Rotary lifting stacking mechanical arm and stand column stacking robot

Abstract

The invention relates to the field of mechanical arms and robots, and discloses a rotary lifting stacking mechanical arm and a stand column stacking robot. A first position detection assembly is used for detecting the size and shape of materials adsorbed by an adsorption plate; the two sides of the stand column are each provided with a material carrying plate used for containing materials, the two sides, close to the material carrying plates, of the stand column are each provided with a second position detection assembly, and the first position detection assemblies and the second position detection assemblies are electrically connected with the control assembly. The control assembly is used for determining a target material carrying plate on which the material needs to be placed according to the size and the shape of the adsorbed material detected by the first position detection assembly, and the first position detection assembly is used for obtaining a depth image of the material through the depth camera; and the detection module is used for detecting the height of the material placed on the target material carrying plate to determine whether to send out prompt information for prompting to transfer the target material carrying plate or not. According to the stacking robot, the adaptability of the stacking robot to different types of to-be-stacked materials is improved.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical arms and robots, and more specifically, to a rotary lifting palletizing mechanical arm and a column palletizing robot. Background Art

[0002] With the advancement of Industry 4.0, automated palletizing technology has been widely used in logistics, warehousing, and manufacturing. As an important equipment for automated conveyor lines, palletizing robots are mainly responsible for stacking materials on the conveyor line to facilitate the transportation and storage of materials. The application of automated palletizing technology has greatly improved production efficiency, reduced labor costs, and improved operational safety. However, most of the existing palletizing robots are designed for different types of materials, which means that they have certain limitations in practical applications.

[0003] When palletizing a specific type of material, the limitation of the palletizing robot is mainly reflected in the single restriction of the material to be palletized. Specifically, the current palletizing robots are often optimized for materials of a certain size, shape or material. For example, some palletizing robots are designed for boxed products, and the fixtures and programs equipped with these palletizing robots are only suitable for boxes of a certain size. When the type of material changes, such as different sizes, irregular shapes or different materials, these robots may not be able to adapt effectively, resulting in reduced operating efficiency or even failure to complete the task. Therefore, this single restriction of the material to be palletized has become a prominent feature of the existing palletizing robot technology, and it is also one of the problems that the industry urgently needs to solve. Summary of the invention

[0004] The purpose of the present application is to provide a rotating lifting palletizing mechanical arm and a column palletizing robot, which solves the technical problem that the palletizing robot is limited to the singleness of the materials to be palletized, and achieves the technical effect of improving the adaptability of the palletizing robot to different types of materials to be palletized.

[0005] A rotary lifting palletizing robot arm provided in an embodiment of the present application comprises a first movable arm, a second movable arm, a third movable arm, an adsorption plate, a first position detection component, a column and a second position detection component, the column is arranged vertically, the first movable arm moves up and down along the column, the second movable arm is rotatably connected to the end of the first movable arm, the third movable arm is rotatably connected to the end of the second movable arm, and the adsorption plate is fixedly connected to the end of the third movable arm; the first position detection component is arranged at the center of the adsorption surface of the adsorption plate, and the first position detection component is used to detect the size and shape of the material adsorbed by the adsorption plate; a loading plate for placing the material is respectively arranged on both sides of the column, and a second position detection component is respectively arranged on both sides of the column close to the loading plate, the first position detection component and the second position detection component are respectively electrically connected to the control component, the control component is used to determine the target loading plate where the material is to be placed according to the size and shape of the adsorbed material detected by the first position detection component, the first position detection component is used to obtain a depth image of the material through a depth camera, and is used to detect the height of the material placed on the target loading plate to determine whether to issue a prompt information for prompting the transfer of the target loading plate.

[0006] An embodiment of the present application also provides a column palletizing robot, which includes the above-mentioned rotating and lifting palletizing mechanical arm, and also includes a palletizing conveying platform for conveying materials. The adsorption surface of the adsorption plate is located at the bottom of the adsorption plate, and a plurality of vacuum adsorption holes are arranged in an array on the adsorption surface. The first position detection component includes a depth camera arranged at the center of the adsorption surface of the adsorption plate. The first position detection component is used to obtain a depth image of the adsorbed material through the depth camera. The control component is used to determine the center point of the adsorbed material according to the depth image of the material, and control the second movable arm and the third movable arm to rotate and drive the adsorption plate to move until the center point of the adsorption plate is opposite to the center point of the adsorbed material.

[0007] In another possible implementation, after the adsorption plate places the material on the loading plate, the first position detection component is also used to obtain the stacking depth image on the loading plate through the depth camera, and the control component is also used to determine the target stacking position of the material according to the stacking depth image, and control the second movable arm and the third movable arm to rotate and drive the adsorption plate to move to the adsorption plate to transport the material to the target stacking position during stacking.

[0008] In another possible implementation, the control component is also used to determine the center point of the target stacking position of the material based on the stacking depth image, and during stacking, the second movable arm and the third movable arm are controlled to rotate and drive the adsorption plate to move to the center point of the adsorption plate to the center point of the target stacking position according to the stacking position.

