CN104493824A - Pack detection and pick-up point adjustment system and method - Google Patents

Pack detection and pick-up point adjustment system and method Download PDF

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Publication number
CN104493824A
CN104493824A CN201410698236.7A CN201410698236A CN104493824A CN 104493824 A CN104493824 A CN 104493824A CN 201410698236 A CN201410698236 A CN 201410698236A CN 104493824 A CN104493824 A CN 104493824A
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CN
China
Prior art keywords
tobacco bale
photoelectric sensor
jig arm
robot
captures
Prior art date
Application number
CN201410698236.7A
Other languages
Chinese (zh)
Other versions
CN104493824B (en
Inventor
吴小弟
张翼
何毅嘉
钱钦
刘玉宏
Original Assignee
上海烟草集团有限责任公司
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Priority to CN201410698236.7A priority Critical patent/CN104493824B/en
Publication of CN104493824A publication Critical patent/CN104493824A/en
Application granted granted Critical
Publication of CN104493824B publication Critical patent/CN104493824B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1692Calibration of manipulator

Abstract

The invention provides a pack detection and pick-up point adjustment system and method. The system comprises a pack detection sensor, a left photoelectric sensor, a right photoelectric sensor and a control system; the pack detection sensor is disposed at a pack pick-up point and used for detecting whether or not a pack is at the pick-up point and whether or not the pack is regularly placed; the left photoelectric sensor is disposed on a left arm of a pack pick-up robot and used for detecting whether or not the pack at the pick-up point is too leftward; the right photoelectric sensor is disposed on a right arm of the pack pick-up robot and used for detecting whether or not the pack at the pick-up point is too leftward; the control system is disposed in the pack pick-up robot; the pack detection sensor, the left photoelectric sensor and the right photoelectric sensor are all connected with the control system; the control system controls the pack pick-up robot to adjust the left arm and the right arm and to finally pick up the pack at the pick-up point. The pack detection and pick-up point adjustment system and method has the advantages that few outage failures occur and production efficiency are improved.

Description

The system of tobacco bale detection and adjustment gripping point and method thereof

Technical field

The present invention relates to the technical field of automatic control that tobacco bale captures warehouse-in, particularly relate to system and the method thereof of the detection of a kind of tobacco bale and adjustment gripping point.

Background technology

In industrial production, tobacco bale captures robot (i.e. ABB robot) completes setting production task according to blas and running route, but because tobacco bale is in the appearance and size difference to some extent capturing position, once profile measurement is undesirable, wherein namely profile measurement refers to that tobacco bale is put super left or super right, or front and back overlength, the tobacco bale profile measurement sensor then capturing position sends signal to ABB robot, ABB robot stops tobacco bale capturing immediately, alarm lamp sends alarm simultaneously, at this moment operating personnel are needed to enter the operating space of ABB robot, the artificial tobacco bale position of process again, this not only reduces ABB machine task efficiency, too increase labour intensity and the work risk of operating personnel.

At present, when shelf magazine tobacco bale is put in storage, due to out-of-flatness bottom tobacco bale, tobacco bale is stacked irregular, and the carrying roller transporting tobacco bale such as to loosen at the reason, causes to enter that to capture the tobacco bale position of station inaccurate, cause tobacco bale monnolithic case to detect defective, ABB robot is prohibited work and pausing.This fault needs artificially to process, and this have impact on machine task efficiency, improves labour intensity and the work risk of operating personnel.

Therefore, need a kind of energy Real-Time Monitoring tobacco bale put information, put the system and method for information adjustment gripping point according to tobacco bale.

Summary of the invention

The shortcoming of prior art in view of the above, the object of the present invention is to provide system and the method thereof of the detection of a kind of tobacco bale and adjustment gripping point, for solving the problem needing artificial adjustment when tobacco bale is put defective in prior art.

