An Alignment Compensation Method for Active Compensation Visual Alignment Stacking Robot

Abstract

The invention relates to an active compensation type visual alignment stacking robot and an alignment compensation method thereof, including a transmission component and an intelligent grabbing component. The intelligent grabbing component includes a displacement drive mechanism, a basic gripper mechanism, a lifting mechanism, and a visual alignment unit. The lifting mechanism provides lifting power for the jaws, and the displacement drive mechanism provides horizontal power for the intelligent grasping components as a whole; the basic jaw mechanism provides clamping and loosening power for the splint through a worm gear reducer motor and a pair of screws with opposite rotation directions; Use the workpiece position sensing unit to measure the distance between the current gripper and the cargo in real time, and sense whether there is a cargo below, and at least four workpiece position sensing units installed at the four corners to work together to determine whether the currently clamped cargo is located in the position of the existing cargo Directly above. The workpiece position sensing unit cooperates with the power trolley and the lifting mechanism to self-adjust and compensate according to the sensing signal of the workpiece position sensing unit, so as to avoid the dumping of goods caused by stacking errors.

Description

technical field [0001] The invention relates to a stacking device, in particular to an alignment compensation method for an active compensation type visual alignment stacking robot. 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 displayed. [0...

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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