Rotary Lifting Palletizing Manipulator and Column Palletizing Robot

Abstract

This application relates to the fields of robotic arms and robots, and discloses a rotary lifting palletizing robotic arm and a column palletizing robot. A 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 one second position detection component is respectively arranged on both sides of the column close to the loading plates. The first position detection component and the second position detection component are respectively electrically connected to a control component. The control component is used to determine the target loading plate for placing the material 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 the 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 send a prompt message for prompting the transfer of the target loading plate. This application improves the adaptability of the palletizing robot to different types of materials to be palletized.

Description

Technical Field

[0001] This application relates to the technical fields of robotic arms and robots. More specifically, it relates to a rotary lifting palletizing robotic arm and a column palletizing robot. Background Art

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

[0003] When palletizing robots are used for specific types of materials, the limitations are mainly reflected in the fact that palletizing robots have a single limitation on the materials to be palletized. Specifically, current palletizing robots are often optimized for a certain specific size, shape, or material of the materials. For example, some palletizing robots are designed specifically for boxed products, and the clamps and programs equipped with these palletizing robots are only applicable to boxes of specific sizes. When the type of materials changes, such as different sizes, irregular shapes, or different materials, these robots may not be able to effectively adapt, resulting in a reduction in operational efficiency or even the inability to complete tasks. Therefore, this single limitation of the materials to be palletized has become a significant feature of the existing palletizing robot technology and one of the problems that the industry urgently needs to solve. Summary of the Invention

[0004] The purpose of this application is to provide a rotary lifting palletizing robotic arm and a column palletizing robot, which solves the technical problem of the single limitation of palletizing robots on the materials to be palletized, and achieves the technical effect of improving the adaptability of palletizing robots to different types of materials to be palletized.

[0005] A rotary lifting palletizing robotic arm provided by an embodiment of the present application includes a first movable arm, a second movable arm, a third movable arm, a suction 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 suction 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 suction surface of the suction plate, and the first position detection component is used to detect the size and shape of the material adsorbed by the suction plate. Loading plates for placing materials are respectively arranged on both sides of the column. One second position detection component is respectively arranged on both sides of the column close to the loading plates. The first position detection component and the second position detection component are respectively electrically connected to a control component. The control component is used to determine the target loading plate for the material 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 the 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 send a prompt message 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 rotary lifting palletizing robotic arm, and also includes a palletizing conveyor table for conveying materials. The suction surface of the suction plate is located at the bottom of the suction plate, and a plurality of vacuum suction holes are arranged in an array on the suction surface. The first position detection component includes a depth camera arranged at the center of the suction surface of the suction plate. The first position detection component is used to obtain the 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 to drive the suction plate to move until the center point of the suction plate is aligned with the center point of the adsorbed material.

[0007] In another possible implementation, after the suction plate places the material on the loading plate, the first position detection component is further used to obtain the stacking depth image on the loading plate through the depth camera, and the control component is further 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 to drive the suction plate to move until the suction plate conveys the material to the target stacking position during stacking.

[0008] In another possible implementation, the control component is further 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 to drive the suction plate to move until the center point of the suction plate moves to the center point of the target stacking position during stacking.

[0009] In another possible implementation, when the second position detection component detects that the height of the material placed on the material carrier 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 material carrier plate; when the second position detection component detects that the height of the material placed on the material carrier 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, during stacking, the second movable arm and the third movable arm are controlled to rotate to drive the suction plate to move until the suction plate transports the material to the center point of the target stacking position.

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

[0011] In another possible implementation, after the suction plate places the material on the material carrier plate, the control component is further configured to determine the center point of the actual stacking position of the material based on the stacking depth image, 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 suction plate to adjust the stacking position of the material according to the stacking position adjustment value.

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

[0013] In another possible implementation, when controlling the suction plate to adjust the stacking position of the material according to the stacking position adjustment value, when the area of the material covering the second suction area is greater than or equal to the preset proportional value of the area of the second suction area, the control component controls the second suction area to be in the suction state; when the area of the material covering the second suction area is less than the preset proportional value of the area of the second suction area, the control component controls the second suction area to be in the stop suction state.

