiment 2
[0051] When the size of the target object varies in a large range or has many types, a group of robots and end effectors are not competent. At this time, two or more palletizing subsystems can be arranged on both sides of the automatic bag supply line. Refer to the attached Figure 4 Be specific.
[0052] An automatic palletizing system based on visual positioning, refer to the attached Figure 4 , including automatic package supply line 1, photoelectric sensor 2, target object 3, bracket 6, vision system, palletizing subsystem A, palletizing subsystem B, secondary positioning subsystem A, secondary positioning subsystem B.
[0053] The secondary positioning subsystem A includes a secondary positioning light source 10A and a secondary positioning camera 11A; the palletizing subsystem A includes a robot 7A, an end effector 8A, a fixed frame 9A, a pallet 12A and a secondary positioning subsystem A The secondary positioning subsystem B includes a secondary positioning light so...
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Abstract
The invention discloses a vision-based automatic stacking system and method. The vision-based automatic stacking system comprises an automatic package supplying assembly line, a photoelectric sensor,target objects, a support, a stacking subsystem, a vision system and a secondary positioning subsystem, wherein the secondary positioning subsystem comprises a secondary positioning light source and asecondary positioning camera; the stacking subsystem comprises a robot, an end effector, a fixing frame, a stacking disc and a secondary positioning subsystem; and the vision system comprises an identification positioning light source, an identification positioning camera and a secondary positioning subsystem. The vision-based automatic stacking system and method do not need an auxiliary positioning mechanism, and are high in adaptability to target objects with different sizes and specifications; the picking success rate is high, and the stacking precision is high; the target objects are at one automatic package supplying and stacking assembly line, and meanwhile, multiple categories of target objects can be identified, positioned, tracked and picked up, classified and stacked; and the automation degree is high, and the intelligent level is high.
Description
technical field [0001] The invention relates to the field of automated logistics storage, in particular to a vision-based automated palletizing system and method. Background technique [0002] Automated palletizing systems are widely used in the current express delivery industry. [0003] Most of the existing automated package supply and palletizing systems use fixed-point grabbing; at the fixed-point grabbing, an auxiliary positioning mechanism is required to ensure the accuracy of the grabbing position. Its flexibility is poor. An automatic package supply and palletizing line can usually only palletize objects of one specification at the same time; when the objects change, it is necessary to redesign the specific auxiliary positioning mechanism according to the size and shape of the objects. Packages and palletizing systems have deficiencies such as poor flexibility and complex changes. Therefore, there is an urgent need in the market for technologies that can improve the...
Claims
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