[0009] In another possible implementation, when the second position detection component detects that the height of the material placed on the loading plate is greater than or equal to the preset height, and when the control component determines based on the stacking depth image that the number of center points of the target stacking position of the material is less than 1, the control component issues a prompt message for prompting the transfer of the loading plate; when the second position detection component detects that the height of the material placed on the loading plate is greater than or equal to the preset height, and when the control component determines based on the stacking depth image that the number of center points of the target stacking position of the material is greater than or equal to 1, during stacking, the second movable arm and the third movable arm are controlled to rotate according to the target stacking position to drive the adsorption plate to move to the adsorption plate to transport the material to the center point of the target stacking position.

[0010] In another possible implementation, the control component determines the stacking boundary line and stacking height information of the material according to the stacking depth image, and determines the target stacking position according to the stacking boundary line and the stacking height information.

[0011] In another possible implementation, after the adsorption plate places the material on the loading plate, the control component is also used to determine the center point of the actual stacking position of the material based on the stacking depth image, and determine the stacking position adjustment value based on the center point of the target stacking position and the center point of the actual stacking position, and control the adsorption plate to adjust the stacking position of the material according to the stacking position adjustment value.

[0012] In another possible implementation, the multiple vacuum adsorption holes on the adsorption plate include a first adsorption area, a second adsorption area, and a third adsorption area which are arranged in a ring shape from the inside to the outside. When the adsorption plate is controlled to adjust the stacking position of the material according to the stacking position adjustment value, the control component controls the adsorption state of the first adsorption area, the second adsorption area, and the third adsorption area according to the size and shape of the material.

[0013] In another possible implementation, when the adsorption plate is controlled to adjust the stacking position of the material according to the stacking position adjustment value, when the area covered by the material in the second adsorption region is greater than or equal to a preset proportion value of the area of ​​the second adsorption region, the control component controls the second adsorption region to be in the adsorption state; when the area covered by the material in the second adsorption region is less than the preset proportion value of the area of ​​the second adsorption region, the control component controls the second adsorption region to be in the stop adsorption state.

[0014] In another possible implementation, when the area covered by the material in the third adsorption region is greater than or equal to a preset ratio value of the area of ​​the third adsorption region, the control component controls the third adsorption region to be in an adsorption state; when the area covered by the material in the third adsorption region is less than a preset ratio value of the area of ​​the third adsorption region, the control component controls the third adsorption region to be in a stopped adsorption state.

[0015] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0016] The embodiment of the present application provides a rotary lifting palletizing robot arm, comprising a first movable arm, a second movable arm, a third movable arm, an adsorption plate, a first position detection component, a column and a second position detection component, the column is vertically arranged, the first movable arm moves up and down along the column, the second movable arm is rotatably connected to the end of the first movable arm, the third movable arm is rotatably connected to the end of the second movable arm, and the adsorption plate is fixedly connected to the end of the third movable arm; the first position detection component is arranged at the center position of the adsorption surface of the adsorption plate, and the first position detection component is used to detect the size and shape of the material adsorbed by the adsorption plate; loading plates for placing materials are respectively arranged on both sides of the column, and a second position detection component is respectively arranged on both sides of the column close to the loading plate, the first position detection component and the second position detection component are respectively electrically connected to the control component, the control component is used to determine the target loading plate on which the material is to be placed according to the size and shape of the adsorbed material detected by the first position detection component, and the second position detection component is used to detect the height of the material on the target loading plate to determine whether to issue a prompt information for prompting the transfer of the target loading plate. The rotary lifting palletizing robot arm in the embodiment of the present application can palletize materials according to different shapes and sizes, can determine the target loading plate on which the materials are to be placed according to the size and shape of the adsorbed materials detected by the first position detection component, and can determine whether the target loading plate needs to be transferred after the height of the materials on the target loading plate reaches a certain height, thereby realizing automatic control of palletizing and improving the palletizing efficiency of materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 A schematic diagram of the three-dimensional structure of a rotary lifting and stacking robot arm provided in an embodiment of the present application;

[0019] Figure 2 A schematic diagram of the main structure of a rotary lifting and stacking robot arm provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of the structure of a rotary lifting palletizing robot arm provided in an embodiment of the present application from a bottom view;

[0021] Figure 4 A schematic diagram of the bottom-up structure of a suction plate of a rotary lifting palletizing robot arm provided in an embodiment of the present application;

[0022] Figure 5A schematic diagram of the left side structure of a column palletizing robot provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of the control structure of a column palletizing robot provided in an embodiment of the present application;

[0024] Figure 7 A schematic diagram of the layered structure of a column palletizing robot for layered palletizing of materials provided in an embodiment of the present application;

[0025] Figure 8 A schematic diagram of the layered structure of another column palletizing robot for layered palletizing of materials provided in an embodiment of the present application;

[0026] Fig. 9 A schematic diagram of the bottom-up structure of an adsorption plate of a column palletizing robot provided in an embodiment of the present application;

[0027] In the figure, 11, first movable arm; 12, second movable arm; 13, third movable arm; 14, adsorption plate; 141, vacuum adsorption hole; 15, first position detection component; 16, column; 161, loading plate; 17, second position detection component; 2, control component; 3, stacking conveyor platform. DETAILED DESCRIPTION

[0028] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] It should be noted that when a component or structure is referred to as being "fixed to" or "disposed on" another component or structure, it may be directly on the other component or structure or indirectly on the other component or structure. When a component or structure is referred to as being "connected to" another component or structure, it may be directly connected to the other component or structure or indirectly connected to the other component or structure.

