CN107252785B - A kind of express mail grasping means applied to quick despatch robot piece supplying - Google Patents
A kind of express mail grasping means applied to quick despatch robot piece supplying Download PDFInfo
- Publication number
- CN107252785B CN107252785B CN201710514027.6A CN201710514027A CN107252785B CN 107252785 B CN107252785 B CN 107252785B CN 201710514027 A CN201710514027 A CN 201710514027A CN 107252785 B CN107252785 B CN 107252785B
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- CN
- China
- Prior art keywords
- quick despatch
- robot
- express mail
- grasping means
- piece supplying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
The present invention relates to logistics sorting device technical fields, disclose a kind of express mail grasping means applied to quick despatch robot piece supplying, include the following steps: S1: quick despatch transmits on transporting flat；S2: the multiple spot apparent height value H of quick despatch is acquiredi；S3: according to the multiple spot apparent height value H of quick despatchiQuick despatch mean height of surface value H is obtained, i.e.,S4: gauging surface height value HiWith the difference DELTA of average height value Hi, that is, Δi=| H-Hi|；S5: setting comparison deviation Δ, according to difference DELTAiLess than the crawl height value D of the ratio-dependent robot gripper of comparison deviation Δ；S6: control robot gripper drops to crawl height D crawl quick despatch.The present invention is applied to the express mail grasping means of quick despatch robot piece supplying, can rationally judge that the height of quick despatch makes robot drop to suitable position and grabbed in turn.
Description
Technical field
It is the present invention relates to logistics sorting device technical field, in particular to a kind of applied to the fast of quick despatch robot piece supplying
Part grasping means.
Background technique
Currently, sorting field in logistics, the sorting of quick despatch generallys use the mode of manual sorting, this mode efficiency ratio
Lower, labor intensity is big.And use robot sorting then have it is high-efficient, mitigate labor intensity the characteristics of, for
Robot sorting is closed, needs the height for reasonably providing quick despatch to allow robot to drop to suitable position and carry out crawl express delivery
Part, using visual sensors higher costs such as common three-dimensional surveys volume camera (long * wide * high), if the such machine of large-scale application
Device people's automatic sorting, Meteorological are relatively high.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of express mail crawls applied to quick despatch robot piece supplying
Method can rationally obtain the height of quick despatch and then robot gripper is made to drop to suitable position crawl quick despatch.
In order to realize goal of the invention, the present invention adopts the following technical scheme:
A kind of express mail grasping means applied to quick despatch robot piece supplying of quick despatch is provided, is included the following steps:
S1: multiple apparent height value H of the quick despatch are acquiredi, wherein i is natural number；
S2: according to the apparent height value H of multiple points of the quick despatchiQuick despatch mean height of surface value H is obtained, i.e.,The apparent height value H of multiple points of acquisitioniIt is transferred to programmable logic controller (PLC), passes through Programmable logical controller
Device calculates average height value H.
S3: each apparent height value H is calculatediWith the difference DELTA of mean height of surface value Hi, that is, Δi=| H-Hi|；
S4: setting comparison deviation Δ is less than the ratio-dependent robot gripper of comparison deviation Δ according to difference DELTA i
Grab height value D.
Further, in S4,
When the ratio that the quantity for being less than comparison deviation Δ in total amount of Δ i accounts for sum is greater than 60%, D=H；
When the quantity for being less than comparison deviation Δ in total amount of Δ i accounts for the ratio of sum no more than 60%, D=H-
A, wherein the value range of A is 10-25mm.
Further, the comparison deviation Δ value is set between 20mm to 40mm.
Further, the transporting flat is equipped with line placed in the middle, and the quick despatch passes in the middle position of the transporting flat
It send.Line placed in the middle makes quick despatch be in the middle position of transport plane always in transmit process, facilitates non-contact measurement apparatus
The accurately height value of measurement quick despatch.
Further, in S1, the apparent height value H of multiple points of the quick despatch is acquired using laser range sensori。
Laser range sensor is mounted on the top in transport plane middle position, passes through laser ranging in the quick despatch of transport plane transmission
When below sensor, laser range sensor measures the height of quick despatch, and laser range sensor has certain adopt
Collect frequency, for quick despatch when passing through below laser range sensor, laser range sensor can obtain quick despatch surface
The height value of multiple points.
Further, the surface of the line placed in the middle is arranged in the laser range sensor.
Further, the position within the surface left and right 100mm of the line placed in the middle is arranged in the laser range sensor
It sets.
Further, the apparent height value H of the quick despatchiUsing transporting flat as reference planes.
Further, in S1, the quick despatch of the apparent height value greater than 1mm enters adopting for the laser range sensor
When collecting range, the laser range sensor acquires the apparent height value H of the quick despatch in real timei。
Further, in S1, the apparent height value H of three different points is at least acquiredi.By acquiring quick despatch surface three
The height value of a different location can more accurately calculate the flat height value of quick despatch, improve and calculate the accurate of average height value
Rate.