For achieving the above object and other relevant objects, the invention provides the system of the detection of a kind of tobacco bale and adjustment gripping point, it comprises: tobacco bale detecting sensor, is arranged at tobacco bale and captures position place, for detect tobacco bale whether crawl position and putting position whether qualified; Whether left photoelectric sensor, is placed in tobacco bale and captures in the left jig arm of robot, super left for detecting the tobacco bale being positioned at crawl position place; Whether right photoelectric sensor, is placed in tobacco bale and captures in the right jig arm of robot, super right for detecting the tobacco bale being positioned at crawl position place; Be placed in the control system in described tobacco bale crawl robot, described tobacco bale detecting sensor, left photoelectric sensor and right photoelectric sensor are all connected with described control system, described control system controls described tobacco bale according to the data message that tobacco bale detecting sensor, left photoelectric sensor and right photoelectric sensor transmit and captures the robot described left jig arm of adjustment and right jig arm, and the tobacco bale being positioned at described crawl position place the most at last picks up.

Preferably, alarm is provided with in described control system.

The present invention also provides a kind of tobacco bale to detect and adjusts the method for gripping point, and it comprises the following steps:

Judge tobacco bale whether in crawl position, if in crawl position, judge tobacco bale whether put profile qualified, if tobacco bale to put profile qualified, then tobacco bale captures robot and normally captures; If tobacco bale to put profile defective, then tobacco bale crawl robot utilizes the left and right photoelectric sensor in left and right jig arm to judge the particular location of tobacco bale, the information detected according to left and right photoelectric sensor to the left or to the right movement regulates gripping point position, finally make described tobacco bale be positioned at the center of left and right jig arm, described tobacco bale is picked up.

Preferably, described tobacco bale crawl robot utilizes the left and right photoelectric sensor in left and right jig arm to judge, and the concrete steps of the particular location of tobacco bale are: which sends signal to determine left and right photoelectric sensor, if the equal no signal of left and right photoelectric sensor, then tobacco bale crawl robot normally captures; If left photoelectric sensor has signal, right photoelectric sensor no signal, then tobacco bale captures robot controlling left jig arm and is moved to the left, until capture tobacco bale during the equal no signal of left and right photoelectric sensor; If right photoelectric sensor has signal, left photoelectric sensor no signal, then tobacco bale captures robot controlling right jig arm and moves right, until capture tobacco bale during the equal no signal of left and right photoelectric sensor; If when left and right photoelectric sensor has a signal, then tobacco bale size is long, tobacco bale captures robot and reports to the police and quit work.

Further, when described tobacco bale captures the left jig arm of robot controlling or right jig arm moves, when making left photoelectric sensor and the equal no signal of right photoelectric sensor, also need to finely tune left left jig arm or finely tune to the right right jig arm.

Further, after described tobacco bale captures the left jig arm of robot controlling or right jig arm moves, when left photoelectric sensor and right photoelectric sensor all have a signal, then tobacco bale size is long, and tobacco bale captures robot and reports to the police and quit work.

As mentioned above; the system of tobacco bale detection of the present invention and adjustment gripping point and method thereof; there is following beneficial effect: adopt and photoelectric sensor is set in the left and right jig arm that tobacco bale captures robot; profile is put by photosensor senses tobacco bale; make tobacco bale capture robot with this can realize the detection of tobacco bale position and automatically adjust gripping point; thus decrease machine halt trouble, improve production efficiency.

Accompanying drawing explanation

Fig. 1 is shown as the method step schematic diagram of tobacco bale of the present invention detection and adjustment gripping point.

Element numbers explanation

S1 ~ S4, S21 ~ S25 step

Detailed description of the invention

By particular specific embodiment, embodiments of the present invention are described below, person skilled in the art scholar the content disclosed by this description can understand other advantages of the present invention and effect easily.

