4518results about "De-stacking articles" patented technology

The invention discloses a cup lid stacking machine. The cup lid stacking machine comprises support feet, a base, a motor, a drive shaft, a limiting mechanism A, a cup taking mechanism, a rotary platform assembly A, a limiting mechanism B and a rotary platform assembly B. The support feet are arranged on four feet of the base. The motor is arranged on the base. One end of the drive shaft is connected to the motor. The limiting mechanism A and the limiting mechanism B are arranged on the base in parallel. The cup taking mechanism is arranged between the limiting mechanism A and the limiting mechanism B. The cup taking mechanism is connected to the drive shaft. The rotary platform assembly A and the rotary platform assembly B are arranged on the base. By the adoption of the cup lid stacking machine, the automatic multi-layer stacking of cup lids can be achieved, traditional manual stacking is replaced, and the machining efficiency of the cup lids is improved.

The invention discloses an automatic stacking method and device, a terminal and a storage medium, and the method comprises the steps that package information of a to-be-stacked package is obtained according to an acquisition device, and an optimal stack type is matched for the to-be-stacked package in combination with historical stack type data of an automatic stacking system; carrying out point cloud segmentation on the tray with the stacked parcels through a preset segmentation model to obtain a segmentation result, calculating a tray gap in combination with the optimal stack type and a preset path planning algorithm, and generating a stacking path; the flexible clamping jaw device is controlled to grab the parcels to be stacked, the grabbing posture is corrected in real time in combination with feedback of the torque sensor, and the mechanical arm is controlled to execute stacking according to the stacking path; and when the segmentation result of the tray is matched with the optimal stack type, a stacking three-dimensional model is generated, the stacking three-dimensional model is bound with the AGV below the tray, and the AGV is controlled to be automatically put in storage. According to the method, stacking and warehousing are completed through stack type matching and path planning, and the adaptability and the space utilization rate of a stacking system are improved.

A separating structure of a laser engraving machine having a base seat, a transport mechanism, and a separating mechanism. The base seat has a waiting area for the workpieces being stacked and a processing area, the transport mechanism includes a driving source and a transfer member electrically connected to the driving source, the transfer member carries the workpieces, the separating mechanism is arranged on the waiting area and has two forks that are capable of switching between a standby position and a detached position. When the forks are located at the standby position, the workpieces are stacked on the transfer member. When the forks are located at the detached position, the forks carry the other workpieces above the workpiece carried by the transfer member, the driving source drives the transfer member to move to the processing area for processing the workpiece.

The invention discloses a robot unstacking and stacking support system based on a 3D visual system, and belongs to the technical field of 3D visual systems. Comprising a 3D visual data acquisition preprocessing module, a target positioning priority analysis module, a box type intelligent identification matching module, a dynamic path planning obstacle avoidance module, a self-adaptive stacking strategy generation module, an information binding tracing management module and a feedback optimization module. The problems of low efficiency and conflict caused by a single grabbing sequence in traditional stacking and unstacking operation are solved, the priority weight is dynamically adjusted by combining the inclination angle of the carton, weight distribution and reachability verification, and the optimality and safety of the grabbing action of the robot are ensured.

The invention relates to the technical field of ice cream cone production, in particular to an ice cream cone surface spraying and filling production line which comprises a conveying frame, a limiting sliding plate is arranged on the conveying frame, a conveying chain is arranged on the inner side of the limiting sliding plate, and a plurality of clamping assemblies used for clamping ice cream cones are arranged on the conveying chain. The two ends of the clamping assembly move on the limiting sliding plates through moving pieces. The processes of discharging, spraying, filling and receiving are integrated on the same conveying chain, the segmented transfer link is eliminated, the occupied area of equipment is reduced, the problems of cone posture deviation, coating scraping and stuffing overflowing caused by transfer are solved, the postures of cones during spraying, filling and receiving are accurately controlled through a sliding column-sliding way overturning mechanism and an arc-shaped limiting plate, and the working efficiency is improved. The problems of uneven spraying and pouring overflow are solved, working procedure intervals are reduced by synchronously completing double-face spraying, graded discharging and continuous material receiving, damage to the cone is avoided through multi-contact-point clamping, and the product percent of pass and the production takt are remarkably improved.