Further, the robot gripper is robot sucker, and the robot sucker has elastic layer.Robot is inhaled
Disk draws quick despatch by the way of vacuumizing, and PLC controls robot sucker draws the height of quick despatch,
It is adapted drawing for robot sucker highly with the height of quick despatch, improves the accuracy rate and stability of absorption, resilient suction cups
Quick despatch can be effectively drawn, the elastic layer of resilient suction cups is that sucker has certain cushion space, and sucker reaches express delivery
When part surface can with quick despatch is good contacts, under the action of vacuumizing, attraction is stronger, and it is more stable to draw effect.
Further, the elastic range value of the elastic layer is 20-40mm.
The beneficial effects of the present invention are:
1, the exemplary express mail grasping means applied to quick despatch robot piece supplying of the present invention, the acquisition multiple points of quick despatch
Apparent height value, by the apparent height value gauging surface average height value of multiple points of acquisition, according to each apparent height value
It is less than the crawl height of the ratio-dependent robot gripper of comparison height value, data error with the difference of mean height of surface value
It is small, it can replace manual measurement completely.
2, the exemplary express mail grasping means applied to quick despatch robot piece supplying of the present invention passes through the Laser Measuring of low cost
The average height value that quick despatch is measured away from sensor cooperation programmable logic controller (PLC), according to the average height of the quick despatch of acquisition
Value uses the crawl height of PLC controls robot gripper, realizes the crawl to sorting device robot gripper
Height is controlled.
3, sample application of the present invention is easy to implement, manually participate in less in the express mail grasping means of quick despatch robot piece supplying,
The height of quick despatch is measured by cooperation programmable logic controller (PLC), and programmable logic controller (PLC) is cooperated to calculate quick despatch
Average height, the data degree of approach that the altitude information and manual measurement of acquisition obtain is high, and error is small, can replace artificial survey completely
Amount.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention.
In figure: 1- quick despatch, 2- conveyer belt, 3- line placed in the middle, 4- laser range sensor.
Specific embodiment
In order to be better understood by technical solution of the present invention, with reference to the accompanying drawings of the specification with specific embodiment to the present invention
It is described further.
As shown in Figure 1, a kind of express mail grasping means applied to quick despatch robot piece supplying, includes the following steps:
S1: quick despatch 1 is put into conveyer belt 2, conveyer belt 2 is equipped with line 3 placed in the middle, and quick despatch 1 begins under the action of line 3 placed in the middle
It is transmitted eventually in the middle position of conveyer belt 2, laser range sensor is installed in the top position in 2 middle position of conveyer belt
4；
S2: when the quick despatch 1 transmitted on conveyer belt 2 is by below laser range sensor 4, laser range sensor 4
The height of quick despatch 1 is acquired, the frequency acquisition of laser range sensor 4 is 0.1 second, and the transmission speed of conveyer belt 2 is
0.5m/s, quick despatch 1 is from the acquisition range of entrance laser range sensor 4 to the acquisition range for leaving laser range sensor 4
During, when acquisition range of laser range sensor 4, can collect the surface of 1 different points of quick despatch 1
Height value Hi, wherein i=is natural number；Apparent height value HiUsing the transport plane of conveyer belt 2 as reference planes, laser ranging is passed
The acquisition in real time of sensor 4 is highly greater than the height value H of the quick despatch 1 of 1mmi, laser range sensor 4 is by the quick despatch 1 of acquisition
The apparent height value H of multiple pointsiIt is transmitted to programmable logic controller (PLC).
S3: programmable logic controller (PLC) passes through the apparent height of the multiple points for the quick despatch 1 that laser range sensor 4 acquires
Value Hi1 mean height of surface value H of quick despatch is calculated, i.e.,
S4: programmable logic controller (PLC) calculates each apparent height value HiWith the difference DELTA of mean height of surface value Hi, that is,
Δi=| H-Hi|；
S5: programmable logic controller (PLC) determines that robot sucker draws the absorption height value D of quick despatch 1:
When total amount of ΔiIn be less than comparison deviation Δ=30mm quantity account for sum ratio be greater than 60% when,
The upper surface for thinking quick despatch is plane, and the absorption height value D of robot sucker is the quick despatch surface mean height obtained in S3
Angle value H；
When total amount of ΔiIn be less than comparison deviation Δ=30mm quantity and account for the ratio of sum no more than 60%
When, it is believed that the upper surface of quick despatch be irregular face, robot sucker on the basis of the mean height of surface value of quick despatch again
Decline certain altitude, on the basis of the absorption height value D of robot sucker is the quick despatch mean height of surface value H obtained in S3
Decline 10-25mm；
If the apparent height value of the collected quick despatch of laser range sensor 4 is respectively 100mm, 120mm and 110mm,
The difference DELTA of then its mean height of surface value H=110mm, the mean height of surface value H and three apparent height values collected
Respectively less than 30mm, it is believed that the upper surface of quick despatch is smooth regular shape, and the absorption height of robot sucker is
110mm。
S6: PLC controls robot sucker, which drops to, draws height D absorption quick despatch.
