CN109225950B - Intelligent robot letter sorting workstation - Google Patents
Intelligent robot letter sorting workstation Download PDFInfo
- Publication number
- CN109225950B CN109225950B CN201811022321.6A CN201811022321A CN109225950B CN 109225950 B CN109225950 B CN 109225950B CN 201811022321 A CN201811022321 A CN 201811022321A CN 109225950 B CN109225950 B CN 109225950B
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- Prior art keywords
- conveying
- sorting
- photoelectric sensor
- frame
- conveying frame
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- 238000007599 discharging Methods 0.000 claims abstract description 17
- 230000002093 peripheral effect Effects 0.000 claims abstract description 14
- 238000005516 engineering process Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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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
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- 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
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- 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
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses an intelligent robot sorting workstation which comprises a conveying and sorting mechanism and a peripheral guardrail, wherein the conveying and sorting mechanism comprises a conveying and sorting machine body; the conveying and sorting mechanism comprises a conveying frame, a conveying belt, a side bracket, an industrial camera, a radian baffle, a bottom cabinet, a sorting robot arm and a total control cabinet; the peripheral guardrail is arranged at the periphery of the conveying and sorting mechanism. The intelligent robot sorting workstation adopts the peripheral guard rail to be arranged at the periphery of the conveying and sorting mechanism, so that effective safety protection can be achieved; the radian baffle can be used for realizing transportation and guiding of workpieces on the conveying belt, so that the workpieces can be accurately transported to the grabbing points of the vacuum chuck; the feeding photoelectric sensor and the discharging photoelectric sensor are adopted to help the master controller to control the start and stop of the conveying belt, so that photographing and grabbing can be accurately completed.
Description
Technical Field
The invention relates to a sorting workstation, in particular to an intelligent robot sorting workstation.
Background
The equipment manufacturing industry is developing towards "intelligent" advanced control technology, which has urgent market demands for talents and technologies, and involves comprehensive discipline applications of intelligent control algorithms and simulations, motion control, security technologies, real-time communication technologies, intelligent sensing technologies, embedded systems, open automation technologies, software engineering and project management. Therefore, an advanced platform combining practical teaching and talent cultivation is urgently needed.
The machine vision system is called a 'machine eye' for modern industrial production, has the advantages of high precision, good continuity, high cost efficiency and strong flexibility, can obviously improve the quality of produced products and the automation degree of a production line, and is an effective way for realizing precise control, intellectualization and automation of instruments and equipment. Compared with the traditional mechanical sorting operation, the robot sorting based on machine vision has the advantages of wide application range, capability of changing operation objects at any time and capability of changing sorting procedures.
Summary of the invention
The invention aims to: provided is an intelligent robot sorting workstation capable of stably, continuously and reliably automatically completing work piece grabbing and sorting operations.
The technical scheme is as follows: the intelligent robot sorting workstation comprises a conveying sorting mechanism and a peripheral guardrail; the conveying and sorting mechanism comprises a conveying frame, a conveying belt, a side bracket, an industrial camera, a radian baffle, a bottom cabinet, a sorting robot arm and a total control cabinet; a master controller, a power module and a motor driver are arranged in the master control cabinet; a robot controller for driving the sorting robot arm is arranged in the bottom cabinet; the conveying belt is horizontally arranged on the conveying frame and driven to run by a conveying motor; four supporting legs are vertically arranged below the conveying frame; the side support is an L-shaped support and is fixedly arranged on the conveying frame; the industrial camera is fixedly arranged on the side bracket and is positioned above the conveying belt; a feeding photoelectric sensor and a discharging photoelectric sensor for detecting the position of a material are respectively arranged on the side edges of the feeding end and the discharging end of the conveying frame; one end of the radian baffle is fixedly arranged on one side frame of the conveying frame, and the other end of the radian baffle is fixedly arranged on the other side frame of the conveying frame through a 冂 -shaped frame; the radian baffle is positioned above the conveying belt; the sorting machine arm is arranged on the bottom cabinet, and a vacuum chuck for sucking materials is arranged at the tail end of the sorting machine arm; the discharging end of the conveying frame is positioned in the extending range of the sorting robot arm; the master controller is electrically connected with the robot controller, the motor driver, the industrial camera, the feeding photoelectric sensor and the discharging photoelectric sensor respectively; the motor driver is electrically connected with the conveying motor; the power supply module is used for supplying power to the master controller, the robot controller, the motor driver, the industrial camera, the feeding photoelectric sensor and the discharging photoelectric sensor respectively; the peripheral guardrail is arranged at the periphery of the conveying and sorting mechanism.