[0014] In another possible implementation, when the area of the material covering the third suction area is greater than or equal to the preset proportional value of the area of the third suction area, the control component controls the third suction area to be in the suction state; when the area of the material covering the third suction area is less than the preset proportional value of the area of the third suction area, the control component controls the third suction area to be in the stop suction state.

[0015] The beneficial effects of the embodiments of the present application compared with the prior art are:

[0016] An embodiment of the present application provides a rotary lifting palletizing robotic arm, which includes a first movable arm, a second movable arm, a third movable arm, a suction 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 suction 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 suction surface of the suction plate, and the first position detection component is used to detect the size and shape of the material adsorbed by the suction plate; there are loading plates for placing materials on both sides of the column, and there is 1 second position detection component on each side 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 for the material 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 send a prompt message for prompting the transfer of the target loading plate. The rotary lifting palletizing robotic arm in the embodiment of the present application can palletize materials according to different shapes and sizes, can determine the target loading plate for the material to be placed according to the size and shape of the adsorbed material detected by the first position detection component, and determine whether it is necessary to transfer the target loading plate after the height of the material on the target loading plate reaches a certain height, 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 following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic three-dimensional structure diagram of a rotary lifting palletizing robotic arm provided by an embodiment of the present application;

[0019] Figure 2 It is a schematic front view structure diagram of a rotary lifting palletizing robotic arm provided by an embodiment of the present application;

[0020] Figure 3 It is a schematic bottom view structure diagram of a rotary lifting palletizing robotic arm provided by an embodiment of the present application;

[0021] Figure 4 It is a schematic bottom view structure diagram of the suction plate of a rotary lifting palletizing robotic arm provided by an embodiment of the present application;

[0022] Figure 5Schematic left view structure of a column palletizing robot provided by an embodiment of the present application;

[0023] Figure 6 Schematic control structure of a column palletizing robot provided by an embodiment of the present application;

[0024] Figure 7 Schematic layered structure of a column palletizing robot for layer palletizing of materials provided by an embodiment of the present application;

[0025] Figure 8 Another schematic layered structure of a column palletizing robot for layer palletizing of materials provided by an embodiment of the present application;

[0026] Figure 9 Schematic bottom view structure of an adsorption plate of a column palletizing robot provided by an embodiment of the present application;

[0027] In the figure, 11 is the first movable arm; 12 is the second movable arm; 13 is the third movable arm; 14 is the adsorption plate; 141 are vacuum adsorption holes; 15 is the first position detection component; 16 is the column; 161 is the material-carrying plate; 17 is the second position detection component; 2 is the control component; 3 is the palletizing conveyor table. Detailed implementation manners

[0028] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to 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 "fixed to" or "disposed on" another component or structure, it can 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 "connected to" another component or structure, it can 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 orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or a component or structure referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0031] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more, unless otherwise specifically defined.

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

[0033] For the above reasons, the embodiment of this application provides a rotary lifting palletizing robotic arm, including 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; there are loading plates for placing materials respectively on both sides of the column, and there is 1 second position detection component respectively on both sides of the column close to the loading plates. 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 for the material to be placed according to the size and shape of the material adsorbed detected by the first position detection component. The second position detection component is used to detect the height of the material on the target loading plate to determine whether to send a prompt message for prompting the transfer of the target loading plate. The rotary lifting palletizing robotic arm in the embodiment of this application can palletize materials according to different shapes and sizes, can determine the target loading plate for the material to be placed according to the size and shape of the material adsorbed detected by the first position detection component, and determine whether it is necessary to transfer the target loading plate after the height of the material on the target loading plate reaches a certain height, realizing the automatic control of palletizing and improving the palletizing efficiency of the materials.