[0030] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or a component or structure referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0032] Current palletizing robots are often optimized for materials of a certain size, shape or material. When the material type changes, such as different sizes, irregular shapes or different materials, these robots may not be able to adapt effectively, resulting in reduced operating efficiency or even failure to complete the task.

[0033] Based on the above reasons, an embodiment of the present application provides a rotary lifting palletizing robot arm, comprising a first movable arm, a second movable arm, a third movable arm, an adsorption plate, a first position detection component, a column and a second position detection component, the column is vertically arranged, the first movable arm moves up and down along the column, the second movable arm is rotatably connected to the end of the first movable arm, the third movable arm is rotatably connected to the end of the second movable arm, and the adsorption plate is fixedly connected to the end of the third movable arm; the first position detection component is arranged at the center position of the adsorption surface of the adsorption plate, and the first position detection component is used to detect the size and shape of the material adsorbed by the adsorption plate; loading plates for placing materials are respectively provided on both sides of the column, and a second position detection component is respectively provided on both sides of the column close to the loading plate, the first position detection component and the second position detection component are respectively electrically connected to the control component, the control component is used to determine the target loading plate on which the material is to be placed according to the size and shape of the adsorbed material detected by the first position detection component, and the second position detection component is used to detect the height of the material on the target loading plate to determine whether to issue a prompt information for prompting the transfer of the target loading plate. The rotary lifting palletizing robot arm in the embodiment of the present application can palletize materials according to different shapes and sizes, can determine the target loading plate on which the materials are to be placed according to the size and shape of the adsorbed materials detected by the first position detection component, and can determine whether the target loading plate needs to be transferred after the height of the materials on the target loading plate reaches a certain height, thereby realizing automatic control of palletizing and improving the palletizing efficiency of materials.

[0034] In some scenarios, a rotating lifting palletizing robot arm of an embodiment of the present application can be used in the palletizing of materials. It can classify and stack materials according to their shapes and sizes during the palletizing process, and can detect the palletizing height to achieve automatic control of the palletizing process, thereby improving the efficiency of palletizing.

[0035] A rotary lifting and palletizing robot arm provided in an embodiment of the present application is described in detail below with reference to specific examples.

[0036] Figure 1 A schematic diagram of the three-dimensional structure of a rotary lifting palletizing robot arm provided in an embodiment of the present application. Figure 2 This is a schematic diagram of the main structure of a rotary lifting palletizing robot arm provided in an embodiment of the present application. Figure 3 A schematic diagram of the structure of a rotary lifting palletizing robot arm provided in an embodiment of the present application is shown in FIG. Figures 1 to 3 As shown, it includes a first movable arm 11, a second movable arm 12, a third movable arm 13, an adsorption plate 14, a first position detection component 15, a column 16 and a second position detection component 17. The column 16 is vertically arranged, the first movable arm 11 moves up and down along the column 16, the second movable arm 12 is rotatably connected to the end of the first movable arm 11, the third movable arm 13 is rotatably connected to the end of the second movable arm 12, and the adsorption plate 14 is fixedly connected to the end of the third movable arm 13.

[0037] like Figures 1 to 3 As shown, the rotary lifting palletizing robot arm includes a first movable arm 11, a second movable arm 12, a third movable arm 13, an adsorption plate 14, a first position detection component 15, a column 16 and a second position detection component 17. The first movable arm 11, the second movable arm 12, and the third movable arm 13 cooperate with each other to form a joint structure of the robot arm, and cooperate with the adsorption plate 14, the first position detection component 15, the column 16 and the second position detection component 17 to realize the palletizing of materials.

[0038] like Figures 1 to 3 As shown, the column 16 is vertically arranged, and the first movable arm 11 moves up and down along the column 16 . The first movable arm 11 can be driven by a motor to move up and down along the first movable arm 11 .

[0039] like Figures 1 to 3 As shown, the second movable arm 12 is rotatably connected to the end of the first movable arm 11, the third movable arm 13 is rotatably connected to the end of the second movable arm 12, and the adsorption plate 14 is fixedly connected to the end of the third movable arm 13. The first movable arm 11, the second movable arm 12, and the third movable arm 13 are all rotatably connected at their interconnections driven by servo motors. The motion control component can be used to precisely control the rotation of the servo motors at their interconnections, so that the first movable arm 11, the second movable arm 12, and the third movable arm 13 can cooperate with each other to realize the rotation of the robotic arm.

[0040] In some implementations, the first position detection component 15 is disposed at the center of the adsorption surface of the adsorption plate 14, and the first position detection component 15 is used to detect the size and shape of the material adsorbed by the adsorption plate 14. A loading plate 161 for placing the material is disposed on both sides of the column 16, and a second position detection component 17 is disposed on both sides of the column 16 close to the loading plate 161. The first position detection component 15 and the second position detection component 17 are electrically connected to the control component 2 respectively, and the control component 2 is used to determine the target loading plate where the material is to be placed according to the size and shape of the adsorbed material detected by the first position detection component 15, and the second position detection component 17 is used to detect the height of the material on the target loading plate to determine whether to issue a prompt message for prompting the transfer of the target loading plate.

