5983results about "Stacking articles" patented technology

An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system and a delivery column. The container handling vehicle rail system is for guiding a plurality of container handling vehicles. The delivery column is adapted for transport of a storage container from a container handling vehicle to a delivery port situated at a lower end of the delivery column, and further adapted for transport of a storage container from the delivery port to the container handling vehicle. The storage container is configured to be stored in a stack of storage containers beneath the container handling vehicle rail system. The delivery system includes a remotely operated delivery vehicle, which includes a container carrier adapted to support the storage container. The delivery vehicle is further adapted to transport the storage container between a delivery port and a second location for handling of the storage container by at least one of a robotic operator and a human operator.

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.

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 discloses a robot palletizer with an adjustable grabbing angle, and relates to the technical field of automatic equipment, the robot palletizer comprises a base and a mechanical arm fixedly mounted on the base, and a clamping mechanism is arranged at the tail end of the mechanical arm; the clamping mechanism comprises a V-shaped clamping frame, sliding channels are formed in the two sides of the clamping frame, sliding plates are arranged in the sliding channels in a sliding mode, first rotating channels are formed in the sliding plates, clamping plates are rotationally arranged in the first rotating channels, and the clamping plates and the sliding plates are crossed in an X shape; the inclination angle of the clamping plate is adjusted through the first control assembly. According to the robot palletizer with the adjustable grabbing angle, by arranging the clamping frame, the clamping plates, the reinforcing plates and other structures, the robot palletizer is suitable for cylindrical cargoes of various sizes, six linear contact positions can be always kept to clamp and lock the cargoes at most, the cargoes are distributed in a major arc shape, the grabbing stability is guaranteed, the robot palletizer can be conveniently pulled out, and the use efficiency of the robot palletizer is improved.

The utility model relates to the technical field of PCB (Printed Circuit Board) carrying plates, in particular to a plate collecting machine using a tray, which is characterized in that two material carrying assemblies are arranged on a rack; the top surface of the rack is provided with a tray transverse moving mechanism used for transferring the tray from one carrying assembly to the other carrying assembly. The material loading assembly comprises a material trolley used for loading the Tray and a material disc lifting mechanism used for lifting or descending the Tray on the material trolley. In the structure, the separation of the trays in which the PCBs are placed and the separation of the empty trays can be realized, and the stacking automation of the trays and other trays in which the PCBs are placed can be realized, so that the labor intensity is reduced to a great extent, and the tray collecting efficiency is improved.

The present application provides an automatic packaging device and method, which includes: a control device and an incoming material conveying mechanism, an inbound lifting mechanism, a material storage, a discharge lifting mechanism, a first feeding and conveying mechanism, a blanking mechanism, a second feeding and conveying mechanism, a packaging mechanism, and a finished product conveying mechanism, each connected to the control device; the inbound lifting mechanism is located between the incoming material conveying mechanism and the material storage; the discharge lifting mechanism is located between the material storage and the first feeding and conveying mechanism; a section of the first feeding and conveying mechanism and the second feeding and conveying mechanism are stacked; the blanking mechanism is located on a section of the first feeding and conveying mechanism and the second feeding and conveying mechanism, and the first feeding and conveying mechanism has a blanking port at a position corresponding to the blanking mechanism; the packaging mechanism is located on the second feeding and conveying mechanism and is located on one side of the blanking mechanism. The entire packaging process of the above-mentioned automatic packaging device and method is automated, and the packaging efficiency is high.

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 invention relates to the technical field of loaders, in particular to an automatic unlocking turnover device. Comprising a base, a stacking mechanism, a supporting piece and a guiding piece, the base is connected to the loading machine in a sliding mode, the stacking mechanism is rotationally connected to the base, the supporting piece is connected to the base in a sliding mode, a curved surface is arranged on the lower surface of the stacking mechanism, the supporting piece makes contact with the curved surface, the guiding piece is arranged at the bottom of the loading machine, and the supporting piece is arranged on the guiding piece. When the stacking mechanism moves to the bottom of the loading machine, the supporting piece moves in the horizontal direction under the action of the guiding piece, the supporting piece makes contact with the curved surface all the time under the action of the gravity of the stacking mechanism, and the stacking mechanism turns over. And low-position transportation of goods is achieved.