Refer to Fig. 1.Notice, structure, ratio, size etc. that this description institute accompanying drawings illustrates, content all only in order to coordinate description to disclose, understand for person skilled in the art scholar and read, and be not used to limit the enforceable qualifications of the present invention, therefore the not technical essential meaning of tool, the adjustment of the modification of any structure, the change of proportionate relationship or size, do not affecting under effect that the present invention can produce and the object that can reach, still all should drop on disclosed technology contents and obtain in the scope that can contain.Simultaneously, quote in this description as " on ", D score, "left", "right", " centre " and " one " etc. term, also only for ease of understanding of describing, and be not used to limit the enforceable scope of the present invention, the change of its relativeness or adjustment, under changing technology contents without essence, when being also considered as the enforceable category of the present invention.

The invention provides the system of the detection of a kind of tobacco bale and adjustment gripping point, it comprises: tobacco bale detecting sensor, is arranged at tobacco bale and captures position place, for detect tobacco bale whether crawl position and putting position (namely tobacco bale puts appearance and size) whether qualified; Whether left photoelectric sensor, is placed in tobacco bale and captures in the left jig arm of robot, super left for detecting the tobacco bale being positioned at crawl position place; Whether right photoelectric sensor, is placed in tobacco bale and captures in the right jig arm of robot, super right for detecting the tobacco bale being positioned at crawl position place; Be placed in the control system in tobacco bale crawl robot, tobacco bale detecting sensor, left photoelectric sensor and right photoelectric sensor are all connected with control system, control system controls tobacco bale crawl robot according to the data message that tobacco bale detecting sensor, left photoelectric sensor and right photoelectric sensor transmit and regulates left jig arm and right jig arm, is positioned at the tobacco bale capturing position place the most at last and picks up.System of the present invention adopts and arrange left and right photoelectric sensor in the left and right jig arm that tobacco bale captures robot, photoelectric sensor Real-Time Monitoring tobacco bale is utilized to put profile and information is passed to controller, make controller control left and right jig arm to move and find suitable gripping point, complete the crawl to tobacco bale.For ease of controlling, in above-mentioned control system, be provided with alarm, when capturing position place at tobacco bale and tobacco bale not detected, alarm equipment alarm, teaching process personnel.

The present invention also provides a kind of tobacco bale to detect and adjusts the method for gripping point, and it can utilize above-mentioned tobacco bale to detect and the system of adjustment gripping point realizes, and specifically comprises the following steps: as shown in Figure 1,

Judge tobacco bale whether in crawl position, if in crawl position, judge tobacco bale whether put profile qualified, i.e. step S1, if tobacco bale to put profile qualified, then tobacco bale captures robot and normally captures, i.e. step S3; If tobacco bale to put profile defective, then tobacco bale crawl robot utilizes the left and right photoelectric sensor in left and right jig arm to judge the particular location of tobacco bale, i.e. step S2, the information detected according to left and right photoelectric sensor to the left or to the right movement regulates gripping point position, finally make tobacco bale be positioned at the center of left and right jig arm, described tobacco bale is picked up.

Wherein, tobacco bale capture robot utilize the left and right photoelectric sensor in left and right jig arm to judge the concrete steps of the particular location of tobacco bale are: which sends signal to determine left and right photoelectric sensor, has following several processing method according to signal difference,

(1) if the equal no signal of left and right photoelectric sensor, i.e. step S24, illustrates that tobacco bale is positioned at the gripping scope of left and right jig arm, then tobacco bale crawl robot normally captures;

(2) if left photoelectric sensor has signal, right photoelectric sensor no signal, illustrate that tobacco bale position is to the left, tobacco bale captures the left jig arm of robot controlling and is moved to the left, i.e. step S21, until capture tobacco bale during the equal no signal of left and right photoelectric sensor, tobacco bale captures robot and automatically records this position, this position assignment is captured the gripping location variable of robot to tobacco bale, like this can reliably gripping tobacco bale;

(3) if right photoelectric sensor has signal, left photoelectric sensor no signal, illustrate that tobacco bale position is to the right, tobacco bale captures the right jig arm of robot controlling and moves right, i.e. step S22, until capture tobacco bale during the equal no signal of left and right photoelectric sensor, tobacco bale captures robot and automatically records this position, this position assignment is captured the gripping location variable of robot to tobacco bale, like this can reliably gripping tobacco bale;

(4) if when left and right photoelectric sensor has a signal, i.e. step S23, illustrates that tobacco bale size has exceeded the length of left and right jig arm, tobacco bale captures robot and gets back to initial position, reports to the police and quits work.