Comparison deviation Δ in embodiment is not only limited to 30mm, can also be set as other values according to actual needs,
The laser range sensor mentioned in embodiment can also using contactless hyperfrequency range radar to the height of quick despatch into
Row measurement.In embodiment, the value of comparison deviation Δ is not limited only to 30mm, value range can between 20mm-40mm into
Row selection.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (12)
1. a kind of express mail grasping means applied to quick despatch robot piece supplying, which comprises the steps of:
S1: the apparent height value H of multiple points of the quick despatch is acquiredi, wherein i is natural number；
S2: according to the apparent height value H of multiple points of the quick despatchiQuick despatch mean height of surface value H is obtained, i.e.,
S3: each apparent height value H is calculatediWith the difference DELTA of mean height of surface value Hi, that is, Δi=| H-Hi|；
S4: setting comparison deviation Δ, according to difference DELTAiLess than the crawl of the ratio-dependent robot gripper of comparison deviation Δ
Height value D.
2. the express mail grasping means according to claim 1 applied to quick despatch robot piece supplying, which is characterized in that S4
In,
When total amount of ΔiIn be less than comparison deviation Δ quantity account for sum ratio be greater than 60% when, D=H；
When total amount of ΔiIn when being less than the quantity of comparison deviation Δ and accounting for the ratio of sum no more than 60%, D=H-A,
The value range of middle A is 10-25mm.
3. the express mail grasping means according to claim 1 or 2 applied to quick despatch robot piece supplying, which is characterized in that
The comparison deviation Δ value is set between 20mm to 40mm.
4. the express mail grasping means according to claim 1 applied to quick despatch robot piece supplying, which is characterized in that conveying
Plane is equipped with line placed in the middle, and the quick despatch carries out position transmission in the intermediate of transporting flat.
5. the express mail grasping means according to claim 4 applied to quick despatch robot piece supplying, which is characterized in that in S1
The apparent height value H of multiple points of the quick despatch is acquired using laser range sensori。
6. the express mail grasping means according to claim 5 applied to quick despatch robot piece supplying, which is characterized in that described
The surface of the line placed in the middle is arranged in laser range sensor.
7. the express mail grasping means according to claim 5 applied to quick despatch robot piece supplying, which is characterized in that described
The position within the surface left and right 100mm of the line placed in the middle is arranged in laser range sensor.
8. the express mail grasping means according to claim 5 applied to quick despatch robot piece supplying, which is characterized in that described
The apparent height value H of quick despatchiUsing transporting flat as reference planes.
9. the express mail grasping means according to claim 6 applied to quick despatch robot piece supplying, which is characterized in that S1
In, when the quick despatch of the apparent height value greater than 1mm enters the acquisition range of the laser range sensor, the Laser Measuring
Acquire the apparent height value H of the quick despatch in real time away from sensori。
10. the express mail grasping means according to claim 1 applied to quick despatch robot piece supplying, which is characterized in that S1
In, at least acquire the apparent height value H of three different pointsi。
11. the express mail grasping means according to claim 1 applied to quick despatch robot piece supplying, which is characterized in that institute
Stating robot gripper is robot sucker, and the robot sucker has elastic layer.
12. the express mail grasping means according to claim 11 applied to quick despatch robot piece supplying, which is characterized in that institute
The elastic range value for stating elastic layer is 20-40mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710514027.6A CN107252785B (en) | 2017-06-29 | 2017-06-29 | A kind of express mail grasping means applied to quick despatch robot piece supplying |
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|---|---|---|---|
| CN201710514027.6A CN107252785B (en) | 2017-06-29 | 2017-06-29 | A kind of express mail grasping means applied to quick despatch robot piece supplying |
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| Publication Number | Publication Date |
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| CN107252785A CN107252785A (en) | 2017-10-17 |
| CN107252785B true CN107252785B (en) | 2019-05-10 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102233580A (en) * | 2010-05-06 | 2011-11-09 | 日月光半导体制造股份有限公司 | Suction nozzle, and automatic carrying device |
| CN102168973B (en) * | 2011-01-12 | 2012-10-03 | 湖南农业大学 | Automatic navigating Z-shaft positioning method for omni-directional vision sensor and positioning system thereof |
| JP5945968B2 (en) * | 2013-09-03 | 2016-07-05 | 株式会社安川電機 | Robot hand, robot system, and article depalletizing method |
| CN104842368A (en) * | 2015-05-25 | 2015-08-19 | 上海华力微电子有限公司 | Mechanical arm capable of automatically learning vertical height and automatic learning method of mechanical arm |
| JP6522488B2 (en) * | 2015-07-31 | 2019-05-29 | ファナック株式会社 | Machine learning apparatus, robot system and machine learning method for learning work taking-out operation |
| CN106346504A (en) * | 2016-08-30 | 2017-01-25 | 成都市翻鑫家科技有限公司 | Sucker height automatic control method for sucker type clamps of manipulator |
| CN106881709B (en) * | 2017-04-06 | 2020-06-09 | 台州市永锦自动化设备有限公司 | Feeding manipulator for automatic production line |
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