CN106311616A - Parallel machine sorter and sorting method - Google Patents

Parallel machine sorter and sorting method Download PDF

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Publication number
CN106311616A
CN106311616A CN201610921673.XA CN201610921673A CN106311616A CN 106311616 A CN106311616 A CN 106311616A CN 201610921673 A CN201610921673 A CN 201610921673A CN 106311616 A CN106311616 A CN 106311616A
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China
Prior art keywords
parallel manipulator
express delivery
drive mechanism
positional information
manipulator sorter
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Granted
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CN201610921673.XA
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Chinese (zh)
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CN106311616B (en
Inventor
程智勇
李晓娟
程玉婧
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Guangzhou Railway Polytechnic
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Guangzhou Railway Polytechnic
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Priority to CN201610921673.XA priority Critical patent/CN106311616B/en
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    • 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
    • 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
    • B07C3/20—Arrangements for facilitating the visual reading of addresses, e.g. display arrangements coding stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Sorting Of Articles (AREA)
  • Collation Of Sheets And Webs (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a parallel machine sorter and a sorting method. The parallel machine sorter comprises a controller, a visual system, a guide rail, a driving mechanism and a parallel machine sorter main body, wherein the parallel machine sorter main body is mounted on the guide rail, the driving mechanism is used for driving the parallel machine sorter main body to move along the guide rail, the visual system and the driving mechanism are connected to the controller, respectively, and the visual system is used for acquiring position information of an express. The sorter disclosed by the invention can recognize the position information of the express and sort the express.

Description

Parallel manipulator sorter and method for sorting
Technical field
The present invention relates to express delivery sorting arrangement field, refer more particularly to a kind of parallel manipulator sorter and method for sorting.
Background technology
Traditional express delivery method for sorting mainly uses and manually carries out segregating articles.But, manual sorting's efficiency is low.People holds Fatiguability and changeable in mood, causes sorting to make mistakes or violence sorting.
Some express company introduces industrial parallel robot and is used for sorting express delivery.But, express delivery is randomly placed at On conveyer belt, express delivery position on a moving belt is not fixed.The parallel robot introduced can not identify the position of express delivery, causes Sorting makes mistakes.
Summary of the invention
Based on this, the invention reside in the defect overcoming prior art, it is provided that a kind of parallel manipulator sorter and method for sorting, It is capable of identify that the positional information of express delivery, and picks this express delivery.
Its technical scheme is as follows:
A kind of parallel manipulator sorter, including controller, visual system, guide rail, drive mechanism and parallel manipulator sorter Body, described parallel manipulator sorter body is installed on described guide rail, and described drive mechanism is used for driving described parallel manipulator to divide Picking machine body to move along described guide rail, described visual system and described drive mechanism are connected with described controller respectively, described Visual system is for obtaining the positional information of express delivery.
Wherein in an embodiment, described drive mechanism includes the first motor, slide and screw mandrel, outside described screw mandrel has Screw, described slide is provided with screwed hole, and described screwed hole has the female thread matched with described external screw thread, and described screw mandrel passes Described screwed hole is connected with described parallel manipulator sorter body, and described first motor is connected with described controller, and described first Motor drives described screw mandrel to rotate.
Wherein in an embodiment, described drive mechanism also includes shaft coupling, and the output shaft of described motor is by described Shaft coupling is connected with described screw mandrel.
Wherein in an embodiment, described drive mechanism includes cylinder, push rod and back-moving spring, the setting of described cylinder Direction is identical with the setting direction of described guide rail, and described back-moving spring one end is connected to described cylinder, described back-moving spring another End is connected to described push rod, and described push rod one end is installed in described cylinder, and described push rod is with described parallel manipulator sorter originally Body connects, and described push rod can move along the setting direction of described cylinder.
Wherein in an embodiment, described drive mechanism includes the second motor, crank, connecting rod and slide block, described second Motor drives described crank to rotate, and described crank, described connecting rod and described slide block constitute slider-crank mechanism, described slide block and institute State parallel manipulator sorter body to connect.
Wherein in an embodiment, described parallel manipulator sorter body includes mounting seat, executor and mechanical arm machine Structure, described mounting seat is installed on described guide rail, and described mounting seat can move along described guide rail, and described mechanical arm mechanism is two More than individual, described mechanical arm mechanism is connected between described mounting seat and described executor.