[0034] In some scenarios, a rotary lifting palletizing robotic arm in the embodiment of this application can be applied to the palletizing of materials, can palletize materials according to the shape and size of the materials during the palletizing process, and can detect the height of the palletizing, realizing the automatic control of the palletizing process and improving the palletizing efficiency.

[0035] The following specifically describes a rotary lifting palletizing robotic arm provided by the embodiment of this application with specific examples.

[0036] Figure 1 This is a schematic three-dimensional structure diagram of a rotary lifting palletizing robot arm provided by an embodiment of the present application. Figure 2 This is a schematic front view structure diagram of a rotary lifting palletizing robot arm provided by an embodiment of the present application. Figure 3 This is a schematic bottom view structure diagram of a rotary lifting palletizing robot arm provided by an embodiment of the present application. As Figures 1 to 3 shown, it includes a first movable arm 11, a second movable arm 12, a third movable arm 13, a suction 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 suction plate 14 is fixedly connected to the end of the third movable arm 13.

[0037] As Figures 1 to 3 shown, this rotary lifting palletizing robot arm includes a first movable arm 11, a second movable arm 12, a third movable arm 13, a suction 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 the joint structure of this robot arm, and cooperate with the suction plate 14, the first position detection component 15, the column 16, and the second position detection component 17 to achieve palletizing of materials.

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

[0039] As Figures 1 to 3 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, the suction plate 14 is fixedly connected to the end of the third movable arm 13, and the joints of the first movable arm 11, the second movable arm 12, and the third movable arm 13 are all rotatably connected by servo motors. Precise rotational control can be performed on the servo motors at the joints of the first movable arm 11, the second movable arm 12, and the third movable arm 13 through a motion control component, so that the first movable arm 11, the second movable arm 12, and the third movable arm 13 can cooperate with each other to achieve the rotation of the robot arm.

[0040] In some implementations, the first position detection component 15 is disposed 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. Loading plates 161 for placing materials are respectively provided on both sides of the column 16. One second position detection component 17 is respectively provided 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 respectively electrically connected to the control component 2. The control component 2 is used to determine the target loading plate for placing the material according to the size and shape of the material adsorbed detected by the first position detection component 15. The second position detection component 17 is used to detect the height of the material on the target loading plate to determine whether to send a prompt message for prompting the transfer of the target loading plate.

[0041] Figure 4 FIG. is a schematic bottom view structure of an adsorption plate of a rotary lifting palletizing robot arm provided by an embodiment of the present application. As Figure 4 shown, the first position detection component 15 is disposed 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 a front view angle from the center of the adsorption plate 14, and further can control the palletizing of the material according to the size and shape of the material.

[0042] Exemplarily, the material can be a cuboid-shaped packing box.

[0043] Figure 5 FIG. is a schematic left view structure of a column palletizing robot provided by an embodiment of the present application. As Figures 1 to 5 shown, loading plates 161 for placing materials are respectively provided on both sides of the column 16. The loading plate 161 can be a tray, and the tray can carry the material and facilitate the transportation of the material by a forklift.

[0044] As Figures 1 to 3 shown, one second position detection component 17 is respectively 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, and the height of the material placed on the loading plate 161 can be detected through the second position detection component 17.

[0045] Figure 6 FIG. is a schematic control structure diagram of a column palletizing robot provided by an embodiment of the present application. As Figure 6 shown, the first position detection component 15 and the second position detection component 17 are respectively electrically connected to the control component 2, so that the control component 2 can control the rotary lifting palletizing robot arm according to the working states 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 for the material 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 correspondingly palletize the first material with the first size and the first shape, and the second loading plate can correspondingly palletize the second material with the second size and the second shape, so that the present rotary lifting palletizing robot arm can adapt to the palletizing of materials with different shapes and sizes.

[0047] When palletizing, the second position detection component 17 is used to detect the height of the material on the target loading plate to determine whether to send a prompt message for prompting the transfer of the target loading plate, so that the second position detection component 17 can detect the height of the material on the target loading plate, and then can determine whether it is necessary to transfer the target loading plate and the material on the target loading plate according to the height of the material on the target loading plate.