Further, two '冂' frames are arranged, and the radian baffle between the two '冂' frames is parallel to the conveying direction of the conveying belt.
Further, a qualified product placing table and a disqualified product placing table are arranged on the side edge of the conveying frame; the acceptable product placing table and the unacceptable product placing table are both positioned in the extending range of the sorting machine arm.
Further, a lower foot is arranged at the lower end of the supporting leg; the lower footing is installed on the lower extreme of supporting leg through vertical mounting bolt screw thread.
Further, the distance between the lower edge of the radian baffle and the upper side surface of the conveying belt is 2-5 mm.
Further, the peripheral guard rail is formed by surrounding guard rails; an entrance door is arranged on the guard rail.
Compared with the prior art, the invention has the beneficial effects that: the peripheral guardrails are arranged on the periphery of the conveying and sorting mechanism, so that effective safety protection can be achieved; the radian baffle can be used for realizing transportation and guiding of workpieces on the conveying belt, so that the workpieces can be accurately transported to the grabbing points of the vacuum chuck; the feeding photoelectric sensor and the discharging photoelectric sensor are adopted to help the master controller to control the start and stop of the conveying belt, so that photographing and grabbing can be accurately completed.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of the conveying and sorting mechanism of the invention.
Detailed Description
The following describes the inventive technical scheme in detail with reference to the accompanying drawings, but the inventive scope of protection is not limited to the embodiments.
Example 1:
As shown in fig. 1 and 2, the intelligent robot sorting workstation of the present invention includes: a conveying and sorting mechanism and a peripheral guardrail; the conveying and sorting mechanism comprises a conveying frame 1, a conveying belt 5, side supports 8, an industrial camera 9, an arc baffle 11, a bottom cabinet 14, a sorting machine arm 15 and a total control cabinet; a master controller, a power module and a motor driver are arranged in the master control cabinet; a robot controller for driving the sorting robot arm 15 is provided in the base cabinet 14; the conveying belt 5 is horizontally arranged on the conveying frame 1 and driven to run by a conveying motor; four supporting legs 2 are vertically arranged below the conveying frame 1; the side support 8 is an L-shaped support and is fixedly arranged on the conveying frame 1; the industrial camera 9 is fixedly arranged on the side bracket 8, and the industrial camera 9 is positioned above the conveyor belt 5; a feeding photoelectric sensor 10 and a discharging photoelectric sensor 13 for detecting the material position are respectively arranged on the side edges of the feeding end and the discharging end of the conveying frame 1; one end of the radian baffle 11 is fixedly arranged on one side frame of the conveying frame 1, and the other end of the radian baffle is fixedly arranged on the other side frame of the conveying frame 1 through a 冂 -shaped frame 12; the radian baffle 11 is positioned above the conveyor belt 5; the sorting machine arm 15 is arranged on the bottom cabinet 14, and a vacuum chuck 16 for sucking materials is arranged at the tail end of the sorting machine arm 15; the blanking end of the conveying frame 1 is positioned in the extension range of the sorting robot arm 15; the master controller is respectively and electrically connected with the robot controller, the motor driver, the industrial camera 9, the feeding photoelectric sensor 10 and the discharging photoelectric sensor 13; the motor driver is electrically connected with the conveying motor; the power supply module is used for supplying power to the main controller, the robot controller, the motor driver, the industrial camera 9, the feeding photoelectric sensor 10 and the discharging photoelectric sensor 13 respectively; the peripheral guardrail is arranged at the periphery of the conveying and sorting mechanism. The peripheral guardrails are arranged on the periphery of the conveying and sorting mechanism, so that effective safety protection can be achieved; the radian baffle 11 can be used for realizing the transportation and guiding of the workpieces on the conveying belt 5, so that the workpieces can be accurately transported to the grabbing points of the vacuum chucks 16; the feeding photoelectric sensor 10 and the discharging photoelectric sensor 13 are adopted to help the overall controller to control the starting and stopping of the conveying belt 5, so that photographing and grabbing can be accurately completed.
Further, two "冂" frames 12 are provided in total, and the arc baffle 11 located between the two "冂" frames 12 is parallel to the conveying direction of the conveyor belt 5. The use of the "冂" form 12 can facilitate the passage of workpieces from the underside of the "冂" form 12 without blocking the workpiece transport.