Wherein in an embodiment, also include that code reader, described code reader are installed on described executor, described code reader Being connected with described controller, described code reader is for identifying the bar code or Quick Response Code passed soon.
A kind of parallel manipulator method for sorting using described parallel manipulator sorter, comprises the following steps:
Described visual system is for obtaining the positional information of express delivery；
This positional information is sent to described controller by described visual system；
Described controller produces control signal according to this positional information, and sends this control signal to described driving machine Structure；
Described drive mechanism drives described parallel manipulator sorter body to move to this express delivery according to described control signal Top；
When described parallel manipulator sorter body moves the top to this express delivery, and described parallel manipulator sorter body picks This express delivery.
Wherein in an embodiment, also including conveyer belt, described visual system is for obtaining the positional information bag of express delivery Include following steps:
Express delivery on conveyer belt described in described visual system identification, and obtain this express delivery coordinate system at described visual system Under positional information；
Positional information under the coordinate system of described visual system is converted to the position letter under the coordinate system of described conveyer belt Breath；
Positional information under the coordinate system of described conveyer belt is converted to the coordinate system of described parallel manipulator sorter body Under positional information.
Wherein in an embodiment, described visual system is additionally operable to obtain the profile information of express delivery；Described parallel manipulator Sorter body determines pickup according to described profile information.
Advantage or principle to preceding solution illustrate below:
1, above-mentioned parallel manipulator sorter, visual system is connected with controller, and visual system is for obtaining the position of express delivery Confidence ceases, and sends this positional information to controller.Controller produces according to this positional information and drives signal, and by this driving Signal sends to drive mechanism.Drive mechanism drives parallel manipulator sorter body to move to this express delivery position along guide rail, and Pick this express delivery.So, when express delivery is positioned on conveyer belt randomly, it is fast that parallel manipulator sorter body can move to this The physical location passed, and complete sorting work.
2, above-mentioned parallel manipulator sorter, code reader is installed on executor.Bar code that code reader identification is passed soon or Quick Response Code, and barcode scanning result is sent to controller.Barcode scanning result analyzed by controller, classifies this express delivery, and transmission is driven Dynamic signal is to drive mechanism.After executor picks express delivery, drive mechanism, according to driving signal, drives parallel manipulator sorter originally This express delivery is placed into appointment position by body.
3, above-mentioned parallel manipulator method for sorting, visual system obtains the positional information of express delivery and sends to controller.Control Device processed produces control signal according to this positional information, and sends this and control signal to drive mechanism.Drive mechanism drives parallel machine Device sorter body moves to this position coordinates so that parallel manipulator sorter body can pick this express delivery.So, express delivery is worked as When being positioned on conveyer belt randomly, parallel manipulator sorter body can move to the physical location of this express delivery, and completes point Pick work.
Accompanying drawing explanation
Fig. 1 is the structural representation of parallel manipulator sorter described in the embodiment of the present invention；
Fig. 2 is the structural representation of drive mechanism in an embodiment；
Fig. 3 is the structural representation of drive mechanism in another embodiment.
Description of reference numerals:
100, drive mechanism, the 101, first motor, 102, slide, 103, screw mandrel, 104, shaft coupling, 105, cylinder, 1051, Inner chamber, 106, push rod, 107, back-moving spring, 200, visual system, 300, guide rail, 400, parallel manipulator sorter body, 401, Mounting seat, 402, mechanical arm mechanism, 403, executor.
Detailed description of the invention
Below embodiments of the invention are described in detail:
As it is shown in figure 1, a kind of parallel manipulator sorter includes controller, visual system 200, guide rail 300, drive mechanism 100 and parallel manipulator sorter body 400.Parallel manipulator sorter body 400 is installed on guide rail 300.Drive mechanism 100 is used for Parallel manipulator sorter body 400 is driven to move along guide rail 300.Visual system 200 and drive mechanism 100 respectively with controller Connect.Visual system 200 is for obtaining the positional information of express delivery.
After visual system 200 gets the positional information of express delivery, this positional information is sent to controller.Controller according to This positional information produces and drives signal, and sends this driving signal to drive mechanism 100.Drive mechanism 100 drives parallel machine Device sorter body 400 moves to this express delivery position along guide rail 300, and picks this express delivery.So, place randomly when express delivery Time on conveyer belt, parallel manipulator sorter body 400 can move to the physical location of this express delivery, and completes sorting work.