[0041] Figure 4 A schematic diagram of the structure of a suction plate of a rotary lifting palletizing robot arm provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the first position detection component 15 is arranged at the center position of the adsorption surface of the adsorption plate 14. The first position detection component 15 is used to detect the size and shape of the material adsorbed by the adsorption plate 14, so that the first position detection component 15 can detect the size and shape of the material from the center of the adsorption plate 14 from a frontal angle, and then can control the material stacking according to the size and shape of the material.

[0042] Exemplarily, the material may be a rectangular packaging box.

[0043] Figure 5 A left-side structural schematic diagram of a column palletizing robot provided in an embodiment of the present application is shown in FIG. Figures 1 to 5 As shown, both sides of the column 16 are provided with a loading plate 161 for placing materials. The loading plate 161 can be a pallet, which can carry materials and facilitate material transportation by a forklift.

[0044] like Figures 1 to 3 As shown, a second position detection component 17 is provided on both sides of the column 16 close to the loading plate 161 . The second position detection component 17 can be a photoelectric sensor or a camera. The second position detection component 17 can detect the height of the material placed on the loading plate 161 .

[0045] Figure 6 A control structure diagram of a column palletizing robot provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the first position detection component 15 and the second position detection component 17 are electrically connected to the control component 2 respectively, so that the control component 2 can control the rotary lifting and stacking robot arm according to the working status of the first position detection component 15 and the second position detection component 17.

[0046] When palletizing, the control component 2 is used to determine the target loading plate on which the material is to be placed according to the size and shape of the adsorbed material detected by the first position detection component 15. The first loading plate can correspond to stacking a first material of a first size and a first shape, and the second loading plate can correspond to stacking a second material of a second size and a second shape, so that the rotary lifting palletizing robot arm can adapt to the palletizing of materials of different shapes and sizes.

[0047] When palletizing, the second position detection component 17 is used to detect the material height on the target loading plate to determine whether to issue a prompt message for transferring the target loading plate, so that the second position detection component 17 can detect the material height on the target loading plate, and then determine whether the target loading plate and the material on the target loading plate need to be transferred according to the material height on the target loading plate.

[0048] like Figure 2 As shown, the height of the material on the target material carrying plate detected by the second position detection component 17 can be h1 or h2.

[0049] The beneficial effect of the above implementation is that the target carrier plate on which the material is to be placed can be determined according to the size and shape of the adsorbed material detected by the first position detection component, so that the rotary lifting palletizing robot arm can adapt to the palletizing of materials of different shapes and sizes.

[0050] The beneficial effect of the above implementation method is that the material height on the target carrier plate can be detected, and whether the target carrier plate and the material on the target carrier plate need to be transferred can be determined according to the material height on the target carrier plate, thereby improving the automation level of material stacking.

[0051] The embodiment of the present application also provides a column palletizing robot, including the above-mentioned rotating lifting palletizing robot arm, and also includes a palletizing conveying platform 3 for conveying materials. The adsorption surface of the adsorption plate 14 is located at the bottom of the adsorption plate 14, and a plurality of vacuum adsorption holes 141 are arranged in an array on the adsorption surface. The first position detection component 15 includes a depth camera arranged at the center of the adsorption surface of the adsorption plate 14. The first position detection component 15 is used to obtain a depth image of the adsorbed material through the depth camera. The control component 2 is used to determine the center point of the adsorbed material according to the depth image of the material, and is used to control the second movable arm 12 and the third movable arm 13 to rotate and drive the adsorption plate 14 to move until the center point of the adsorption plate 14 is opposite to the center point of the adsorbed material.

[0052] The column palletizing robot device in the embodiment of the present application includes the above-mentioned rotating lifting palletizing robot arm, and also includes a palletizing conveyor platform 3 for conveying materials. The palletizing conveyor platform 3 can convey the materials to the position to be stacked, and the palletizing conveyor platform 3 is also provided with a material position adjustment plate for adjusting the materials from the side to the top, which can adjust the position of the materials and facilitate the subsequent accurate adjustment of the position of the materials.

[0053] like Figure 3 and Figure 4 As shown, structurally, the adsorption surface of the adsorption plate 14 is located at the bottom of the adsorption plate 14, and a plurality of vacuum adsorption holes 141 are arranged in an array on the adsorption surface. The plurality of vacuum adsorption holes 141 adsorb the material through negative pressure suction, and the plurality of vacuum adsorption holes 141 are used to cooperate with each other to adsorb the material.

[0054] like Figure 4 As shown, the first position detection component 15 includes a depth camera arranged at the center of the adsorption surface of the adsorption plate 14. The first position detection component 15 is used to obtain a depth image of the material through the depth camera, so that the depth camera at the center of the adsorption surface can obtain a front view depth image of the adsorbed material from a front view angle, thereby facilitating the calculation and processing of the shape and size of the material.

[0055] After obtaining the depth image of the material, after the first position detection component 15 acquires the depth image of the adsorbed material through the depth camera, the control component 2 can determine the center point of the adsorbed material through the depth image of the adsorbed material, and then control the second movable arm 12 and the third movable arm 13 to rotate and drive the adsorption plate 14 to move until the center point of the adsorption plate 14 is opposite to the center point of the adsorbed material, so that the adsorption plate 14 can balance the adsorption of the adsorbed material from the center of the adsorption plate, thereby improving the stability of the adsorption plate 14 during operation.