Further, a qualified product placing table 6 and a unqualified product placing table 7 are arranged on the side edge of the conveying frame 1; both the acceptable product placement stage 6 and the unacceptable product placement stage 7 are located within the extension of the sorting robot arm 15. The adoption of the acceptable product placing table 6 and the unacceptable product placing table 7 can facilitate sorting and placing of workpieces.
Further, a lower foot 3 is arranged on the lower end of the supporting leg 2; the lower foot 3 is screw-mounted on the lower end of the support leg 2 by means of a vertical mounting bolt 4. The lower footing 3 is installed by the mounting bolts 4, so that the adjustment of the supporting height can be facilitated, and the requirements of various installation sites are met.
Further, the distance between the lower edge of the arc baffle 11 and the upper side surface of the conveyor belt 5 is 2-5 mm. The guiding requirement of the workpiece can be met by adopting the interval of 2-5 mm, and the workpiece is prevented from leaking from the lower side edge of the radian baffle 11.
Further, the peripheral guard rail is formed by surrounding guard rails 17; an entrance door 18 is mounted on the guard rail 17. The adoption of the entrance door 18 installed on the guard rail 17 can facilitate the entrance of an operator.
In the intelligent robot sorting workstation disclosed by the invention, a vacuum chuck 16 is connected with a vacuum pump, the vacuum pump is controlled and driven by a robot controller, and an air source stop valve is connected in series on a connecting pipeline of the vacuum chuck 16 and the vacuum pump; the robot controller is a special matched controller for the sorting robot arm 15, and the sorting robot arm 15 and the matched robot controller are both in the prior art; the master controller adopts a PC or an industrial personal computer, and can realize acquisition, image processing and identification of sensing signals, transmission of motor driving signals and transmission of grabbing control signals; the feeding photoelectric sensor 10 and the discharging photoelectric sensor 13 are all existing photoelectric sensors and are used for detecting workpiece in-place signals.
When the intelligent robot sorting workstation disclosed by the invention works, corresponding workpieces are manually taken and placed on the conveyor belt 5, the feeding photoelectric sensor 10 acquires workpiece positioning information, the main controller controls the conveying motor to pause after receiving the positioning information, meanwhile controls the industrial camera 9 to take pictures, the industrial camera 9 transmits the pictures to the main controller through a network cable, the main controller displays pictures to be detected and matches the pictures with a database, and a corresponding operation signal is sent to the robot controller according to the matching result; the robot controller receives the operation signal to control the sorting robot arm 15. After photographing, the workpiece is controlled by a main controller to be transmitted again, the workpiece is guided to the tail end of the conveying belt 5 through the radian baffle 11, when the blanking photoelectric sensor 13 detects that the workpiece reaches a specified blanking position, the blanking photoelectric sensor 13 sends a grabbing signal to the main controller, the main controller controls the conveying motor to pause and sends a grabbing signal to the robot controller, the robot controller controls the sorting robot arm 15 to grab the workpiece to the qualified product placement table 6 or the unqualified product placement table 7 according to a previously received operation signal, and the currently discharged array is 2 multiplied by 2; the corresponding workpiece is taken again manually and placed on the conveyor belt 5 for next sorting.
As described above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (4)
1. An intelligent robot letter sorting workstation, its characterized in that: comprises a conveying and sorting mechanism and a peripheral guardrail; the conveying and sorting mechanism comprises a conveying frame (1), a conveying belt (5), a side bracket (8), an industrial camera (9), an arc baffle (11), a bottom cabinet (14), a sorting mechanical arm (15) and a total control cabinet; a master controller, a power module and a motor driver are arranged in the master control cabinet; a robot controller for driving the sorting robot arm (15) is arranged in the bottom cabinet (14); the conveying belt (5) is horizontally arranged on the conveying frame (1) and driven to run by a conveying motor; four supporting legs (2) are vertically arranged below the conveying frame (1); the side support (8) is an L-shaped support, and the L-shaped support is fixedly arranged on the conveying frame (1); the industrial camera (9) is fixedly arranged on the side bracket (8), and the industrial camera (9) is positioned above the conveying belt (5); a feeding photoelectric sensor (10) and a discharging photoelectric sensor (13) for detecting the material position are respectively arranged on the side edges of the feeding end and the discharging end of the conveying frame (1); one end of the radian baffle (11) is fixedly arranged on one side frame of the conveying frame (1), and the other end of the radian baffle is fixedly arranged on the other side frame of the conveying frame (1) through a 冂 -shaped frame (12); the radian baffle (11) is positioned above the conveying belt (5); the sorting machine arm (15) is arranged on the bottom cabinet (14), and a vacuum chuck (16) for sucking materials is arranged at the tail end of the sorting machine arm (15); the blanking end of the conveying frame (1) is positioned in the extending range of the sorting machine arm (15); the master controller is respectively and electrically connected with the robot controller, the motor driver, the industrial camera (9), the feeding photoelectric sensor (10) and the discharging photoelectric sensor (13); the motor driver is electrically connected with the conveying motor; the power supply module is used for supplying power to the master controller, the robot controller, the motor driver, the industrial camera (9), the feeding photoelectric sensor (10) and the discharging photoelectric sensor (13) respectively; the peripheral guard rail is arranged at the periphery of the conveying and sorting mechanism; two '冂' shaped frames (12) are arranged in total, and a radian baffle (11) positioned between the two '冂' shaped frames (12) is parallel to the conveying direction of the conveying belt (5); a qualified product placing table (6) and a disqualified product placing table (7) are arranged on the side edge of the conveying frame (1); the acceptable product placing table (6) and the unacceptable product placing table (7) are both positioned in the extending range of the sorting machine arm (15).