The drive mechanism 100 that parallel manipulator sorter body 400 can be driven to move along guide rail 300 has a lot of form.
Wherein in an embodiment, as in figure 2 it is shown, drive mechanism 100 includes the first motor 101, slide 102 and screw mandrel 103.Screw mandrel 103 has outside nut.Slide 102 is provided with screwed hole.Screwed hole has the female thread matched with external screw thread.Screw mandrel 103 are connected through screwed hole with parallel manipulator sorter body 400.First motor 101 is connected with controller, the first motor 101 Screw mandrel 103 is driven to rotate.
Controller sends a control signal to the first motor 101, controls the turning to of the first motor 101, rotating speed and rotation time, Thus control the turning to of screw mandrel 103, rotating speed and the rotation time being connected with the first motor 101.Rotary screw rod 103 will drive also Online device sorter body 400 moves along guide rail 300.The direction that parallel manipulator sorter body 400 moves along guide rail 300 Being turned to decision by the first motor 101, the distance of movement is determined by rotating speed and the rotation time of the first motor 101.
Screw mandrel 103 can be directly welded on the output shaft of the first motor 101, it is also possible to by other means with the first electricity Machine 101 is connected.Such as, drive mechanism 100 also includes shaft coupling 104.The output shaft of motor passes through shaft coupling 104 and screw mandrel 103 connect.
In another embodiment, as it is shown on figure 3, drive mechanism 100 includes cylinder 105, push rod 106 and back-moving spring 107.The setting direction of cylinder 105 is identical with the setting direction of guide rail 300.Cylinder 105 has inner chamber 1051.Back-moving spring 107 One end is connected to cylinder 105, and back-moving spring 107 other end is connected to push rod 106.Push rod 106 one end is installed in cylinder 105, Push rod 106 is connected with parallel manipulator sorter body 400.Push rod 106 can move along the setting direction of cylinder 105, thus Realize parallel manipulator sorter body 400 to move along guide rail 300.
Moving direction and the displacement of push rod 106 are determined by the pressure of inner chamber 1051 and the spring force of back-moving spring 107. Owing to the spring force of back-moving spring 107 can be calculated, so controller can determine by controlling the pressure of inner chamber 1051 The moving direction of push rod 106 and displacement.Such as, controller can change the gas volume of inner chamber 1051 by piston, or Person can change the gaseous mass of inner chamber 1051 by valve body, then or changes by changing the gas temperature of inner chamber 1051 The pressure of inner chamber 1051.Specifically, it is placed with heating plate in inner chamber 1051.Controller controls the start and stop of heating plate, thus controls The gas temperature of inner chamber 1051.
In another embodiment, drive mechanism includes the second motor, crank, connecting rod and slide block.Second motor drives song Handle rotates.Crank, connecting rod and slide block constitute slider-crank mechanism.Slide block is connected with parallel manipulator sorter body.So, control Device controls the turning to of the second motor, rotating speed and rotation time, it is possible to control slide block and the movement of parallel manipulator sorter body 400 Direction and displacement.
As it is shown in figure 1, parallel manipulator sorter body 400 includes mounting seat 401, executor 403 and mechanical arm mechanism 402.Mounting seat 401 is installed on guide rail 300, and mounting seat 401 can move along guide rail 300.Mechanical arm mechanism 402 be two with On, mechanical arm mechanism 402 is connected between mounting seat 401 and executor 403.Executor 403 be for pick express delivery sucker, Gas pawl or mechanical hand.
Described parallel manipulator sorter also includes code reader.Code reader is installed on executor 403, and code reader is with controller even Connecing, code reader is for identifying the bar code or Quick Response Code passed soon, and sends barcode scanning result to controller.Controller analysis is swept Code result, classifies to this express delivery, and sends driving signal to drive mechanism 100.Drive mechanism 100 according to drive signal, Drive parallel manipulator sorter body 400 that this express delivery is sorted.Such as, at provincial logistics terminal, when barcode scanning result Be sent to inside the province for this express delivery, then drive mechanism 100 drive parallel manipulator sorter body 400 to above this express delivery, parallel manipulator Sorter body 400 picks this express delivery and is put on another conveyer belt；When barcode scanning result is that this express delivery is sent to outside the province, then drive Mechanism 100 does not drive parallel manipulator sorter body 400 to move.