[0056] The beneficial effect of the above-mentioned implementation method is that the second movable arm and the third movable arm can be controlled to rotate and drive the adsorption plate to move until the center point of the adsorption plate is opposite to the center point of the adsorbed material, so that the adsorption plate can balance the adsorption material from the center of the adsorption plate, thereby improving the stability of the adsorption plate during operation.

[0057] In some implementations, after the adsorption plate 14 places the material on the loading plate 161, the first position detection component 15 is also used to obtain a stacking depth image on the loading plate 161 through a depth camera, and the control component 2 is also used to determine the target stacking position of the material according to the stacking depth image, and control the second movable arm 12 and the third movable arm 13 to rotate and drive the adsorption plate 14 to move to the adsorption plate 14 to transport the material to the target stacking position during stacking.

[0058] When stacking materials, when the adsorption plate 14 adsorbs and stacks the materials, the depth camera of the first position detection component 15 on the adsorption plate 14 will be blocked by the materials. After the adsorption plate 14 places the materials on the loading plate 161, the depth camera of the first position detection component 15 on the adsorption plate 14 will not be blocked by the materials, and the depth camera of the first position detection component 15 can be used to obtain the stacking depth image on the loading plate 161, and the stacking depth image includes the height of the materials at different positions on the stack.

[0059] Figure 7 A schematic diagram of the layered structure of a column palletizing robot for layered palletizing of materials provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the stacking depth image includes the palletized material area represented by the rectangular frame and the unpalletized material area corresponding to the blank position, so that the unpalletized material area can be stacked in layers, and the materials are stacked in order from low to high. When the palletizing of the lower layer material is not completed, the palletizing of the lower layer material is completed first.

[0060] When palletizing, the control component 2 is further used to determine the target stacking position of the material according to the stacking depth image. The target stacking position may be an area where materials are not stacked, and then palletizing may be performed at the target stacking position.

[0061] Exemplarily, the stacked material area may be an area corresponding to the maximum stacking height in the stacking depth image, and the unstacked material area may be an area corresponding to a stacking height less than the maximum stacking height in the stacking depth image.

[0062] Exemplarily, the palletized material area may be an area in the stacking depth image where the palletizing height is within a first height range, and the unpalletized material area may be an area in the stacking depth image where the palletizing height is within a second height range.

[0063] After obtaining the unpalletized material area, the target stacking position of the stacking can be determined in the unpalletized material area according to the preset stacking planning diagram and stacking sequence. The stacking planning diagram and stacking sequence can be pre-stored in the storage unit of the control component.

[0064] During stacking, the control component 2 can control the second movable arm 12 and the third movable arm 13 to rotate and drive the adsorption plate 14 to move to the adsorption plate 14 to transport the material to the target stacking position, thereby achieving palletizing of the material.

[0065] The beneficial effect of the above-mentioned implementation method is that the depth camera of the first position detection component on the adsorption plate will not be blocked by the material, and the stacking depth image on the loading plate can be obtained through the depth camera of the first position detection component, and the target stacking position can be determined through the stacking depth image, thereby realizing automatic control of the subsequent stacking process.

[0066] In some implementations, after obtaining the target stacking position corresponding to the target carrier plate, the target stacking position corresponding to the target carrier plate can be stored and updated. During subsequent palletizing, the target stacking position corresponding to the target carrier plate is obtained, and the material is stacked at the target stacking position corresponding to the target carrier plate.

[0067] During the palletizing process, the target loading plate of the material may switch between two loading plates. In order to ensure that the material is stacked to the correct target stacking position, the target stacking position can be stored. Subsequently, the material can be controlled to be stacked to the target stacking position corresponding to the target loading plate, thereby ensuring the accuracy of the palletizing process.

[0068] The beneficial effect of the above implementation is that the target stacking position is stored, and the material can be subsequently controlled to be stacked at the target stacking position corresponding to the target loading plate, thereby ensuring the accuracy and efficiency of the stacking process.

[0069] In some implementations, the control component 2 is also used to determine the center point of the target stacking position of the material based on the stacking depth image, and to control the second movable arm 12 and the third movable arm 13 to rotate and drive the adsorption plate 14 to move to the center point of the adsorption plate 14 to the center point of the target stacking position during stacking.

[0070] During palletizing, the control component 2 is also used to determine the center point of the target stacking position of the material according to the stacking depth image, and the stacking position can be accurately located through the center point of the target stacking position.

[0071] During stacking, the second movable arm 12 and the third movable arm 13 can be controlled to rotate according to the stacking position until the adsorption plate 14 is driven to move to the center point of the adsorption plate 14 and the center point of the target stacking position, and then the first movable arm 11 can be controlled to move up and down to stack the materials in such a way that the center point of the adsorption plate 14 and the center point of the target stacking position coincide with each other.

[0072] like Figure 7 As shown, the center point of the target stacking position may be point A.

[0073] The beneficial effect of the above implementation method is that the materials can be controlled to be stacked according to the coincidence of the center point of the adsorption plate and the center point of the target stacking position, thereby improving the stacking effect of the materials.