The invention provides a visual positioning and grabbing force control method for a palletizing robot in the intelligent manufacturing industry, and relates to the technical field of intelligent manufacturing. The multispectral visual positioning module at least comprises a visible light imaging unit, a near-infrared imaging unit and a structured light imaging unit; s2, on the basis of the material three-dimensional information, fitting a material motion track through a motion trend prediction model, and calculating a target grabbing position in advance; through visible light + near infrared + structured light multispectral fusion, the problem of interference of dust and haze on visual positioning is solved, and the positioning error is reduced to be within 1mm in combination with an adaptive weight algorithm; and meanwhile, the grabbing position is calculated in advance through the motion trend prediction model, the dynamic positioning response speed is increased, compared with the prior art, the performance is higher, and the high-speed dynamic stacking requirement is met.

The utility model relates to the field of mattress production equipment, in particular to a mattress packaging line which comprises a film covering mechanism, a folding mechanism, a rolling and pressing mechanism and a stacking mechanism which are sequentially arranged, the stacking mechanism comprises a V-shaped material supporting frame, a lifting assembly and a translation assembly, a material pushing plate is arranged in the V-shaped material supporting frame, and a material stacking frame is arranged on one side of the V-shaped material supporting frame. The translation assembly is fixed to the top of the lifting assembly, the outer side of a mattress is coated with an adhesive film through the film coating mechanism, the mattress is folded in half through the folding mechanism, the mattress is rolled and pressed into a columnar long roll through the rolling and pressing mechanism, and finally the rolled mattress is blanked and falls onto the V-shaped material supporting frame, so that the rolled mattress is prevented from rolling, the production reliability is improved, and the production efficiency is improved. The roll-shaped mattresses are pushed into the material stacking frame through the material pushing plate, the V-shaped material supporting frame is driven to horizontally move through the translation assembly, the V-shaped material supporting frame is driven to ascend and descend through the lifting assembly, stacking of the roll-shaped mattresses at different horizontal positions and different heights is achieved, the automation degree is high, and the production efficiency is improved.

The invention discloses a full-automatic glue dispensing device based on intelligent control, which comprises a feeding mechanism, a discharging mechanism, a glue dispensing mechanism, a transplanting mechanism and an intelligent control system, the feeding mechanism, the discharging mechanism and the glue dispensing mechanism are linearly arranged on a platen, the glue dispensing mechanism is positioned between the feeding mechanism and the discharging mechanism, and the transplanting mechanism is arranged between the feeding mechanism and the discharging mechanism. The transplanting mechanism is used for sequentially conveying a workpiece to be machined to the machining station and the discharging station from the feeding station, and the feeding station, the machining station and the discharging station are all located above the transplanting mechanism.

The utility model relates to the field of box unstacking, in particular to an unstacking mechanism which comprises a machine frame, a lifting assembly is arranged on the machine frame, and the lifting assembly moves on the machine frame in the Z-axis direction. The bearing cabin is connected to the lifting assembly, the bearing cabin comprises a first support connected with the lifting assembly, a claw device connected to the first support and a first driving device capable of driving the claw device to move on the first support along the Y axis, and the claw device can hook a box body from bottom to top; and under the driving of the first driving device, the second driving device is dragged into the first bracket. A handle on a turnover box is automatically hung and driven by a hook and is dragged to a roller conveying belt of a bearing cabin under the driving of a first driving device, and the turnover box is transferred to a preset position through the movement of a lifting assembly and a rack, so that the process of automatically unstacking and transferring the stacked turnover box is realized, the production efficiency is greatly improved, and the production cost is reduced. Meanwhile, the labor intensity of workers is reduced.

The utility model relates to the technical field of electronic circuits, in particular to a material receiving device which comprises a lead screw elevator, a bearing plate and a pressing assembly, the bearing plate is used for placing stacked ceramic circuit boards, the lead screw elevator is connected with the bearing plate, and the lead screw elevator is used for driving the bearing plate to move in the vertical direction. The pressing assembly comprises a clamping block, a connecting rod, a pressing head and a first driving device, the connecting rod penetrates through the clamping block and the pressing head, so that the pressing head is rotationally connected with the clamping block, the first driving device is horizontally arranged, the output end of the first driving device is connected with the pressing head, and the first driving device is used for driving the pressing head to rotate around the connecting rod; therefore, the pressing head can press the ceramic circuit boards stacked on the bearing plate. The problem that when a traditional receiving device transports stacked ceramic circuit boards, the stacked ceramic circuit boards are prone to displacement is solved.