2. The intelligent robotic sorting workstation of claim 1, wherein: a lower foot (3) is arranged at the lower end of the supporting leg (2); the lower footing (3) is arranged on the lower end of the supporting leg (2) through a vertical mounting bolt (4) in a threaded mode.
3. The intelligent robotic sorting workstation of claim 1, wherein: the distance between the lower edge of the radian baffle (11) and the upper side surface of the conveyer belt (5) is 2-5 mm.
4. The intelligent robotic sorting workstation of claim 1, wherein: the peripheral guard rail is formed by surrounding guard rails (17); an entrance door (18) is installed on the guard rail (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022321.6A CN109225950B (en) | 2018-09-02 | 2018-09-02 | Intelligent robot letter sorting workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022321.6A CN109225950B (en) | 2018-09-02 | 2018-09-02 | Intelligent robot letter sorting workstation |
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| Publication Number | Publication Date |
|---|---|
| CN109225950A CN109225950A (en) | 2019-01-18 |
| CN109225950B true CN109225950B (en) | 2024-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811022321.6A Active CN109225950B (en) | 2018-09-02 | 2018-09-02 | Intelligent robot letter sorting workstation |
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| Country | Link |
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| CN (1) | CN109225950B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110302970A (en) * | 2019-08-07 | 2019-10-08 | 江苏汇博机器人技术股份有限公司 | A kind of robot vision sorting equipment for real training |
| CN114887937B (en) * | 2022-05-25 | 2023-06-06 | 无锡图创智能科技有限公司 | 3D vision work piece sorting device and letter sorting snatchs mechanism thereof |
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| CN207026319U (en) * | 2017-05-30 | 2018-02-23 | 上海晓奥汽车销售有限公司 | Robot chair framework bend pipe production system |
| CN108031661A (en) * | 2017-12-18 | 2018-05-15 | 安徽沃屹智能装备有限公司 | A kind of intelligent plant visual identity sorting system |
| CN108057639A (en) * | 2017-12-18 | 2018-05-22 | 华南智能机器人创新研究院 | A kind of Intelligent code printing production line |
| CN208912581U (en) * | 2018-09-02 | 2019-05-31 | 南京吉目希自动化科技有限公司 | A kind of intelligent robot sorting work station |
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2018
- 2018-09-02 CN CN201811022321.6A patent/CN109225950B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006031122A1 (en) * | 2006-07-05 | 2008-01-10 | Siemens Ag | Material e.g. letter, input for letter sorting system, has feeding unit for feeding letters to sorting unit, and box discharging station arranged opposite to sorting unit relative to feeding unit, where station discharges letters from box |
| CN206132660U (en) * | 2016-10-21 | 2017-04-26 | 泉州装备制造研究所 | Small dimension ceramic tile vision sorting device |
| CN106915490A (en) * | 2017-04-20 | 2017-07-04 | 东莞职业技术学院 | The intelligent sorting packaging facilities and method of a kind of SMD metalworks |
| CN207026319U (en) * | 2017-05-30 | 2018-02-23 | 上海晓奥汽车销售有限公司 | Robot chair framework bend pipe production system |
| CN107344171A (en) * | 2017-07-24 | 2017-11-14 | 浙江工业大学 | A kind of low-voltage air switch the System of Sorting Components and method based on Robot Visual Servoing |
| CN107497697A (en) * | 2017-09-18 | 2017-12-22 | 杭州瓦瑞科技有限公司 | Materials-sorting system |
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| CN109225950A (en) | 2019-01-18 |
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