[0074] In some implementations, when the second position detection component 17 detects that the height of the material placed on the carrier plate 161 is greater than or equal to the preset height, and when the control component 2 determines that the number of center points of the target stacking position of the material is less than 1 according to the stacking depth image, the control component 2 issues a prompt message for prompting the transfer of the carrier plate 161. When the second position detection component 17 detects that the height of the material placed on the carrier plate 161 is greater than or equal to the preset height, and when the control component 2 determines that the number of center points of the target stacking position of the material is greater than or equal to 1 according to the stacking depth image, the second movable arm 12 and the third movable arm 13 are controlled to rotate and drive the adsorption plate 14 to move to the adsorption plate 14 to transport the material to the center point of the target stacking position during stacking.

[0075] During the stacking process, when the second position detection component 17 detects that the height of the material placed on the loading plate 161 is greater than or equal to the preset height, it means that the height of the material placed on the loading plate 161 has reached a height at which the loading plate can be transferred. At this time, when the control component 2 determines that the number of center points of the target stacking position of the material is less than 1 based on the stacking depth image, it means that there is no target stacking position for the material to be stacked on the loading plate. The control component 2 can issue a prompt message for prompting the transfer of the loading plate 161 to prompt the transfer of the loading plate, thereby avoiding false detection of the transfer of the loading plate.

[0076] During the stacking process, when the second position detection component 17 detects that the height of the material placed on the loading plate 161 is greater than or equal to the preset height, it means that the height of the material placed on the loading plate 161 has reached the height at which the loading plate can be transferred. At this time, when the control component 2 determines that the number of center points of the target stacking position of the material is greater than or equal to 1 according to the stacking depth image, it means that there is still a target stacking position for the material to be stacked on the loading plate. At this time, during stacking, the second movable arm 12 and the third movable arm 13 can be controlled to rotate and drive the adsorption plate 14 to move to the adsorption plate 14 to transport the material to the center point of the target stacking position, thereby continuing to stack the material.

[0077] The beneficial effect of the above-mentioned implementation method is that when the height of the material placed on the carrier plate has reached the height at which the carrier plate can be transferred, and there is no target stacking position for the material to be stacked on the carrier plate, the second position detection component prompts to transfer the carrier plate, thereby avoiding false detection of the transfer of the carrier plate.

[0078] The beneficial effect of the above-mentioned implementation method is that when the height of the material placed on the carrier plate has reached the height at which the carrier plate can be transferred, and there is still a target stacking position for the material to be stacked on the carrier plate, the second position detection component continues to stack the material, thereby avoiding false detection of the transfer of the carrier plate.

[0079] The beneficial effect of the above implementation method is that it combines the detection of the height of the material placed on the loading plate by the second position detection component and the detection result of the target stacking position by the first position detection component to determine whether to continue stacking, thereby improving the accuracy and reliability of material stacking detection.

[0080] In some implementations, the control component 2 determines the stacking boundary line and stacking height information of the material according to the stacking depth image, and determines the target stacking position according to the stacking boundary line and stacking height information.

[0081] After obtaining the stacking depth image, the control component 2 can determine the stacking boundary line and stacking height information of the material based on the stacking depth image. The stacking boundary line is the dividing line between the materials that have been stacked. After obtaining the stacking boundary line, the target stacking position can be determined based on the stacking boundary line and the stacking height information, thereby improving the accuracy of determining the target stacking position.

[0082] For example, when determining the target stacking position according to the stacking boundary line and the stacking height information, the unstacking area can be determined in the stacking height information, and the target stacking position can be determined in the unstacking area according to the stacking boundary line by an image recognition model.

[0083] The beneficial effect of the above implementation is that the target stacking position is determined according to the stacking boundary line and the stacking height information, thereby improving the accuracy of determining the target stacking position.

[0084] In some implementations, after the adsorption plate 14 places the material on the loading plate 161, the control component 2 is also used to determine the center point of the actual stacking position of the material based on the stacking depth image, and determine the stacking position adjustment value based on the center point of the target stacking position and the center point of the actual stacking position, and control the adsorption plate 14 to adjust the stacking position of the material according to the stacking position adjustment value.

[0085] During palletizing, after the adsorption plate 14 places the material on the loading plate 161, the control component 2 is also used to determine the center point of the actual stacking position of the material according to the stacking depth image. The center point of the actual stacking position can represent the error of the palletizing.

[0086] After obtaining the center point of the actual stacking position, the stacking position adjustment value can be determined according to the center point of the target stacking position and the center point of the actual stacking position. The stacking position adjustment value is the distance and direction that need to be adjusted for the previously stacked materials.

[0087] For example, Figure 8 A schematic diagram of the layered structure of another column palletizing robot for layered palletizing of materials provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the center point of the target stacking position may be A1, and the center point A2 of the actual stacking position may be obtained through an image recognition algorithm. The stacking position adjustment value may be a vector from the center point A2 of the actual stacking position to the center point A1 of the target stacking position.

[0088] After the stacking position adjustment value is obtained, the adsorption plate 14 can be controlled to adjust the stacking position of the material according to the stacking position adjustment value, so as to achieve accurate adjustment of the stacking position of the material to ensure the accuracy of the stacking.

