Active compensation type visual alignment stacking robot and aligned compensation method thereof

Abstract

The invention relates to an active compensation type visual alignment stacking robot and an aligned compensation method thereof; and the robot comprises a transmission module and an intelligent grabbing module. The intelligent grabbing module comprises a displacement driving mechanism, a base clamping jaw mechanism, a lifting mechanism and a visual alignment unit. The lifting mechanism provides lifting power to a clamping jaw; the displacement driving mechanism provides horizontal power to the whole intelligent grabbing module; the base clamping jaw mechanism provides clamping and loosening power to clamping plates through a worm and gear speed reducing motor and a pair of screw rods with opposite rotating directions; workpiece position induction units are used for measuring the distance between the present clamping jaw and goods in real time to sense if the goods are on the lower side; and at least four workpiece position induction units are mounted at four angles for cooperation to judge if the present clamped goods are positioned right above the existing goods. Through cooperation of the workpiece position induction units with a power car and the lifting mechanism, the self-adjustment compensation is performed according to sensing signals of the workpiece position induction units to prevent the tilting of the goods caused by stacking errors.

Description

technical field [0001] The invention relates to a stacking device, in particular to an active compensation type visual alignment stacking robot and an alignment compensation method thereof. Background technique [0002] Stacking crane, also known as stacker, is the most important lifting and transportation equipment in the three-dimensional warehouse, and it is a symbol representing the characteristics of the three-dimensional warehouse. A stacking crane refers to a special crane that uses a fork or a skewer as a pick-up device to grab, carry and stack in warehouses, workshops, etc., or take and place unit goods from high-rise shelves. It is a storage device. With the development of computer control technology and automated three-dimensional warehouses, stacker cranes are used more and more widely, with better technical performance and higher heights. [0003] However, under the condition of assembly line operation, the advantages of the stacker have not been fully displaye...

AI Technical Summary

Problems solved by technology

With repeated clamping, there will inevitably be position errors, and this equipment has no self-compensation method to compensate for the errors, which eventually leads to larger and larger errors, and when the goods are stacked high, they are prone to dumping due to stacking errors

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