The invention provides a mechanical arm real-time stacking model generation method and device based on a 2.5 D elevation map. The method comprises the steps that depth point cloud data of a stacking area is obtained; preprocessing the depth point cloud data to obtain de-noised point cloud data; performing external parameter calibration by adopting Eye-to-hand to obtain an accurate conversion relation between a camera coordinate system and a mechanical arm flange coordinate system, and performing coordinate system conversion to obtain de-noised point cloud data under a unified world coordinate system; performing space clipping on the de-noised point cloud data to obtain effective point cloud data in the stacking area range; a mechanical arm directional bounding box is generated under the unified world coordinate system, and whether the mechanical arm directional bounding box intersects with the stacking area or not is detected through the separation axis theorem; if not, a 2.5 D elevation map is generated according to the effective point cloud data in the stacking area range, and a real-time stacking model of the mechanical arm is obtained according to the 2.5 D elevation map; therefore, quick response and flexible adjustment are realized in a dynamic scene.

The utility model belongs to the field of disc stacking machines, and provides a stock bin type disc stacking machine which comprises a machine frame, a conveying belt, a feeding device and a discharging device. The grabbing mechanism is arranged on the rack and located above the conveying belt, the movable end of the grabbing mechanism is connected with a clamping jaw and a magnetic attraction block which are arranged in a height difference mode, and the grabbing mechanism can drive the clamping jaw and the magnetic attraction block to turn over and change positions. Compared with the prior art, the device has the advantages that by using the clamping jaw and the magnetic attraction block which are arranged in a height difference mode, workpieces of various shapes and sizes can be rapidly and accurately processed, the operation flexibility of the device is greatly improved, and the application range of the device is greatly widened; and meanwhile, by means of coordinated operation among the feeding area, the stacking area and the conveying mechanism, the full-automatic process from workpiece machining to finished product stacking is achieved, the requirement for manual intervention is reduced, the labor cost is reduced, the overall efficiency of a production line is remarkably improved, and meanwhile the workpiece quality is guaranteed.

The embodiment of the invention relates to the technical field of automatic unstacking robots, and discloses an unstacking method and system, a controller and a computer readable storage medium, and the method comprises the steps: obtaining RGB image information and point cloud information of an ROI region through a 3D camera, recognizing a to-be-unstacked article in the RGB image information, and generating a grabbing point; the camera coordinates of the grabbing points, the length and width information of the box body of the top layer to be unstacked and the height information of the top surface of the box body are obtained through the point cloud information; and the grabbing step is executed, after the current grabbed box leaves the stack, the height difference of the original position of the current box is obtained through the 3D camera again, the detection height value of the current box is obtained, laser radar verification is selectively adopted according to different conditions, and finally efficient unstacking is achieved. By means of the technical scheme, the problem that in the unstacking process in the prior art, the detection efficiency and the operation precision are difficult to consider at the same time is solved.

A destacking machine comprising a frame (1) within which a loading space (V) is provided for stacks (P) of containers (C1, C2), possibly of different models, which are stacked in an untidy, unaligned or vertically aligned manner and are fed on a conveyor belt (2) or a transfer means to a vertically movable loading surface (3v) provided with horizontal conveyor belts (3a) or transfer means, said loading space (V) being open on one side for the purpose of loading (2h) the stack (P) to be destacked and at the top for the purpose of removing the individual crates from the top of said stack (P), while on the side opposite the loading side, at least one vertical stop profile (7) is provided against which the stack (P) is pressed by a vertical sliding bar (4) pivotable (4r) about a vertical axis for the purpose of aligning the containers (C1, C2) on the side surfaces running transversely to the feed direction (2h).wherein in the lower area of ​​the loading space (V) below the maximum lowered loading surface (3), on both sides parallel to the feed direction (2h) of the stack (P), pairs of alignment beams (5) are mounted which can be pivoted (5r) about an axis (5a) parallel to the feed direction (2h) of the stack (P) and are driven by a crank mechanism (5e, 5c), wherein on the same sides of the loading space (V) movable (6v,6t) supports (6d) are mounted which are moved (6v) at the lower end by a motor (6m) via a pivoting element (6a) mounted (6j) on the frame (1), while in the upper area they are moved (6t) by a motor (6n) via a crankshaft mechanism (6e) and a connecting rod (6g), and wherein said supports (6d) are equipped at the upper end with gripping and transfer belts (6) arranged in a horizontal plane to act in opposite directions on the side edges of the container (C1) arranged at the top of the stack (P) in order to clamp them (6h), lift them (6v), move them (6t) in the axis of the loading space (V) and move them towards a removal means or belt (8), a chute or a machine for possible further processing and drop them over them.