[0089] The beneficial effect of the above-mentioned implementation method is that after palletizing is completed, the center point of the actual stacking position can be identified, and the stacking position adjustment value can be determined based on the center point of the target stacking position and the center point of the actual stacking position, thereby facilitating the adjustment of the stacking position, improving the stacking accuracy of the material, and being able to adjust the stacking.

[0090] In some implementations, the multiple vacuum adsorption holes 141 on the adsorption plate 14 include a first adsorption area, a second adsorption area, and a third adsorption area which are arranged in a ring shape from the inside to the outside. When the adsorption plate 14 is controlled to adjust the stacking position of the material according to the stacking position adjustment value, the control component 2 controls the adsorption state of the first adsorption area, the second adsorption area, and the third adsorption area according to the size and shape of the material.

[0091] Fig. 9 A schematic diagram of the structure of an adsorption plate of a column palletizing robot provided in an embodiment of the present application from a bottom view, as shown in FIG. Fig. 9 As shown, the multiple vacuum adsorption holes 141 on the adsorption plate 14 include a first adsorption area B1, a second adsorption area B2 and a third adsorption area B3 which are arranged in a ring shape from the inside to the outside. The first adsorption area B1 is an inner ring area surrounded by dotted lines, the second adsorption area B2 is an inner ring area surrounded by dotted lines, and the third adsorption area B3 is an outer ring area surrounded by dotted lines. The first adsorption area B1, the second adsorption area B2 and the third adsorption area B3 are suitable for adsorption and stacking of materials of different sizes and shapes.

[0092] During stacking, when controlling the adsorption plate 14 to adjust the stacking position of the material according to the stacking position adjustment value, the control component 2 can control the adsorption states of the first adsorption area, the second adsorption area and the third adsorption area according to the size and shape of the material, thereby allowing the first adsorption area, the second adsorption area and the third adsorption area to adjust the stacking position of the material according to the size and shape of the material, thereby avoiding affecting the position of the material around the material that needs to be adjusted, thereby improving the accuracy of the material adjustment.

[0093] The beneficial effect of the above-mentioned implementation method is that the first adsorption area, the second adsorption area and the third adsorption area adjust the stacking position of the material according to the size and shape of the material, which can avoid affecting the position of the material around the material that needs to be adjusted, thereby improving the accuracy of material adjustment and avoiding erroneous movement.

[0094] In some implementations, when the adsorption plate 14 is controlled to adjust the stacking position of the material according to the stacking position adjustment value, when the area of ​​the second adsorption region covered by the material is greater than or equal to the preset ratio value of the area of ​​the second adsorption region, the control component 2 controls the second adsorption region to be in the adsorption state. When the area of ​​the second adsorption region covered by the material is less than the preset ratio value of the area of ​​the second adsorption region, the control component 2 controls the second adsorption region to stop the adsorption state.

[0095] like Fig. 9 As shown, when the adsorption plate 14 is controlled to adjust the stacking position of the material according to the stacking position adjustment value, when the area K1 of the material covering the second adsorption area B2 is smaller than the preset proportion value of the area of ​​the second adsorption area B2, the control component 2 controls the first adsorption area B1 to be in the adsorption state.

[0096] Exemplarily, the preset ratio value may be 0.2 to 0.5.

[0097] like Fig. 9 As shown, when the adsorption plate 14 is controlled to adjust the stacking position of the material according to the stacking position adjustment value, when the area K2 covered by the material in the second adsorption area B2 is greater than or equal to the preset proportion value of the area of ​​the second adsorption area B2, the control component 2 controls the second adsorption area to be in the adsorption state, and the adsorption of the material by the second adsorption area B2 can ensure the smooth daily adjustment of the material stacking position.

[0098] like Fig. 9 As shown, when the area covered by the material in the second adsorption region B2 is smaller than a preset ratio of the area of ​​the second adsorption region, the control component 2 controls the second adsorption region to stop adsorption, thereby preventing the second adsorption region B2 from adsorbing the material and affecting other materials.

[0099] The beneficial effect of the above implementation method is that when the area covered by the material in the second adsorption region is greater than or equal to a preset ratio of the area of ​​the second adsorption region, the material stacking position can be smoothly adjusted by adsorbing the material through the second adsorption region.

[0100] In some implementations, when the area covered by the material in the third adsorption region is greater than or equal to a preset ratio of the area of ​​the third adsorption region, the control component 2 controls the third adsorption region to be in an adsorption state. When the area covered by the material in the third adsorption region is less than a preset ratio of the area of ​​the third adsorption region, the control component 2 controls the third adsorption region to be in a stop adsorption state.

[0101] like Fig. 9 As shown, when the area K3 of the material covering the third adsorption area B3 is greater than or equal to a preset ratio value of the area of ​​the third adsorption area B3, the control component 2 controls the third adsorption area B3 to be in an adsorption state, which can ensure that the third adsorption area B3 can smoothly stack the materials that need to be adjusted.

[0102] like Fig. 9 As shown, when the area covered by the material in the third adsorption region is smaller than a preset ratio of the area of ​​the third adsorption region, the control component 2 controls the third adsorption region to stop adsorption, thereby avoiding the influence of the material around the material whose position needs to be adjusted in the third adsorption region B3.

[0103] The beneficial effect of the above implementation method is that when the area covered by the material in the third adsorption region is greater than or equal to a preset ratio of the area of ​​the third adsorption region, the third adsorption region can be ensured to smoothly stack the material that needs to be adjusted.

