3070results about "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 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.

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.

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 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.

The invention relates to the technical field of material conveying, in particular to a material conveying and empty box recycling device and a feeding conveyor. According to the material conveying and empty box recycling device, when a transfer assembly moves to a first station, the transfer assembly can be in butt joint with the outlet side of a first conveying rail, so that a material storage box containing materials moves to the transfer assembly; after the materials in the storage box are taken out, the transfer assembly can move to the second station, so that the transfer assembly can be in butt joint with the inlet side of the second conveying rail; the outlet side of the second conveying rail extends into the feeding station, and a transfer trolley is arranged in the stacking station. The moving assembly can drive the grabbing piece to move between the feeding station and the stacking station in a reciprocating mode so as to grab the material storage boxes entering the feeding station and place and stack the material storage boxes on the transfer trolley in the stacking station. The device has the advantages of being high in automation degree, compact in structure, stable in operation and the like, material conveying and empty box separation and recovery can be reliably achieved, manual intervention is reduced, and the production efficiency is improved.

The fin stacking device comprises a rack main body and a discharging mechanism, the rack main body is connected with the discharging mechanism, a plurality of limiting rods used for fixing fins are arranged on the discharging mechanism, and the limiting rods move in a stepping mode in the conveying direction of the discharging mechanism; a feeding mechanism and a stacking mechanism are arranged on the machine frame body, the input end of the stacking mechanism is connected with the output end of the feeding mechanism, and the discharging mechanism is located below the stacking mechanism. The feeding mechanism is used for transmitting to-be-stacked fins to the to-be-stacked mechanism, and the stacking mechanism is used for stacking the to-be-stacked fins and transferring the stacked fins to the positions between the adjacent limiting rods on the discharging mechanism. According to the fin stacking device, the whole process of feeding, stacking and discharging can be precisely linked, the stacking precision and the operation efficiency are improved, the fin stacking device has good universality, the problems that in the prior art, the labor intensity is large, the efficiency is low, the precision is poor, and the universality is insufficient are solved, and the requirements for automation and standardization of industrial production are met.

The invention belongs to the technical field of empty container stacking operation, and particularly discloses a grabbing structure of an empty container stacking device.The grabbing structure comprises a connecting rod, connecting bases are rotationally connected to the two sides of the connecting rod, the connecting bases are of a U-shaped structure, and a connecting cylinder is connected to the middle of the upper end of each connecting base; a rotating motor is connected to the middle of the upper end of the inner wall of the connecting cylinder, the output end of the rotating motor sequentially penetrates through the connecting cylinder and the connecting base and extends to the position below the connecting base, a connecting block is connected to the output end of the rotating motor, and fixing plates are connected to the two sides of the connecting block correspondingly; lateral clamping force is applied to the side face of the container through the clamping mechanism to achieve primary fixing, the adjusting mechanism forms double locking of attaching and inserting connection from the four corners of the container to strengthen the grabbing stability, the limiting mechanism buffers and protects the container body and calibrates the levelness of the upper layer and the lower layer, and finally the effects of accurate and stable grabbing and regular stacking of the container are achieved.

A robotic load handling device for lifting and moving one or more storage containers stackable in a storage and retrieval system The container lifting mechanism includes: a grabber device comprising a first gripper assembly configured to releasably engage the storage container and a second gripper assembly configured to releasably engage the insert nested within the storage container; at least one actuating mechanism configured to actuate the second gripper assembly independently of the first gripper assembly to separately engage the insert nested within the storage container; and (iii) a drive mechanism configured to raise and lower the grabber device to vertically move the insert out of the storage container to a raised position at which the insert base is above the storage container and to a lowered position at which the insert is nested within the storage container when the second gripper assembly is engaged with the insert.