Embodiments of the present disclosure relate to a method for determining a gripping order of bins in a stack of bins for a gripper. The method includes obtaining at least one finger geometry of the plurality of fingers. The method includes determining a layout of bin layers of the bin stack. The method includes determining a grip area for each bin in the bin layer based on the layout and the at least one finger geometry. The size of the grasping area is determined to allow the plurality of fingers to grasp the side wall in the grasping area; a region of overlap of the grip area of each bin with an adjacent bin of each bin is detected. The method includes determining a gripping order of the bin layers based on the detected overlap regions. In this manner, the gripping order may be automatically determined to allow the gripper to sequentially unstack the stacks of bins.

The invention relates to the technical field of industrial automation, and provides a sucker carton unstacking anti-interference method and system based on dynamic position deviation. The method comprises the steps that original scene data are obtained, scene perception and initial grabbing pose calculation are carried out, and a carton pose list containing carton IDs, sizes and grabbing poses is calculated; a first carton is selected as a target, neighborhoods are separated, and a local coordinate system is constructed according to the target pose; generating a sucker rotation rectangle on an XY plane of the local coordinate system, and performing preliminary interference judgment by combining with the neighbor pose list to obtain an interference pose list; constructing an interference gradient field and preferably selecting a safety offset direction set; and direction-step length combined optimization is implemented in the safe direction to search the non-interference pose, and the final grabbing pose is output. Therefore, the sucker does not need to be transformed, the calculated amount is small, response is fast, mistaken suction of adjacent boxes can be reduced, and unstacking stability and takt are improved.

A system of warehouse orchestration for inventory picking and fulfilment comprising a controller configured to receive order information from warehouse management system (WMS), allocate and distribute a plurality of orders across a plurality of virtual pick zones based on real-time or near real-time demand, pick capacity and received order information. Cause first autonomous mobile robot to move to first virtual pick zone of plurality of virtual pick zones, communicate guidance instruction to first operator to guide first operator to be available at first virtual pick zone and determine pallet loading pattern indicative of distribution of plurality of inventory items in one or more cases and stacking of the one or more cases in one or more layers based on a set of criteria and communicate pick instruction to first operator to pick one or more inventory items and place onto the pallet of the first autonomous mobile robot.

The invention provides a joint optimization method for a stacking sequence and a grabbing posture of a neutron measurement system, and relates to the field of data processing. According to the method, multi-source monitoring data of a neutron measurement system are collected, shadow voxels are constructed in combination with a three-dimensional space model, a neutron resonance shadow domain is formed through clustering superposition, and a dangerous concentration cloud cluster and a safe rarefied area are marked; mapping candidate stacking positions and postures according to sample mass distribution, geometric dimensions, centroid positions and irradiation sensitive characteristics, generating a stacking mode and determining a stacking sequence; performing path risk assessment on the grabbing postures, and selecting the grabbing postures of which the crossing risk meets a threshold value; superposing micro-random jitter on the path to suppress resonance phase locking; and abnormal events are monitored in real time during operation, and a risk domain is updated to execute hierarchical unloading control, so that the instantaneous impact and damage risk is reduced. According to the technical scheme, the probability of instantaneous impact risks caused by stacking overall micro-drift and grabbing track overlapping can be effectively reduced, and therefore the safety of the system is guaranteed.

The invention provides a circuit board feeding device with a bidirectional material taking structure and a use method thereof, and the device comprises a bearing assembly rack, a plate placing box body, a plate taking gripper, a plate carrying platform, a plate alignment pressing block, and a plate output gripper. According to the circuit board feeding device, through the arrangement of the pair of board containing boxes and the two taking tongs, the continuous operation capacity of alternately taking materials from the material boxes on the two sides is achieved, the equipment waiting time is greatly shortened, the feeding efficiency is improved, the high precision and stability of the material taking and transferring process are guaranteed through the lifting transverse moving assembly and the longitudinal transferring assembly, and the production efficiency is improved. Precise positioning of the circuit boards is achieved through cooperation of the board carrying platform and the board alignment pressing block, it is guaranteed that each circuit board can be accurately aligned to the preset direction through the dual effects of vacuum adsorption and mechanical jacking, the output gripper has the multi-dimensional movement capacity through the lifting longitudinal moving assembly, the output gripper can flexibly adapt to downstream equipment interfaces of different heights, and the production efficiency is improved. And stable and accurate circuit board output is completed.