Code reader has wireless communication module.After the bar code passed soon when code reader identification or Quick Response Code, code reader is led to Cross wireless communication module and barcode scanning result is passed to logistics data storehouse.After logistics data storehouse receives barcode scanning result, update this express delivery Physical state.
Present invention additionally comprises a kind of parallel manipulator method for sorting using any one parallel manipulator sorter above-mentioned.Described Parallel manipulator method for sorting comprises the following steps:
S1: visual system 200 is for obtaining the positional information of express delivery.Such as, described parallel manipulator method for sorting also uses Conveyer belt.First, visual system 200 identifies the express delivery on conveyer belt, and obtains this express delivery coordinate at visual system 200 It it is the positional information under VVP.Secondly, according to formula (a), by the positional information under coordinate system V of visual system 200VP is converted to Positional information under coordinate system C of conveyer beltCP.Wherein,It it is the coordinate system V transition matrix to coordinate system C.Finally, according to public affairs Formula (d), the positional information under coordinate system C of conveyer beltCP is converted to the position under coordinate system R of parallel manipulator sorter body 400 Confidence ceasesRP, wherein,Being the coordinate system C transition matrix to coordinate system R, this transition matrix considers speed and the biography of conveyer belt Send the angled relationships of band and parallel manipulator sorter body 400.
When the moving direction of conveyer belt and the moving direction of parallel manipulator sorter body 400 are perpendicular, i.e. conveyer belt Movement do not interfere with moving direction and the distance of parallel manipulator sorter body 400, then according to formula (b), by conveyer belt Positional information under coordinate system CCP is converted to the positional information under coordinate system R of parallel manipulator sorter body 400RP.Wherein,It is that coordinate system C is to coordinate when the moving direction of conveyer belt and the moving direction of parallel manipulator sorter body 400 are perpendicular Being the transition matrix of R, this transition matrix does not consider the speed of conveyer belt.WithTransformational relation such as formula (c) shown in.Its In, x, y and z are the rectangular axes of coordinate system C respectively.
P C = T V C P V ...... ( a )
R R = T C R C P ...... ( b )
T C R ′ = T r a n s ( d x , d y , d z ) × T C R ...... ( c )
P R = T C R ′ P C ...... ( d )
This positional information is sent to controller by S2: visual system 200.
S3: controller produces control signal according to this positional information, and sends this control signal to drive mechanism 100.
S4: drive mechanism 100 according to control signal drive that parallel manipulator sorter body 400 moves to this express delivery upper Side.
S5: when parallel manipulator sorter body 400 moves the top to this express delivery, and parallel manipulator sorter body 400 picks Take this express delivery.
Recognizing from above-mentioned steps, visual system 200 obtains the positional information of express delivery and sends to controller.Controller root Produce control signal according to this positional information, and send this and control signal to drive mechanism 100.Drive mechanism 100 drives parallel machine Device sorter body 400 moves to this position coordinates so that parallel manipulator sorter body 400 can pick this express delivery.So, When express delivery is positioned on conveyer belt randomly, parallel manipulator sorter body 400 can move to the physical location of this express delivery, And complete sorting work.
In step sl, visual system 200 also obtains the profile information of express delivery.In step s 2, visual system 200 should Profile information sends to parallel manipulator sorter body 400.Parallel manipulator sorter body 400 determines according to profile information and picks Action.This profile information contains dimension information and the shape information of express delivery.Such as, when parallel manipulator sorter body 400 When executor 403 is gas pawl or gripper, parallel manipulator sorter body 400 determines gas pawl or machine according to the profile information of express delivery The opening angle of tool pawl so that gas pawl or gripper can capture this express delivery.
After step S5 further comprising the steps of:
This express delivery is placed into reservation position by S6: parallel manipulator sorter body 400.
Specifically, described parallel manipulator method for sorting additionally uses code reader.Code reader is connected with controller, and code reader is used In identifying the bar code or Quick Response Code passed soon, and barcode scanning result is sent to controller.Barcode scanning result analyzed by controller, to this Express delivery is classified, and sends driving signal to drive mechanism 100.