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 relates to the field of wearable electronic products, and particularly discloses a wearable electronic product full-automatic feeding equipment control system which comprises the following steps: S1, resetting PLC internal variables, communication ports and states of all motion shafts; s2, judging a system operation mode, if the system operation mode is a manual mode, entering a manual debugging process, and if the system operation mode is an automatic mode, continuing to execute the next step; s3, executing original point resetting of the whole machine; s4, the full TRAY feeding Z-axis module lifts the face shell loaded with the to-be-fed face shell to the first-layer material taking height in a full TRAY mode; s5, the feeding four-axis module moves to the position above the current face shell in the TRAY, the Z axis descends, and a vacuum suction head is started to suck the face shell; s6, a feeding four-axis module transfers the face shell to a code scanning station, a code scanning gun reads the two-dimensional code, and data are written into a PLC designated register; s7, a feeding four-axis module transfers the face shell to the position over the empty jig, and a Z axis descends to place the face shell in the jig; s8, the feeding four-axis module grabs the empty TRAY and transfers the empty TRAY to an empty TRAY discharging Z-axis module to be stacked and stored; and S9, whether the next full TRAY to be fed exists or not is judged.

The utility model relates to the technical field of board collecting and releasing equipment, in particular to an efficient board collecting and releasing machine which comprises a machine table, a transition conveying mechanism and a plurality of sets of board collecting and releasing modules, and each board collecting and releasing module comprises a side inserting clamping box, a cantilever type side inserting roller shaft conveying mechanism, a feeding and discharging position, a moving driving mechanism, a moving box, a lifting driving mechanism and a taking and releasing deviation rectifying mechanism. The moving driving mechanism is used for driving the moving box to move back and forth between the cantilever type side inserting roller shaft conveying mechanism and the feeding and discharging positions. A plurality of roll shafts of the cantilever type side insertion roll shaft conveying mechanism can be laterally inserted into the side insertion card box, and the side insertion card box can ascend and descend relative to the cantilever type side insertion roll shaft conveying mechanism; the side insertion card box is provided with a plurality of carrier plate layers. According to the invention, the boards are circularly and alternately collected and released through the side-inserted cartridges of the multiple sets of board collecting and releasing modules, and the side-inserted cartridges can laterally move into or move away from the cantilever type side-inserted roll shaft conveying mechanism, so that the efficiency of replacing the side-inserted cartridges is improved, and the efficiency of collecting and releasing the boards is greatly improved.

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 invention relates to automatic stacking equipment for beer containers, relates to the technical field of stacking equipment, and solves the technical problems of deformation and falling of beer boxes caused by aerial rotation of the beer boxes and deflection and collapse caused by errors in stacking, the automatic stacking equipment comprises a base frame and a conveying mechanism, supporting blocks are connected to the two sides of the base frame, and first sliding grooves are formed in the supporting blocks; the conveying mechanism is provided with a limiting groove, the limiting groove is internally connected with a frame, the bottom of the frame penetrates through a barrel, a push rod slides in the barrel, the push rod is connected with a bearing frame, the bottom of the barrel is connected with a gear box, and the bottom of the gear box is connected with a limiting frame. According to the beer box conveying device, the bearing frame in the frame is pushed, so that beer boxes on the bearing frame are lifted to be separated from the conveying mechanism, and the bearing frame is driven to rotate, so that the conveying angle of the beer boxes during conveying is adjusted.

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.

The utility model relates to a tray caching and stacking device. The equipment comprises a rack, at least one tray conveying mechanism, at least one first tray temporary storage mechanism, at least one second tray temporary storage mechanism and a cover plate feeding and covering mechanism. Each tray conveying mechanism comprises two conveying adjusting frames arranged on the rack side by side, a conveying supporting frame arranged on each conveying adjusting frame and a conveying belt structure arranged on each conveying supporting frame. Each first tray temporary storage mechanism is arranged at the feeding end of one tray conveying mechanism, and each second tray temporary storage mechanism is arranged at the discharging end of one tray conveying mechanism. The cover plate feeding and covering mechanism comprises a cover plate feeding mechanism arranged on the outer side of the rack and a cover plate transferring mechanism transversely arranged on the rack. According to the tray stacking device, the technical problems that the efficiency is low and misplacement is easy to occur when the detected trays are stacked or separately stored in a manual mode can be solved.