The emulsion explosive stacker crane with the detection function comprises a sliding base and a clamp mechanism, the clamp mechanism comprises a mounting base and a clamping arm assembly, and the clamping arm assembly comprises a sliding plate, a clamping plate and a pose detection part. The sliding plate is connected to the mounting base through the clamping driving part, and the clamping driving part drives the sliding plate to slide in the X-Z plane; the two clamping plates are symmetrically arranged, the two clamping plates are connected to the sliding plate through side position adjusting driving parts, and the side position adjusting driving parts drive the clamping plates to slide in the Y-axis direction; the pose detection parts are connected to the sliding plate, each clamping plate is correspondingly provided with one group of pose detection parts, and the pose detection parts are used for detecting the height of the corresponding position of the upper end face of the clamped material and feeding back the height of the position as a displacement stroke; and the height of one side, corresponding to the two side positions, of the clamped material is adjusted to a proper position by driving the sliding plate to slide. The stacking stability can be improved, and meanwhile the stacking operation efficiency can be improved.

The utility model discloses step-by-step heightening and jacking equipment for lifting a large device, which is characterized in that a lifting system base (2) is provided with a heightening block lifting oil cylinder (3), a heightening block locking device of a heightening block jacking platform (4) corresponds to a locking groove in position, a material preparation system is positioned on the outer side of a lifting system, heightening blocks (12) are stacked and placed in a heightening block material preparation area (13), and the heightening block lifting oil cylinder (3) is connected with the heightening block jacking platform (4). The left side material preparation lifting device and the right side material preparation lifting device can separate the upper block-up block (12) from the bottom block-up block (12), and the bottom block-up block (12) is conveyed into the block-up block containing area (9) through the automatic feeding platform. According to the utility model, manpower and material resources can be saved, and the block-up efficiency can be greatly improved.

Described is a facility for palletising products and a method for palletising products. The facility has a pick area for picking up the products, and two place areas for placing products on pallets. The facility includes a work station situated between the two place areas and the facility includes a separating wall that moves between a first position between the work station and the first place area, and a second position between the work station and the second place area, so as to alternately separate one of the two place areas from the work station.

The invention belongs to the technical field of unstacking and stacking equipment, and discloses an automatic stacking machine which comprises a first steel roller conveying belt, a second steel roller conveying belt, a third steel roller conveying belt and a third steel roller conveying belt. The mounting frame is connected above the second steel roller conveying belt; and the shaping and positioning mechanism is arranged on the mounting frame and used for adjusting the materials. Through the action of a cleaning rod, a first baffle and a second baffle, material chippings between the rollers are cleaned and collected, and the situation that rotation of the rollers is affected after the gaps of the rollers are blocked, materials are inconvenient to position and remove wrinkles, and consequently blockage or deflection occurs in the conveying process is prevented; and the first baffle and the scraping plate are driven to move through the first movable structure, the wrinkle removing effect on the materials can be achieved, the using effect of the shaping and positioning mechanism is improved, and using of the stacker crane is facilitated.

The invention relates to the technical field of automatic production, in particular to an automatic unstacking method for air conditioner condenser cores. According to the technical scheme, the method comprises the following steps that a 3D camera is arranged above a condenser core feeding platform, and the side faces of cooling fins of a condenser core are recognized; a robot is used for driving a clamp to clamp and move the uppermost condenser core to a discharging conveying line according to the two fin side faces, recognized by the 3D camera, of the condenser core; a 2D camera is arranged on the discharging conveying line to recognize and detect the end type of the condenser core, and finally the robot obliquely places the condenser core on the discharging conveying line in the direction that the U-shaped pipe end faces downwards according to the end type of the condenser core. The method has the beneficial effects that the recognition efficiency can be improved on the premise of ensuring the recognition accuracy; and in addition, a 3D recognition method and a 2D recognition method are optimized, the recognition efficiency is further improved, and the automatic unstacking effect is improved.