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

[0049] The beneficial effect of the above implementation manner is that the target loading plate for the material 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 present rotary lifting palletizing robot arm can adapt to the palletizing of materials with different shapes and sizes.

[0050] The beneficial effect of the above implementation manner is also that the height of the material on the target loading plate can be detected, and whether it is necessary to transfer the target loading plate and the material on the target loading plate can be determined according to the height of the material on the target loading plate, which improves the automation degree of material palletizing.

[0051] The embodiment of the present application also provides a column palletizing robot, which includes the above-mentioned rotary lifting palletizing robot arm, and also includes a palletizing conveyor table 3 for conveying materials. The adsorption surface of the adsorption plate 14 is located at the bottom of the adsorption plate 14. 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 the 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 to drive the adsorption plate 14 to move until the center point of the adsorption plate 14 is aligned with the center point of the adsorbed material.

[0052] The column palletizing robot device in the embodiments of the present application includes the above-mentioned rotary lifting palletizing robotic arm, and further includes a palletizing conveyor table 3 for conveying materials. The palletizing conveyor table 3 can convey the materials to the position to be palletized, and a material position adjustment plate for laterally adjusting the materials is also provided on the palletizing conveyor table 3, which can adjust the position of the materials to facilitate the subsequent accurate adjustment of the positions of the materials.

[0053] As Figure 3 and Figure 4 shown, in terms of structure, the adsorption surface of the adsorption plate 14 is located at the bottom of the adsorption plate 14. 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 materials through negative pressure suction, and the plurality of vacuum adsorption holes 141 are used to cooperate with each other to adsorb the materials.

[0054] As Figure 4 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 the depth image of the material through the depth camera, so that the depth camera at the center of the adsorption surface can obtain the front depth image of the adsorbed material from the 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 obtains 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 can 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 directly opposite to the center point of the adsorbed material, so that the adsorption plate 14 can perform balanced adsorption on the adsorbed material from the center of the adsorption plate, improving the stability of the adsorption plate 14 during operation.

[0056] The beneficial effect of the above implementation manner is that it can 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 directly opposite to the center point of the adsorbed material, so that the adsorption plate can perform balanced adsorption on the adsorbed material from the center of the adsorption plate, improving the stability of the adsorption plate during operation.

[0057] In some implementation manners, after the adsorption plate 14 places the material on the loading plate 161, the first position detection component 15 is further used to obtain the stacking depth image on the loading plate 161 through the depth camera, and the control component 2 is further 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 until the adsorption plate 14 conveys 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, at this time, the depth camera of the first position detection component 15 on the adsorption plate 14 will not be blocked by the materials. Furthermore, the stacking depth image on the loading plate 161 can be obtained through the depth camera of the first position detection component 15. The stacking depth image includes the heights of the materials at different positions on the stack.

[0059] Figure 7 The figure is a schematic diagram of the layered structure of a column stacking robot provided by an embodiment of the present application for layer-by-layer stacking of materials, as Figure 7 shown. The stacking depth image includes the stacked material area represented by a rectangular frame and the unstacked material area corresponding to the blank position. Furthermore, the materials can be stacked in layers in the unstacked material area. When stacking, it is carried out in the order from low to high. When the stacking of the lower-layer materials is not completed, the stacking of the lower-layer materials is preferentially completed.

[0060] When stacking, the control component 2 is further configured to determine the target stacking position of the materials according to the stacking depth image. The target stacking position can be the unstacked material area, and thus the target stacking position can be stacked.

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

[0062] Exemplarily, the stacked material area can be the area where the stacking height is within the first height range in the stacking depth image, and the unstacked material area can be the area where the stacking height is within the second height range in the stacking depth image.

[0063] After obtaining the unstacked material area, the target stacking position for stacking can be determined according to the preset stacking plan diagram and stacking order in the unstacked material area. Among them, the stacking plan diagram and stacking order can be pre-stored in the storage unit of the control component.