The utility model relates to the technical field of stacking equipment, in particular to a stacking clamping mechanism with an anti-skid function, which comprises a mechanical arm and a support frame, two transverse clamping plates are slidably connected in the support frame, through grooves are formed in the transverse clamping plates, two-way threaded rods are rotatably connected in the through grooves, and the two-way threaded rods are rotatably connected in the through grooves. Two longitudinal clamping plates are in threaded connection with the outer portion of each two-way threaded rod, the two corresponding longitudinal clamping plates are used in cooperation, and output shafts of the first motors extend into the corresponding through grooves and are fixedly connected with one ends of the two-way threaded rods. The clamping device has the advantages that through simultaneous clamping in the transverse direction and the longitudinal direction, the friction force between the clamping device and goods is remarkably increased, the goods are effectively prevented from slipping off in the clamping and carrying process, the safety and stability of stacking operation are improved, and due to the adjustable structural design, the clamping device is convenient to use and popularize. The stacking and clamping mechanism can meet the clamping requirements of goods of different sizes, and the universality and flexibility of equipment are improved.

The invention provides corrugated carton stacking equipment, relates to the field of stacking machines, comprises a carton conveying unit, and aims to solve the problems that in the prior art, when corrugated carton stacking equipment conducts stacking, carton alignment deviation is likely to occur, the deviation can be accumulated layer by layer along with the stacking height, and a stack body is likely to collapse. According to the carton stacking and aligning device, the synchronous adjusting mechanism is arranged, the clamping plates are driven by the synchronous adjusting mechanism to push cartons, so that the cartons on the tray and the transferred cartons are rapidly attached and aligned, the aligning deviation between the adjacent cartons is reduced, the situation that a stack body is prone to collapse is reduced, and the stacking and aligning precision is improved; by arranging the synchronous adjusting mechanism, the problem of box falling caused by air leakage of a suction cup in the prior art is solved; by arranging the synchronous adjusting mechanism, the problem that the service life is shortened due to the fact that impurities adhere to the suction cup in the prior art is solved; by arranging the synchronous adjusting mechanism, the problem that in the prior art, due to the fact that suction cups are cumbersome in positioning, working efficiency is low is solved.

A gripping device for being suspended from a load handling device for lifting and moving containers stacked in stacks in a grid storage structure including a plurality of tracks arranged in a grid pattern above the stacks of containers. The gripping device including a frame having a top side and a bottom side. The frame has a substantially downwardly extending peripheral wall defining at least one opening through the top side and bottom side of the frame. A gripping mechanism is mounted to the peripheral wall and is configured to releasably grip a container from below the frame.

This application relates to the field of intelligent warehousing system technology, and discloses a pallet, a picking and placing method, electronic equipment, a storage medium, and a warehousing system. The pallet includes: a base plate and a plurality of finger plates extending from a first side of the base plate along a first direction. The plurality of finger plates are spaced apart along a second direction, with a gap between adjacent finger plates. Both the first and second directions are directions in a horizontal plane parallel to the base plate, and the first and second directions intersect. The base plate and the plurality of finger plates are used together to carry goods. This application reduces equipment costs and improves the operating efficiency of handling robots.

The invention relates to the technical field of automatic feeding and discharging, in particular to an intelligent control system for automatic feeding and discharging of wood-working machinery, which comprises the following modules: a multi-sensor real-time sensing module used for collecting real-time information of plates and a field environment and generating plate state information; the intelligent scheduling and optimizing module is used for generating a grabbing and placing action plan of the feeding and discharging manipulator according to the plate state information, the machining rhythm of the cutting machine, the plate specification and the stacking area state, and sending an action instruction to the feeding and discharging manipulator; and a multi-device coordinated scheduling module. According to the method, the plate state information, the processing rhythm and the stacking area state are received, the grabbing priority, the placing position and the action path are calculated, meanwhile, path and sequence optimization is conducted by combining the current position, the motion constraint and the time relation of all equipment, and a coordinated action sequence is generated and issued for execution; the system can dynamically adjust the action sequence and path of equipment to avoid idling of the manipulator or congestion of a stacking area.