Move when tobacco bale captures the left jig arm of robot controlling or right jig arm, when making left photoelectric sensor and the equal no signal of right photoelectric sensor, namely after step S21, S22, also need to finely tune left left jig arm or finely tune to the right right jig arm.The object of fine setting is: the thickness 15MM avoiding left and right jig arm self, makes tobacco bale be positioned at the centre of left and right jig arm.

After tobacco bale captures the left jig arm of robot controlling or the fine setting of right jig arm, also need to judge that whether tobacco bale size is long, i.e. step S25, if when left photoelectric sensor and right photoelectric sensor all have a signal, then tobacco bale size is long, tobacco bale captures robot and reports to the police and quit work, i.e. step S4, if when left photoelectric sensor and the equal no signal of right photoelectric sensor, then tobacco bale captures robot and normally captures tobacco bale, i.e. step S3.

The method of tobacco bale detection of the present invention and adjustment gripping point, utilize the information that left and right photoelectric sensor detects, controller controls left and right jig arm and moves, and in moving process, the information of the left and right photoelectric sensor of real-time reception, judge whether successively to move into place, after moving into place, namely order left and right jig arm to implement grasping movement.

In sum; the system of tobacco bale detection of the present invention and adjustment gripping point and method thereof; adopt and photoelectric sensor is set in the left and right jig arm that tobacco bale captures robot; profile is put by photosensor senses tobacco bale; make tobacco bale capture robot with this can realize the detection of tobacco bale position and automatically adjust gripping point, thus decrease machine halt trouble and enhance productivity.So the present invention effectively overcomes various shortcoming of the prior art and tool high industrial utilization.

Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all without prejudice under spirit of the present invention and category, can modify above-described embodiment or changes.Therefore, such as have in art usually know the knowledgeable do not depart from complete under disclosed spirit and technological thought all equivalence modify or change, must be contained by claim of the present invention.

Claims (6)