[0064] When stacking, the control component 2 can control the second movable arm 12 and the third movable arm 13 to rotate to drive the adsorption plate 14 to move until the adsorption plate 14 transports the materials to the target stacking position, realizing the stacking of the materials.

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

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

[0067] During the stacking process, the target material loading plate when the material is stacked may switch between two material loading plates. To ensure that the material is stacked at the correct target stacking position, the target stacking position can be stored, and subsequently, it can be controlled to stack the material at the target stacking position corresponding to the target material loading plate, ensuring the accuracy of the stacking process.

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

[0069] In some implementation manners, the control component 2 is further configured 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 12 and the third movable arm 13 to rotate during stacking to drive the adsorption plate 14 to move until the center point of the adsorption plate 14 moves to the center point of the target stacking position.

[0070] During stacking, the control component 2 is further configured to determine the center point of the target stacking position of the material according to the stacking depth image, and the center point of the target stacking position can accurately locate the 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 until the center point of the adsorption plate 14 moves to the center point of the target stacking position. Furthermore, the first movable arm 11 can be controlled to move up and down to stack the material with the center point of the adsorption plate 14 coinciding with the center point of the target stacking position.

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

[0073] The beneficial effect of the above implementation is that it can be controlled to stack the material with the center point of the adsorption plate coinciding with the center point of the target stacking position, improving the stacking effect of the material.

[0074] In some implementations, 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, and when the number of center points of the target stacking position of the material determined by the control component 2 according to the stacking depth image is less than 1, the control component 2 issues a prompt message for prompting the transfer of the loading plate 161. 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, and when the number of center points of the target stacking position of the material determined by the control component 2 according to the stacking depth image is greater than or equal to 1, during stacking, the second movable arm 12 and the third movable arm 13 are controlled to rotate according to the target stacking position to drive the suction plate 14 to move until the suction plate 14 transports the material to the center point of the target stacking position.

[0075] During the palletizing 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 indicates 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 number of center points of the target stacking position of the material determined by the control component 2 according to the stacking depth image is less than 1, it indicates that there is no target stacking position for the material to be palletized 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, which can avoid false detection of the transfer of the loading plate.

[0076] During the palletizing 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 indicates 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 number of center points of the target stacking position of the material determined by the control component 2 according to the stacking depth image is greater than or equal to 1, it indicates that there is still a target stacking position for the material to be palletized 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 according to the target stacking position to drive the suction plate 14 to move until the suction plate 14 transports the material to the center point of the target stacking position, so as to continue palletizing the material.

[0077] The beneficial effect of the above implementation is that when the second position detection component detects that the height of the material placed on the loading plate has reached the height at which the loading plate can be transferred, and there is no target stacking position for the material to be palletized on the loading plate, it prompts the transfer of the loading plate, which can avoid false detection of the transfer of the loading plate.

[0078] The beneficial effect of the above implementation is also that when the height of the material placed on the material loading plate detected by the second position detection component has reached the height at which the material loading plate can be transferred, and there is a target stacking position for the material to be stacked on the material loading plate, continuing to stack the material can avoid false detection of the transfer of the material loading plate.

[0079] The beneficial effect of the above implementation is also that by combining the detection of the height of the material placed on the material loading plate by the second position detection component and the detection result of the first position detection component for the target stacking position, it is determined whether to continue stacking, which improves the accuracy and reliability of the detection of material stacking.

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

[0081] After obtaining the stacking depth image, the control component 2 can determine the stacking demarcation line and the stacking height information of the material according to the stacking depth image. The stacking demarcation line is the demarcation line between the materials that have been stacked currently. After obtaining the stacking demarcation line, the target stacking position can be determined according to the stacking demarcation line and the stacking height information, which improves the accuracy of determining the target stacking position.

