Visual unstacking structure and visual unstacking method for hybrid stacking

Abstract

The invention relates to a visual unstacking structure and a visual unstacking method for hybrid stacking. The visual unstacking structure comprises a hybrid stacker crane, a pallet, an actuating mechanism and a visual camera; the actuating mechanism is a mechanical arm, one end of the actuating mechanism is provided with an array sucker system, the array sucker system comprises a sucker bottom plate, the other end of a connecting arm is fixedly connected with the center of the sucker bottom plate, a plurality of vacuum generators are arranged on the sucker bottom plate in a vertically penetrating manner and distributed in an array shape, the lower end of each vacuum generator is connected with a vacuum sucker, the visual camera is mounted on the actuating mechanism or a fixed support, anda vacuum gas circuit is arranged between each vacuum sucker and the corresponding vacuum generator. The array-shaped suckers are independently controlled, the surface sizes of target objects acquiredby a vision system are matched, the suckers are switched on and off corresponding to different target shapes, the optimal suction coverage is obtained, a plurality of objects can be simultaneously taken and put in respectively or at fixed points or a single object is selectively sucked, the phenomenon of sucking by mistake and falling off is avoided, and the visual unstacking structure and the visual unstacking method are applicable to a hybrid stacking scene to implement unstacking.

Description

technical field [0001] The invention relates to the field of palletizing and depalletizing, in particular to a visual depalletizing structure and a visual depalletizing method for mixed palletizing. Background technique [0002] In the application of visual depalletizing, the external visible size of the target can be easily obtained through the camera, but when choosing to use vision-assisted depalletizing, the target is usually of various uncertain sizes. At this time, if a simple suction cup is used The system or the sponge belt check valve system may not be able to meet the demand, and the side objects may be sucked during the adsorption process, resulting in falling; in addition, it is necessary to simultaneously fetch multiple targets and sorting in different feeding areas In working conditions, partition control is also required to meet the application. Contents of the invention [0003] The object of the present invention is to provide a visual depalletizing struc...

AI Technical Summary

Problems solved by technology

[0002] In the application of visual depalletizing, the external visible size of the target can be easily obtained through the camera, but when choosing to use vision-assisted depalletizing, the target is usually of various uncertain sizes. At this time, if a simple suction cup is used The system or the sponge belt check valve system may not be able to meet the demand, and the side objects may be sucked during the adsorption process, resulting in falling; in addition, it is necessary to simultaneously fetch multiple targets and sorting in different feeding areas In working conditions, partition control is also required to meet the application

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