CN109502357A - A kind of robot palletizer work station and plate palletizing method - Google Patents
A kind of robot palletizer work station and plate palletizing method Download PDFInfo
- Publication number
- CN109502357A CN109502357A CN201811488470.1A CN201811488470A CN109502357A CN 109502357 A CN109502357 A CN 109502357A CN 201811488470 A CN201811488470 A CN 201811488470A CN 109502357 A CN109502357 A CN 109502357A
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- China
- Prior art keywords
- plate
- robot palletizer
- photoelectric detector
- stacking
- vision system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
Abstract
The present invention provides a kind of robot palletizer work station and plate palletizing methods, and wherein robot palletizer work station includes plate transport production line；The first photoelectric detector, vision system, the second photoelectric detector and the first robot palletizer successively arranged along plate transport production line transporting direction；First photoelectric detector is fixedly arranged on the transport of plate transport production line and starts one end and connect with vision system, and the first photoelectric detector detection direction is vertical with transporting direction；Vision system is connect between the first photoelectric detector and the first robot palletizer and with the first robot palletizer, and shooting area covers plate transport production line width；It plate transport production line that second photoelectric detector is fixedly arranged between vision system and the first robot palletizer and is connect with the first robot palletizer, detection direction is vertical with above-mentioned transporting direction；First robot palletizer is located at plate transport production line side portion, and its side is equipped with stacking region.Technical solution of the present invention can improve plate stacking efficiency.
Description
Technical field
The present invention relates to industrial production technology fields, more specifically, are related to a kind of robot palletizer work station and plate
Part palletizing method.
Background technique
There are multiple working procedures for the production and processing of plate.In routine operation, in order to improve the production efficiency of plate, generally adopt
With production line form, successively conveys sheet material and gradually processed to various processes, to finally obtain molding plate.?
To after molding plate, plate must also be carried from production line and stacking, then transports to designated place and carries out heap
It puts, just calculates all production processes for being finally completed plate.
However, conventional plate is carried and palletization, often requires to use fork truck and directly forks plate from production line,
Then it is stacked again by fork truck stacking to specified region.Fork truck must constantly repeat aforesaid operations until all plate stackings are complete
Finish.A kind of plate carrying provided referring specifically to the prior art shown in FIG. 1 and palletizing system.The plate is carried and palletizing system
It include: oven 1, the plate transport production line 2, console 3 and the fork truck 4 that extend from oven 1；Wherein, plate transport production line 2
Including production line transmission mechanism 201, production line fixed frame 202, it is a plurality of be connected to 202 both ends of production line fixed frame and
The rollgang 203 that is parallel to each other and the driving belt 204 for being socketed on a plurality of rollgang 203.The work of the system
Process is as follows: the control production line transmission mechanism 201 of console 3 is driven plate transport production line 2, by the plate after baking from oven
1 is transported out, and is then transported at fork truck 4 by plate transport production line 2, related technical personnel reuse fork truck 4 and fork plate
Part is carried to specified region finally by fork truck 4 and carries out stacking.
However, above-mentioned traditional plate is carried and stacking mode, one block of plate of every production, it is necessary to which fork truck carries out plate
Fork, carry and stacking work, and then the fork truck course of work need constantly repeat, lead to the carrying and stacking time-consuming mistake of plate
It is long, the carrying and stacking inefficiency of plate.
In conclusion how to shorten, plate is carried and the time of stacking, raising stacking efficiency become current art technology
Personnel's technical problem urgently to be resolved.
Summary of the invention
The object of the present invention is to provide the technical solutions of a kind of robot palletizer work station and plate palletizing method, to solve
The problem of plate traditional in the prior art described in background technique is carried with stacking mode inefficiency.
In order to solve the above technical problem, the present invention provides following technical solutions:
According to the first aspect of the invention, the present invention provides a kind of robot palletizer work stations, comprising:
Plate transport production line；
The first photoelectric detector, the vision system, second successively arranged along the transporting direction of the plate transport production line
Photoelectric detector and the first robot palletizer；Wherein,
First photoelectric detector be fixedly arranged on one end that plate transport production line transport starts and with the vision
System electrical connection, wherein the detection direction of first photoelectric detector and the transporting direction are perpendicular；
The vision system is between first photoelectric detector and first robot palletizer and with described
One robot palletizer electrical connection, wherein the shooting area of the vision system covers the width of the plate transport production line；
Second photoelectric detector is fixedly arranged on the fortune of the plate between the vision system and first robot palletizer
Defeated production line and be electrically connected with first robot palletizer, wherein the detection direction of second photoelectric detector with it is described
Transporting direction is perpendicular；
First robot palletizer is located at the side of the plate transport production line, and first robot palletizer
Side is provided with stacking region.