[0082] Exemplarily, when determining the target stacking position according to the stacking demarcation line and the stacking height information, the unstacked area can be determined in the stacking height information, and the target stacking position can be determined according to the stacking demarcation line in the unstacked area through an image recognition model.

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

[0084] In some implementation manners, after the adsorption plate 14 places the material on the material loading plate 161, the control component 2 is further configured to determine the center point of the actual stacking position of the material according to the stacking depth image, 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 14 to adjust the stacking position of the material according to the stacking position adjustment value.

[0085] During stacking, after the adsorption plate 14 places the material on the material loading plate 161, the control component 2 is further configured 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 stacking.

[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 the materials stacked previously need to be adjusted.

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

[0088] After obtaining the stacking position adjustment value, 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 accurately adjust the palletizing position of the material and ensure the accuracy of palletizing.

[0089] The beneficial effect of the above implementation manner is that after palletizing is completed, the center point of the actual stacking position can be recognized, and 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, thereby facilitating the adjustment of the palletizing position, improving the palletizing accuracy of the materials, and enabling the adjustment of the stacking.

[0090] In some implementation manners, 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 that are sequentially arranged in a ring shape from the inside to the outside. 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 controls 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.

[0091] Figure 9 FIG. is a schematic bottom view structure of an adsorption plate of a vertical palletizing robot provided by an embodiment of the present application. As Figure 9 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 that are sequentially arranged in a ring shape from the inside to the outside. The first adsorption area B1 is an annular area surrounded by the inner dotted line, the second adsorption area B2 is an annular area surrounded by the outer dotted line, and the third adsorption area B3 is an annular area surrounded by the outer dotted line. The first adsorption area B1, the second adsorption area B2, and the third adsorption area B3 are suitable for adsorbing and palletizing materials of different sizes and shapes.

[0092] When palletizing, 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, so that the first adsorption area, the second adsorption area, and the third adsorption area adapt to the size and shape of the material to adjust the stacking position of the material, which can avoid affecting the positions of the materials around the material whose position needs to be adjusted, and improve the accuracy of adjusting the material.

[0093] The beneficial effect of the above implementation method is that the first adsorption area, the second adsorption area, and the third adsorption area adapt to the size and shape of the material to adjust the stacking position of the material, which can avoid affecting the positions of the materials around the material whose position needs to be adjusted, improve the accuracy of adjusting the material, and avoid misplacement.

[0094] In some implementation methods, when controlling the adsorption plate 14 to adjust the stacking position of the material according to the stacking position adjustment value, when the area of the material covering the second adsorption area is greater than or equal to the preset proportional value of the area of the second adsorption area, the control component 2 controls the second adsorption area to be in the adsorption state. When the area of the material covering the second adsorption area is less than the preset proportional value of the area of the second adsorption area, the control component 2 controls the second adsorption area to be in the stop adsorption state.

[0095] As Figure 9 shown, when controlling the adsorption plate 14 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 less than the preset proportional 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 proportional value can be 0.2 to 0.5.

[0097] As Figure 9 shown, when controlling the adsorption plate 14 to adjust the stacking position of the material according to the stacking position adjustment value, when the area K2 of the material covering the second adsorption area B2 is greater than or equal to the preset proportional 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 can ensure the daily adjustment of the stacking position of the material by adsorbing the material through the second adsorption area B2.

[0098] As Figure 9 shown, when the area of the material covering the second adsorption area B2 is less than the preset proportional value of the area of the second adsorption area, the control component 2 controls the second adsorption area to be in the stop adsorption state, which can avoid the adsorption of the second adsorption area B2 on the material and avoid affecting other materials.

[0099] The beneficial effect of the above implementation is that when the area of the material covering the second adsorption area is greater than or equal to the preset proportional value of the area of the second adsorption area, the second adsorption area can be used to adsorb the material to ensure the smooth adjustment of the material stacking position.

[0100] In some implementations, when the area of the material covering the third adsorption area is greater than or equal to the preset proportional value of the area of the third adsorption area, the control component 2 controls the third adsorption area to be in the adsorption state. When the area of the material covering the third adsorption area is less than the preset proportional value of the area of the third adsorption area, the control component 2 controls the third adsorption area to be in the stop adsorption state.