Such as, at provincial logistics terminal, when barcode scanning result is that express delivery is sent to inside the province, then drive mechanism 100 drives also Online device sorter body 400 is to above this express delivery, and this express delivery is picked and is put into another by parallel manipulator sorter body 400 On conveyer belt；When barcode scanning result is that this express delivery is sent to outside the province, then drive mechanism 100 does not drive parallel manipulator sorter body 400 Mobile.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, not to above-mentioned reality The all possible combination of each technical characteristic executed in example is all described, but, as long as the combination of these technical characteristics is not deposited In contradiction, all it is considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also Can not therefore be construed as limiting the scope of the patent.It should be pointed out that, come for those of ordinary skill in the art Saying, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the protection of the present invention Scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (10)

1. a parallel manipulator sorter, it is characterised in that include controller, visual system, guide rail, drive mechanism and parallel machine Device sorter body, described parallel manipulator sorter body is installed on described guide rail, described drive mechanism be used for driving described in also Online device sorter body moves along described guide rail, and described visual system and described drive mechanism are respectively with described controller even Connecing, described visual system is for obtaining the positional information of express delivery.
Parallel manipulator sorter the most according to claim 1, it is characterised in that described drive mechanism include the first motor, Slide and screw mandrel, described screw mandrel has outside nut, and described slide is provided with screwed hole, and described screwed hole has and described external screw thread phase The female thread of coupling, described screw mandrel is connected through described screwed hole with described parallel manipulator sorter body, described first motor Being connected with described controller, described first motor drives described screw mandrel to rotate.
Parallel manipulator sorter the most according to claim 2, it is characterised in that described drive mechanism also includes shaft coupling, The output shaft of described motor is connected with described screw mandrel by described shaft coupling.
Parallel manipulator sorter the most according to claim 1, it is characterised in that described drive mechanism includes cylinder, push rod And back-moving spring, the setting direction of described cylinder is identical with the setting direction of described guide rail, and described back-moving spring one end is connected to Described cylinder, the described back-moving spring other end is connected to described push rod, and described push rod one end is installed in described cylinder, described in push away Bar is connected with described parallel manipulator sorter body, and described push rod can move along the setting direction of described cylinder.
Parallel manipulator sorter the most according to claim 1, it is characterised in that described drive mechanism include the second motor, Crank, connecting rod and slide block, described second motor drives described crank to rotate, and described crank, described connecting rod and described slide block are constituted Slider-crank mechanism, described slide block is connected with described parallel manipulator sorter body.
Parallel manipulator sorter the most according to claim 1, it is characterised in that described parallel manipulator sorter body includes Mounting seat, executor and mechanical arm mechanism, described mounting seat is installed on described guide rail, and described mounting seat can be along described guide rail Mobile, described mechanical arm mechanism is two or more, and described mechanical arm mechanism is connected between described mounting seat and described executor.
Parallel manipulator sorter the most according to claim 6, it is characterised in that also include code reader, described code reader is pacified Being loaded on described executor, described code reader is connected with described controller, described code reader for identify the bar code passed soon or Quick Response Code.
8. a parallel manipulator method for sorting for employing parallel manipulator sorter as described in claim 1～7 any one, its It is characterised by, comprises the following steps:
Described visual system is for obtaining the positional information of express delivery；
This positional information is sent to described controller by described visual system；
Described controller produces control signal according to this positional information, and sends this control signal to described drive mechanism；
Described drive mechanism drives described parallel manipulator sorter body to move the top to this express delivery according to described control signal；
When described parallel manipulator sorter body moves the top to this express delivery, and it is fast that described parallel manipulator sorter body picks this Pass.
Parallel manipulator method for sorting the most according to claim 8, it is characterised in that also include conveyer belt, described vision system System comprises the following steps for the positional information obtaining express delivery:
Express delivery on conveyer belt described in described visual system identification, and obtain this express delivery under the coordinate system of described visual system Positional information；
Positional information under the coordinate system of described visual system is converted to the positional information under the coordinate system of described conveyer belt；
Positional information under the coordinate system of described conveyer belt is converted under the coordinate system of described parallel manipulator sorter body Positional information.
Parallel manipulator method for sorting the most according to claim 8, it is characterised in that described visual system is additionally operable to obtain The profile information of express delivery；Described parallel manipulator sorter body determines pickup according to described profile information.
CN201610921673.XA 2016-10-21 2016-10-21 Parallel manipulator sorter and method for sorting Active CN106311616B (en)

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