The invention provides a mobile robot with a box falling detection function, and the mobile robot comprises a mobile base which is used for moving to any position according to a received control instruction and determining an orientation angle; the mechanical arm is used for grabbing the target box body on the material taking position and moving and placing the target box body on a material placing position; the plurality of laser radars are arranged at a plurality of corner ends of the mobile base and are used for collecting point cloud information around the mobile base; the control system is used for obtaining point cloud information and determining the number of point clouds in a preset monitoring area according to the point cloud information, the number of the point clouds is the number of point clouds accumulated in a preset frame number threshold value, the monitoring area is arranged on the front side of the mobile robot, and a preset point cloud number threshold value is obtained; and according to the number of the point clouds and a point cloud number threshold value, judging whether a fallen target box exists in the monitoring area or not. According to the robot, the fallen box can be rapidly cleaned or grabbed and released, the efficiency in the stacking and unstacking process is improved, and meanwhile the automation level of the robot is improved.

The invention discloses a full-automatic intelligent car loader stacking method, and relates to the technical field of data analysis, and the method comprises the steps: obtaining cargo attribute information, vehicle parameter information and transportation demand information, and carrying out package arrangement strategy analysis based on the cargo attribute information, the vehicle parameter information and the transportation demand information to obtain an initial package arrangement strategy; analyzing grabbing poses of a plurality of grabbing hands in the intelligent car loader on the basis of the initial package arranging strategy; cargo stacking debugging is carried out based on the grabbing pose and the initial package arranging strategy, and the gap accumulation ratio and the height error are detected in the cargo stacking debugging process; and the initial package arranging strategy and the grabbing posture are adjusted based on the gap accumulation ratio and the height error, a target package arranging strategy and a target grabbing posture are obtained, and the intelligent car loader conducts goods stacking according to the target package arranging strategy and the target grabbing posture. According to the invention, the goods can be effectively prevented from shifting, colliding and being damaged in the transportation process, and a firm guard is provided for the safety of the goods.

Embodiments of the present disclosure generally relate to a fixture, a robotic fixture including the same, and a method for clamping the turnover box. A fixture comprising: an corner fixture assembly configured to support the turnover box at the top corner of the turnover box; a drive mechanism including a first drive rail and a second drive rail; a first side fixture assembly movable along the first drive rail and a second side fixture assembly movable along the second drive rail, the first side fixture assembly and the second side fixture assembly configured to support the turnover box at a side wall of the turnover box adjacent the top corner, respectively. Embodiments of the present disclosure provide a fixture with an asymmetric clamp combination with structural simplicity, self-indication capability, and clamp stability.

A method of grasping and / or placing multiple objects by a gripper of a mobile robot. The multi-grasp method includes determining one or more candidate groups of objects to grasp by the suction-based gripper of the mobile robot, each of the one or more candidate groups of objects including a plurality of objects, determining a grasp quality score for each of the one or more candidate groups of objects, and grasping, by the suction-based gripper of the mobile robot, all objects in a candidate group of objects based, at least in part, on the grasp quality score. The multi-place method includes determining an allowed width associated with the conveyor, selecting a multi-place technique based, at least in part, on the allowed width and a dimension of the multiple grasped objects, and controlling the mobile robot to place the multiple grasped objects on the conveyor based on the selected multi-place technique.

The utility model discloses bowl body filling equipment which comprises a bowl storage rack, a bowl body filling device, a bowl body filling device, a bowl body filling device, a bowl body filling device and a bowl body filling device. The bowl blocking assembly is arranged below the bowl storage rack and comprises a first blocking device and a second blocking device, the first blocking device comprises a first transmission rod and a first cup fork, the second blocking device comprises a second transmission rod and a second cup fork, and the second blocking device is arranged below the first blocking device; the first cup fork and the second cup fork alternately extend out of the lower part of the dish storage rack to realize quantitative feeding; the lower bowl assembly is used for pulling out single bowls from the stacked bowls one by one; the conveying assembly is arranged below the bowl discharging assembly, the conveying assembly comprises a conveying belt and a limiting seat, the limiting seat is arranged on the upper surface of the conveying belt, and the limiting seat is matched with the bowl bodies; the detection assembly is arranged on the moving path of the conveying belt and used for detecting the number of the bowl bodies on the limiting base. And automatic loading of the bowl bodies can be realized.

A system and method for operating a transfer robot and a multi-surface gripper to grasp and transfer objects is disclosed.