[0101] As Figure 9 shown, when the area K3 of the material covering the third adsorption area B3 is greater than or equal to the preset proportional value of the area of the third adsorption area B3, the control component 2 controls the third adsorption area B3 to be in the adsorption state, which can ensure that the third adsorption area B3 stacks the materials whose positions need to be adjusted smoothly.

[0102] As Figure 9 shown, when the area of the material covering the third adsorption area is less than the preset proportional value of the area of the third adsorption area, the control component 2 controls the third adsorption area to be in the stop adsorption state, thereby avoiding affecting the materials around the materials whose positions need to be adjusted in the third adsorption area B3.

[0103] The beneficial effect of the above implementation is also that when the area of the material covering the third adsorption area is greater than or equal to the preset proportional value of the area of the third adsorption area, it can ensure that the third adsorption area stacks the materials whose positions need to be adjusted smoothly.

[0104] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A column palletizing robot, characterized in that, It includes a rotary lifting palletizing robotic arm, which consists of a first movable arm, a second movable arm, a third movable arm, a suction 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 suction 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 suction surface of the suction plate and is used to detect the size and shape of the material adsorbed by the suction plate. There are loading plates for placing materials on both sides of the column, and one second position detection component is respectively arranged on both sides of the column close to the loading plates. 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 for the material 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 the 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 send a prompt message for prompting the transfer of the target loading plate; It also includes a palletizing conveyor table for conveying materials. The suction surface of the suction plate is located at the bottom of the suction plate, and a plurality of vacuum suction holes are arranged in an array on the suction surface. The first position detection component includes a depth camera arranged at the center of the suction surface of the suction plate. The first position detection component is used to obtain the 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 to drive the suction plate to move until the center point of the suction plate is aligned with the center point of the adsorbed material; After the suction 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. 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 to drive the suction plate to move until the suction plate conveys the material to the target stacking position during stacking. 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 to drive the suction plate to move until the center point of the suction plate moves to the center point of the target stacking position during stacking; 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 according to the stacking depth image, the control component sends 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 according to the stacking depth image, during stacking, the second movable arm and the third movable arm are controlled to rotate to drive the suction plate to move until the suction plate conveys the material to the center point of the target stacking position.

2. The column palletizing robot according to claim 1, wherein The control component determines the stacking demarcation line and the stacking height information of the material according to the stacking depth image, and determines the target stacking position according to the stacking demarcation line and the stacking height information.

3. The column palletizing robot according to claim 2, wherein, After the adsorption plate places the material on the material loading plate, the control component is further configured to determine the center point of the actual stacking position of the material according to the stacking depth image, 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.

4. The column palletizing robot according to claim 3, wherein The multiple vacuum adsorption holes on the adsorption plate include a first adsorption area, a second adsorption area, and a third adsorption area that are sequentially arranged in a ring from the inside to the outside. When controlling the adsorption plate to adjust the stacking position of the material according to the stacking position adjustment value, the control component controls 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.

5. The column palletizing robot according to claim 4, wherein When controlling the adsorption plate to adjust the stacking position of the material according to the stacking position adjustment value, when the area of the material covering the second adsorption area is greater than or equal to the preset proportion value of the area of the second adsorption area, the control component controls the second adsorption area to be in the adsorption state; When the area of the material covering the second adsorption area is less than the preset proportion value of the area of the second adsorption area, the control component controls the second adsorption area to be in the stop adsorption state.

6. The column palletizing robot according to claim 5, wherein When the area of the material covering the third adsorption area is greater than or equal to the preset proportion value of the area of the third adsorption area, the control component controls the third adsorption area to be in the adsorption state; When the area of the material covering the third adsorption area is less than the preset proportion value of the area of the third adsorption area, the control component controls the third adsorption area to be in the stop adsorption state.

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