The invention discloses automatic turn-over equipment which comprises a conveying line provided with a jacking station; a jacking mechanism; the turnover mechanism is provided with a turnover station; the carrying mechanism is suitable for grabbing a vacant second tray; the two bearing discs are separately arranged at the execution ends of the jacking mechanism and the carrying mechanism; the jacking mechanism is configured to support and jack the first material tray located at the jacking station to the overturning station through a bearing tray on the jacking mechanism, and the carrying mechanism is configured to stack the second material tray on the first material tray located at the overturning station and then stack the bearing tray on the second material tray so as to form a to-be-overturned whole; the turnover mechanism is configured to clamp the two bearing discs of the whole to be turned over so as to fix the whole to be turned over and turn over by 180 degrees; and after overturning is completed, the jacking mechanism is configured to bear and descend the bearing disc and the second material disc which are located on the lower portion, and the carrying mechanism is configured to take away the bearing disc and the first material disc which are located on the upper portion. The turnover mechanism can be prevented from making direct contact with the trays, and the tray damage probability is reduced.

The utility model discloses automatic stacking and arranging equipment for boxes, which relates to the technical field of stacking equipment for boxes and comprises a placing table, a worktable is mounted on the side wall of the placing table, a mounting frame is mounted on the side wall of the worktable, a first threaded rod is mounted on the inner wall of the mounting frame, and a second threaded rod is mounted on the inner wall of the mounting frame. And a first driving motor is mounted on the side wall of the first threaded rod. Through the arrangement of the workbench, the mounting frame, the first threaded rod, the first driving motor, the moving block, a rotating rod, an adjusting rod, a conveying belt and a first rotating shaft, in the box body conveying process, box bodies which are not uniformly arranged transversely and vertically exist, unified stacking is not convenient, only the first driving motor needs to be started to drive the moving block on the first threaded rod to move, and the box bodies can be conveniently stacked. And a rotating rod drives an adjusting rod to rotate, then a first rotating shaft is used for rotating a conveying belt, rotation of vertically-arranged boxes is changed into transverse arrangement, and the convenience of the device is improved.

The invention relates to the technical field of plastic sucking disc feeding, and particularly discloses a clamping device for plastic sucking disc feeding, which comprises a support part, two groups of driving parts, two groups of clamping parts, two groups of mounting frames and two groups of sucking parts, the support part is connected in a frame body in a sliding manner and is connected with a driving mechanism, the mounting frames are connected to the support part, and the sucking parts are arranged on the mounting frames. The suction pieces are connected to the mounting frame, the number of each set of suction pieces is two, the suction pieces are used for lifting the four corners of a plastic suction disc to the set height, each suction piece comprises a ventilation pipe, a lifting pipe, a suction cup and a driving structure, the ventilation pipes are connected to the mounting frame, the lifting pipes are arranged on the ventilation pipes in a sleeving mode, the lifting pipes and the mounting frame are connected in a limiting and inserting mode, and the suction cups are connected to the lifting pipes. The driving structure is mounted between the ventilation pipe and the lifting pipe; according to the clamping device for plastic sucking disc feeding, the four corners of a plastic sucking disc are lifted to the set height through the two sets of sucking pieces, and therefore the plastic sucking disc can be accurately clamped.

This application discloses a palletizing robot for industrial food processing, belonging to the field of industrial food processing. It includes a robotic arm; a support plate; the support plate is assembled at one end of the robotic arm; a fixed plate is fixedly connected to the inner side of the support plate; a lifting plate and a rectangular frame A are provided at the lower end of the support plate; a groove A is formed on the outer wall of the lifting plate; a connecting rod A is slidably connected to the inner wall of the groove A; limit plates A and B are fixedly connected to the bottom of the connecting rods A on both sides; and a movable plate is slidably connected inside the rectangular frame A. This application can precisely adjust the width of the handling device to adapt to different food sizes. This adjustability enhances the robot's flexibility, enabling it to handle food of various sizes and improving production efficiency. The design of limit plates A and B ensures that the food will not shake during handling, thereby reducing food damage caused by improper handling.