1. a system for tobacco bale detection and adjustment gripping point, is characterized in that, comprising:
Tobacco bale detecting sensor, is arranged at tobacco bale and captures position place, for detect tobacco bale whether crawl position and putting position whether qualified;
Whether left photoelectric sensor, is placed in tobacco bale and captures in the left jig arm of robot, super left for detecting the tobacco bale being positioned at crawl position place;
Whether right photoelectric sensor, is placed in tobacco bale and captures in the right jig arm of robot, super right for detecting the tobacco bale being positioned at crawl position place;
Be placed in the control system in described tobacco bale crawl robot, described tobacco bale detecting sensor, left photoelectric sensor and right photoelectric sensor are all connected with described control system, described control system controls described tobacco bale according to the data message that tobacco bale detecting sensor, left photoelectric sensor and right photoelectric sensor transmit and captures the robot described left jig arm of adjustment and right jig arm, and the tobacco bale being positioned at described crawl position place the most at last picks up.
2. the system of tobacco bale detection according to claim 1 and adjustment gripping point, is characterized in that, be provided with alarm in described control system.
3. a method for tobacco bale detection and adjustment gripping point, is characterized in that: comprise the following steps:
Judge tobacco bale whether in crawl position, if in crawl position, judge tobacco bale whether put profile qualified, if tobacco bale to put profile qualified, then tobacco bale captures robot and normally captures; If tobacco bale to put profile defective, then tobacco bale crawl robot utilizes the left and right photoelectric sensor in left and right jig arm to judge the particular location of tobacco bale, the information detected according to left and right photoelectric sensor to the left or to the right movement regulates gripping point position, finally make described tobacco bale be positioned at the center of left and right jig arm, described tobacco bale is picked up.
4. the method for tobacco bale detection according to claim 3 and adjustment gripping point, it is characterized in that: described tobacco bale capture robot utilize the left and right photoelectric sensor in left and right jig arm to judge the concrete steps of the particular location of tobacco bale are: which sends signal to determine left and right photoelectric sensor, if the equal no signal of left and right photoelectric sensor, then tobacco bale crawl robot normally captures; If left photoelectric sensor has signal, right photoelectric sensor no signal, then tobacco bale captures robot controlling left jig arm and is moved to the left, until capture tobacco bale during the equal no signal of left and right photoelectric sensor; If right photoelectric sensor has signal, left photoelectric sensor no signal, then tobacco bale captures robot controlling right jig arm and moves right, until capture tobacco bale during the equal no signal of left and right photoelectric sensor; If when left and right photoelectric sensor has a signal, then tobacco bale size is long, tobacco bale captures robot and reports to the police and quit work.
5. the method for tobacco bale detection according to claim 4 and adjustment gripping point, it is characterized in that: when the described tobacco bale crawl left jig arm of robot controlling or right jig arm move, when making left photoelectric sensor and the equal no signal of right photoelectric sensor, also need to finely tune left left jig arm or finely tune to the right right jig arm.
6. the method for tobacco bale detection according to claim 4 and adjustment gripping point, it is characterized in that: after described tobacco bale captures the left jig arm of robot controlling or right jig arm moves, when left photoelectric sensor and right photoelectric sensor all have a signal, then tobacco bale size is long, and tobacco bale captures robot and reports to the police and quit work.
CN201410698236.7A 2014-11-27 2014-11-27 Tobacco bale detection and the method adjusting gripping point CN104493824B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109932996A (en) * 2017-12-18 2019-06-25 楚天科技股份有限公司 Full-automatic unpacking machine single layer packaging material pick-and-place process monitoring method

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CN101670577A (en) * 2009-09-27 2010-03-17 上海烟草(集团)公司 Clamping manipulator for tobacco dedicated charging basket
CN201901439U (en) * 2010-12-21 2011-07-20 昆明船舶设备集团有限公司 Clamping assembly and disassembly machine
CN202232196U (en) * 2011-09-14 2012-05-30 西北农林科技大学 Tail-end actuator for picking kiwi fruits
CN103029976A (en) * 2012-12-07 2013-04-10 广东烟草东莞市有限公司 Correction device of cigarette position

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0211461A (en) * 1988-06-29 1990-01-16 Komatsu Ltd Device and method for taking load of unmanned cargo working vehicle
JPH04164800A (en) * 1990-10-26 1992-06-10 Toyota Autom Loom Works Ltd Cargo placement control device for unmanned cargo handling vehicle
CN2789275Y (en) * 2004-12-31 2006-06-21 新疆众和股份有限公司 Electrode integral converter
CN101653938A (en) * 2008-08-22 2010-02-24 比亚迪股份有限公司 Detectable gripper, detectable manipulator and detection method thereof
CN101670577A (en) * 2009-09-27 2010-03-17 上海烟草(集团)公司 Clamping manipulator for tobacco dedicated charging basket
CN201901439U (en) * 2010-12-21 2011-07-20 昆明船舶设备集团有限公司 Clamping assembly and disassembly machine
CN202232196U (en) * 2011-09-14 2012-05-30 西北农林科技大学 Tail-end actuator for picking kiwi fruits
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109932996A (en) * 2017-12-18 2019-06-25 楚天科技股份有限公司 Full-automatic unpacking machine single layer packaging material pick-and-place process monitoring method

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