The invention relates to a template-based self-adaptive stack type generation method, system and device and a storage medium, a preset stack type layout template and to-be-stacked material information are obtained, and relative position information and stack type information of each material in the stack type layout template are calculated; according to the information of the to-be-stacked materials, the relative position information and the stack type information, the to-be-stacked materials and the stack type layout template are matched, so that the to-be-stacked materials are arranged according to the stack type layout template, and a single-layer stack type is obtained; the multiple single-layer stack types are stacked according to a preset merging rule, and an overall stacking stack type is generated; and a preset material gap is obtained, arrangement of the materials in the overall stacking type is adjusted according to the preset material gap, and an actual stacking type is generated. Through template matching and automatic calculation, new stack types can be generated for materials of different sizes in a short time, repeated programming and debugging are not needed, and the time cost is reduced.

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 discloses an automatic steel cylinder stacking line, and particularly relates to the technical field of material stacking equipment, the automatic steel cylinder stacking line comprises a first conveying line, a second conveying line, a stacking device and a partition plate placing area, the stacking device comprises a stacking robot and a stacking clamp, and a bottom supporting assembly is arranged on the stacking clamp. Through the arrangement of the bottom supporting assembly, in the process that the supporting frame moves in the direction close to or away from the fixed plate, a guide rod can drive a guide wheel to move in four areas of a guide groove in sequence, and when the output end of a second driving piece is completely retracted, a bottom supporting piece can move to the bottom of a box body to support the bottom of the box body; when the output end of the second driving piece completely extends out, the bottom supporting piece is higher than the box body, the bottom supporting piece is prevented from making contact with a tray in the box body placing process, and therefore a large amount of distance needed during overturning can be saved in a translation mode, and potential safety hazards caused by the fact that the box body slides from a high position are avoided.

A pallet conveying module, including a support structure on which there is arranged a rolling travel track configured to displace the pallets, and a retaining system to stop the pallet on said track. The retaining system comprises a first non-motorized mechanically operated braking device having a retractable region that rotates with respect to an shaft with a stop projection provided to abut with support legs of the pallet to be stopped, such that in a standby position, the retractable region is on an inclined plane with respect to the horizontal plane, while in a stop position the stop projection is in contact against a leg of the pallet; and a second motor operated braking device, located prior to the first mechanically operated braking device, which has a cam system defined by first and second retractable stops located in different positions.

The automatic three-dimensional stacking equipment for the steel structural parts comprises an I-shaped advancing rail frame, a movable tray, a static tray mechanism, a hollowed-out silica gel pad and a containing table, four telescopic supporting legs are fixedly mounted at the bottom of the I-shaped advancing rail frame, and mounting bases are fixedly mounted at the bottoms of the four telescopic supporting legs; when the air guide pipe is opened, the rectangular coil pipe and the ferromagnetic pipe at the bottom generate an air pressure adsorption effect, and when the air guide pipe is closed, the rectangular coil pipe and the ferromagnetic pipe at the bottom are not influenced by air pressure adsorption, and then adsorption of a short section of steel structural part is matched, so that the adsorption surface of the ferromagnetic pipe and the silica gel soft head can be adjusted; and then adsorption of different steel structural parts, such as adsorption of steel plates of different sizes, is matched, the overall design can adapt to various steel structural parts, the use of molds and funds is reduced, the capacity of being suitable for various production lines is integrally improved, and the production efficiency is improved.

The utility model provides a hopper assembly, an inner cylinder filling device for combined fireworks and a production line, and relates to the technical field of firework production equipment, the hopper assembly comprises a hopper structure, a material frame mechanism and a material receiving mechanism. The material frame mechanism comprises an upper flange, a first side flange, a second side flange and a first set of driving units. And the material receiving mechanism comprises a material receiving platform and a second group of driving units. When the material frame mechanism is in the initial state and the material receiving platform is located at the initial position, the upper blocking edge, the first side blocking edge, the second side blocking edge and the material receiving platform define a temporary material frame used for receiving the inner barrels, as the first side blocking edge and the second side blocking edge stretch towards the two sides, the inner barrels in the temporary material frame are flatly laid and released to the material receiving platform, and in addition, the inner barrels in the temporary material frame are placed on the material receiving platform. And the upper flange moves downwards along with the inner cylinder in the temporary material frame. And the receiving platform downwards stacks the inner barrels on the receiving platform to the bottom of the trough space. According to the hopper assembly, the inner barrels loaded by the feeding mechanism can be automatically stacked downwards, and rolling and reversing are not prone to occurring.