Preferably, the robot palletizer work station further include: along the plate transport production line transporting direction successively
The third photoelectric detector and the second robot palletizer of arrangement, wherein
The third photoelectric detector is fixedly arranged between first robot palletizer and second robot palletizer
Plate transport production line, wherein the detection direction of the third photoelectric detector and the transporting direction are perpendicular；
Second robot palletizer is also electrically connected with the vision system and the third photoelectric detector respectively.
Preferably, second photoelectric detector is also electrically connected with the third photoelectric detector.
Preferably, the stacking region includes: the first stacking area and for being set to first robot palletizer two sides
Two stacking areas；Wherein, the central point line in first stacking area and second stacking area and the plate transport production line
It is parallel, and first stacking area and second stacking area are provided with plate pedestal respectively.
Preferably, the vision system includes: normal place image memory device；It is electrically connected with first photoelectric detector
The photographic device connect；The image data being electrically connected with the normal place image memory device and the photographic device compares
Device, described image comparing device are also electrically connected with first robot palletizer and the second robot palletizer respectively.
Preferably, first robot palletizer includes: the robot base for being set to the plate transport production line side portion
Seat；It is rotationally connected with the sixdegree-of-freedom simulation of the robot base；It is rotationally connected with the sixdegree-of-freedom simulation end
Plate device for taking；And the position tune of taking being electrically connected with the vision system and second photoelectric detector
Mechanism is saved, the position adjusting mechanism of taking also is electrically connected with the sixdegree-of-freedom simulation and the plate device for taking.
Preferably, the robot palletizer work station, further includes: oven；It is arranged in the roller conveyor structure of the oven,
Wherein, one end that the one end of the roller conveyor structure far from the oven starts with the transport of plate transport production line offsets；With
And it is set to the cooling gas hood of the top of the roller conveyor structure.
According to the second aspect of present aspect, the present invention also provides a kind of plate palletizing method, the plate palletizing method
For robot palletizer work station described in any one of above-mentioned technical proposal, the plate palletizing method includes:
When the first photoelectric detector detects the plate of plate transport production line, control first photoelectric detector to
Vision system transmission starts to image trigger signal；
The image information that the vision system absorbs the plate is controlled, analyzes described image information to obtain the plate
Location information, the location information is sent to the first robot palletizer, wherein the location information includes the plate
Centre coordinate information and deviation angle information；
When the second photoelectric detector detects the plate, second photoelectric detector is controlled to first stacking
Robot sends plate apart from trigger signal；
It controls first robot palletizer and receives the location information and plate apart from trigger signal, according to the center
Coordinate information, deviation angle information and plate are taken angle apart from trigger signal, the plate for adjusting first robot palletizer
With position of taking；
Control that first robot palletizer takes angle according to the plate and the plate is taken to code in position of taking
Pile region.
Preferably, the plate palletizing method further include: when third photoelectric detector detects the plate, control institute
It states third photoelectric detector and send the plate apart from trigger signal to the second stacking machine device human hair；Control second stacking
Robot receives the location information that the plate is sent apart from trigger signal and the vision system, is believed according to the centre coordinate
Breath, deviation angle information and plate take and angle and take apart from trigger signal, the plate for adjusting second robot palletizer
Position；Control that second robot palletizer takes angle according to the plate and the plate is taken to stacking area in position of taking
Domain.
Preferably, the plate palletizing method further include: when determining that the first robot palletizer or the second robot palletizer are empty
Idle controls the vision system and photoelectric detector corresponding with idle robot palletizer, sends the position letter respectively
Breath and plate are apart from trigger signal to the idle robot palletizer；The idle robot palletizer is controlled to be believed according to the position
Breath and plate adjust the plate and take angle and position of taking apart from trigger signal, with according to the plate take angle and
The plate is taken to stacking region in position of taking.