The present invention relates to a depalletizing system and a method for controlling the same. The depalletizing system, which picks up a plurality of objects to move the picked up objects to a predetermined position, includes: a camera unit for acquiring image data of tops of the plurality of objects; a controller for performing vision recognition for the acquired image data of tops of the plurality of objects to determine whether two neighboring objects among the plurality of objects are pickable at a time; and a picking robot for at a time picking up the two objects determined as pickable objects at a time to move the picked up objects to the predetermined position.

The invention discloses a stacking device for cargo loading, and relates to the technical field of logistics automation, the stacking device comprises a base, and a rotating hole is formed in the base; a rotating bearing disc is fixed to the rotating shaft, a driving motor is installed on the rotating bearing disc through a motor frame, a screw rod is connected to the output end of the driving motor, a lifting block penetrates through the screw rod in a sliding mode, a positioning block is fixed to the rotating bearing disc, and a limiting plate is fixed to the positioning block; the far end of the screw is rotationally connected with the limiting plate; according to the stacking device, through the designed double-clamping component, during stacking operation, when one set of clamping jaws execute the grabbing action, the other set of clamping jaws can conduct stacking operation synchronously, so that the cargo carrying process is subjected to the synergistic effect of alternate operation, the stacking device is different from a traditional single-clamping-jaw stacking device, and it is ensured that in the continuous operation process, the stacking efficiency is greatly improved; the automatic stacking device can grab or carry heavy goods or objects in irregular shapes, and automation and high efficiency of the stacking process are achieved.

The invention discloses an order-driven mixed box stacking method, system and equipment and a medium. According to the method, a stacking process is decoupled into two associated subtasks of active warehouse-out decision and real-time stacking execution; the problems of frequent stack transfer and invalid reciprocating carrying caused by scattered goods combination in a physical layout limited scene in an existing offline stacking algorithm are effectively solved, and meanwhile, the space utilization rate bottleneck caused by lack of order global view in a traditional online stacking algorithm is also overcome; and a brand-new framework support and a global optimization decision view angle are provided for efficient disassembly operation in a limited physical space. An energy-based warehouse-out sequence optimization algorithm is introduced into a warehouse-out decision-making layer, and the algorithm deeply fuses the local fine sampling capability of Langevin dynamics and the global evolution capability of a genetic algorithm, so that the technical defects that a traditional heuristic rule is difficult to capture complex geometric features of goods and is easy to fall into local optimum are overcome; and the three-dimensional warehouse is guided to realize active and efficient replenishment scheduling.

The utility model belongs to the technical field of paper tube production equipment, and particularly relates to a large-diameter paper tube blanking and placing robot which comprises a base, trays arranged on the two sides of the base, paper tubes placed on the surfaces of the trays, and a displacement mechanism comprising a shell arranged above the base. A sliding rail is fixedly connected to the surface of the shell, a sliding block is slidably connected to the surface of the sliding rail, a bottom plate and a lower pipe placing mechanism are fixedly connected to the surface of the sliding block, and the lower pipe placing mechanism comprises a first moving arm mounted on the surface of the mounting plate; the end, away from the bottom plate, of the first moving arm is rotationally connected with a second moving arm through a bearing, the end, away from the first moving arm, of the second moving arm is fixedly connected with a mounting plate, and an air cylinder is mounted on the surface of the mounting plate. And the effects of improving the production efficiency and reducing the labor cost are achieved, and meanwhile the safety in the production process is enhanced.

The robotic system may include a chassis operably coupled to a proximal conveyor, a first segment including a first segment conveyor extending along the length of the first segment, and a gripper including a distal conveyor extending along the length of the gripper. The robotic system may further include a controller configured to operate the chassis, conveyor, segment, gripper, or a combination thereof to remove and transport objects from a cargo loading structure such as a cargo container.