[0104] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A rotary lifting palletizing robot arm, characterized in that: It includes a first movable arm, a second movable arm, a third movable arm, an adsorption plate, a first position detection component, a column and a second position detection component, the column is vertically arranged, the first movable arm moves up and down along the column, the second movable arm is rotatably connected to the end of the first movable arm, the third movable arm is rotatably connected to the end of the second movable arm, and the adsorption plate is fixedly connected to the end of the third movable arm; The first position detection component is arranged at the center position of the adsorption surface of the adsorption plate, and the first position detection component is used to detect the size and shape of the material adsorbed by the adsorption plate; loading plates for placing the materials are respectively arranged on both sides of the column, and a second position detection component is respectively arranged on both sides of the column close to the loading plate. The first position detection component and the second position detection component are respectively electrically connected to the control component, and the control component is used to determine the target loading plate on which the material is to be placed according to the size and shape of the adsorbed material detected by the first position detection component; the first position detection component is used to obtain a depth image of the material through a depth camera, and is used to detect the height of the material placed on the target loading plate to determine whether to issue a prompt information for prompting the transfer of the target loading plate.

2. A column palletizing robot, characterized in that: It includes the rotary lifting palletizing robot arm as described in claim 1, and also includes a palletizing conveying platform for conveying materials, the adsorption surface of the adsorption plate is located at the bottom of the adsorption plate, and a plurality of vacuum adsorption holes are arranged in an array on the adsorption surface, and the first position detection component includes a depth camera arranged at the center of the adsorption surface of the adsorption plate, the first position detection component is used to obtain a depth image of the adsorbed material through the depth camera, and the control component is used to determine the center point of the adsorbed material according to the depth image of the material, and control the second movable arm and the third movable arm to rotate and drive the adsorption plate to move until the center point of the adsorption plate is opposite to the center point of the adsorbed material.

3. The column palletizing robot according to claim 2, characterized in that: After the adsorption plate places the material on the loading plate, the first position detection component is also used to obtain the stacking depth image on the loading plate through the depth camera, and the control component is also used to determine the target stacking position of the material according to the stacking depth image. During stacking, the second movable arm and the third movable arm are controlled to rotate and drive the adsorption plate to move to the adsorption plate to transport the material to the target stacking position according to the target stacking position.

4. The column palletizing robot according to claim 3, characterized in that: The control component is also used to determine the center point of the target stacking position of the material according to the stacking depth image, and control the second movable arm and the third movable arm to rotate and drive the adsorption plate to move to the center point of the adsorption plate to the center point of the target stacking position during stacking.

5. The column palletizing robot according to claim 4, characterized in that: When the second position detection component detects that the height of the material placed on the loading plate is greater than or equal to the preset height, and when the control component determines that the number of center points of the target stacking position of the material is less than 1 based on the stacking depth image, the control component issues a prompt message for prompting the transfer of the loading plate; when the second position detection component detects that the height of the material placed on the loading plate is greater than or equal to the preset height, and when the control component determines that the number of center points of the target stacking position of the material is greater than or equal to 1 based on the stacking depth image, the second movable arm and the third movable arm are controlled to rotate according to the target stacking position to drive the adsorption plate to move to the adsorption plate to transport the material to the center point of the target stacking position during stacking.

6. The column palletizing robot according to claim 5, characterized in that: The control component determines the stacking boundary line and stacking height information of the material according to the stacking depth image, and determines the target stacking position according to the stacking boundary line and stacking height information.

7. The column palletizing robot according to claim 6, characterized in that: After the adsorption plate places the material on the loading plate, the control component is also used to determine the center point of the actual stacking position of the material according to the stacking depth image, and determine the stacking position adjustment value according to the center point of the target stacking position and the center point of the actual stacking position, and control the adsorption plate to adjust the stacking position of the material according to the stacking position adjustment value.

8. The column palletizing robot according to claim 7, characterized in that: The multiple vacuum adsorption holes on the adsorption plate include a first adsorption area, a second adsorption area and a third adsorption area which are arranged in a ring shape from the inside to the outside. When the adsorption plate is controlled to adjust the stacking position of the material according to the stacking position adjustment value, the control component controls the adsorption state of the first adsorption area, the second adsorption area and the third adsorption area according to the size and shape of the material.

9. The column palletizing robot according to claim 8, characterized in that: When the adsorption plate is controlled to adjust the stacking position of the material according to the stacking position adjustment value, when the area of ​​the second adsorption region covered by the material is greater than or equal to a preset ratio value of the area of ​​the second adsorption region, the control component controls the second adsorption region to be in an adsorption state; When the area of ​​the second adsorption region covered by the material is smaller than a preset ratio value of the area of ​​the second adsorption region, the control component controls the second adsorption region to stop adsorption.

10. The column palletizing robot according to claim 9, characterized in that: When the area of ​​the third adsorption region covered by the material is greater than or equal to a preset ratio value of the area of ​​the third adsorption region, the control component controls the third adsorption region to be in an adsorption state; When the area of ​​the third adsorption region covered by the material is smaller than a preset ratio value of the area of ​​the third adsorption region, the control component controls the third adsorption region to stop adsorption.

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