The utility model relates to the technical field of pick-up machines, in particular to an electrical system for a large-dip-angle square bale pick-up stacker crane, which comprises a square bale pick-up stacker crane, a remote controller unit, a logic control unit, a sensor unit and an execution output unit, the remote controller unit is in wired connection with the logic control unit. The sensor unit and the execution output unit are in wired connection with the logic control unit. By means of the sensor unit, the logic control unit, the execution output unit and the remote controller unit, manual and automatic remote control over square bale picking and stacking is achieved, an operator achieves remote operation through a picking machine remote controller, the workload of the operator is reduced, and efficiency is improved; the straw bales are picked up through the dip angle pickup device, the pickup device can adapt to pickup types of multiple straw bales, meanwhile, damage caused by bale ropes is reduced, the integrity of the square straw bales is guaranteed to the maximum extent, and the pickup efficiency is high.

The invention relates to a linear walking direction stacking deviation rectifying device and a method thereof, and belongs to the technical field of logistics storage equipment.The method comprises the steps that S1, a stacking machine walking system is arranged; s2, constructing a contact stress characteristic value when the guide wheel is pressed; s3, executing dead zone judgment based on a steady-state interval; and S4, performing active deviation correction through cooperation of the execution force and the displacement. By arranging the floating type main wheel deflection base and the micro-deflection driving mechanism, a traditional rigid connection mode is changed, when it is detected that the vehicle body deviates, the main walking wheels are driven to generate a micro yaw angle, the vehicle body is pushed back to the center of a rail through transverse component force generated by kinetic energy generated by advancing of the stacking machine, and the vehicle body is driven to move forwards. In this way, violent extrusion between the guide wheel and the rail is avoided, generation of metal dust and operation noise are effectively reduced, and the service life of the guide wheel is prolonged.

The invention relates to the technical field of packaging boxes, in particular to a packaging box continuous stacking device which comprises a conveying mechanism, a base and a bearing table, a clamping mechanism and a moving mechanism are arranged at the top of the base, and the clamping mechanism comprises a first sliding table, a first supporting rod, a second supporting rod, a moving rod and a square plate. Two symmetrical first sliding grooves are formed in the top of the base, the first sliding tables are slidably installed in the first sliding grooves, a rotating disc is rotatably installed on the surfaces of the first sliding tables, and the first supporting rods are fixedly installed on the top of the rotating disc. A packaging box is clamped through the clamping plates, the bottom of the packaging box is supported through cooperation of the rotating plate and the fixed plate while clamping is conducted, and the problems that in the moving process of the packaging box, the packaging box slides off due to the fact that the packaging box is too heavy, the packaging box and objects are damaged, clamping is not firm, stacking is likely to be unstable, and the packaging box is not damaged are solved. Potential safety hazards and package damage are caused by inclination or collapse.

The invention provides folding and conveying equipment suitable for a new energy material frame, comprising a lifting assembly for realizing the lifting of the equipment in the vertical direction; a frame assembly; the clamping jaw assembly is used for grabbing, carrying and placing workpieces with different sizes and shapes; the conveying assembly is used for achieving continuous or intermittent conveying of the workpieces; the electric control assembly is used for planning all action logics of the equipment as a whole and executing fault diagnosis and yield statistics; the visual identification system is used for workpiece positioning, material information identification and defect detection; the detection assembly comprises various types of sensors and is used for collecting the position, number and stacking state information of the workpieces in real time; and the pneumatic system is used for providing power for the clamping jaw and the air cylinder type actuating mechanism. According to the invention, the problems of low efficiency, poor flexibility, weak reliability, difficulty in integration and the like of a traditional disc stacking / detaching machine are solved, the automation level and the production efficiency of a production line can be directly improved, and wide application prospects and popularization values are achieved in the field of new energy production.