Preferably, the plate palletizing method further include: control plate described in the vision system and photodetector pair
Positioning is carried out non-destructive testing, whether there is the coordinate position of damage and failure area with the determination plate.
Preferably, the plate palletizing method further include: when the plate in the first stacking area reaches the first predetermined number, touching
It sends out the first robot palletizer described and starts stacking to the second stacking region, and send plate and carry trigger signal；When the second stacking
When the plate in area reaches the second predetermined number, first robot palletizer is triggered to the first stacking region and starts stacking, concurrently
Plate is sent to carry trigger signal；It controls first robot palletizer and repeats above-mentioned steps, until plate stacking finishes.
Robot palletizer work station provided by the invention, the course of work are as follows:
Plate transport production line transports plate, when plate is transported to the position of the first photoelectric detector, the first photoelectricity
Detector starts to image trigger signal to vision system transmission.Vision system starts to image and absorb the image information of plate, depending on
Network analysis image information is felt to obtain the location information of plate, which includes the centre coordinate information and offset of plate
Angle information；Then location information is sent to the first robot palletizer by vision system.As plate is transported to the second photoelectricity
When the position of detector, the second photoelectric detector detects plate and sends plate distance triggering letter to the first robot palletizer
Number.First robot palletizer trigger signal according to this distance, can obtain the actual range of plate and the first robot palletizer；So
The centre coordinate information that includes in the location information sent afterwards according to vision system and deviation angle information and above-mentioned plate away from
From trigger signal, the plate that the first robot palletizer can adjust itself, which is taken, angle and takes position；Finally, when plate transports
When to the position of the first robot palletizer, the first robot palletizer according to plate takes angle and position of taking is taken plate to code
Pile region.
By the above-mentioned course of work it can be concluded that, robot palletizer work station and plate palletizing method provided by the invention
Scheme can accurately obtain the movement of plate by the first photoelectric detector of setting, the second photoelectric detector and vision system
State and location status only need so that the first robot palletizer does not have to move around when plate reaches the first robot palletizer
One part of plate is carried into the stacking region with stacking to side from above-mentioned plate transport production line, to solve
Need to carry back and forth using fork truck in the prior art and stacking plate caused by take a long time, the problem of inefficiency, in turn
The palletization times for shortening plate improve the stacking efficiency of plate.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, for those of ordinary skills, do not making the creative labor
Under the premise of property, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structural schematic diagram of a kind of plate carrying and palletizing system that the prior art provides；
Fig. 2 is a kind of structural schematic diagram of robot palletizer work station shown in an exemplary embodiment of the invention；
Fig. 3 is a kind of structural schematic diagram of vision system shown in embodiment illustrated in fig. 2；
Fig. 4 is a kind of flow diagram of plate palletizing method shown in an exemplary embodiment of the invention；
Fig. 5 is a kind of flow diagram of plate palletizing method shown in an exemplary embodiment of the invention；
Fig. 6 is a kind of flow diagram of plate palletizing method shown in an exemplary embodiment of the invention；
Fig. 7 is a kind of flow diagram of plate palletizing method shown in an exemplary embodiment of the invention.
For Fig. 1 into each embodiment shown in Fig. 3, the corresponding relationship of each structure and appended drawing reference is as follows:
1- oven, 2- plate transport production line, 201- production line transmission mechanism, 202- production line fixed frame, 203- are defeated
Send roller-way, 204- driving belt, 3- console, 4- fork truck, the first photoelectric detector of 5-, 6- vision system, 601- normal place
Image memory device, 602- photographic device, 603- image data comparison device, 604- height adjustment bracket, 605- photographic unit,
The second photoelectric detector of 7-, the first robot palletizer of 8-, 801- robot base, 802- sixdegree-of-freedom simulation, 803- plate
Device for taking, 804- take position adjusting mechanism, 9- stacking region, the first stacking of 901- area, the second stacking of 902- area, 903- plate
The cooling gas hood of part pedestal, 10- third photoelectric detector, the second robot palletizer of 11-, 12- roller conveyor structure, 13-.
Specific embodiment
The technical solution of robot palletizer and plate palletizing method provided in an embodiment of the present invention, solves in background technique
Traditional stacking mode course of work for being introduced needs constantly to repeat, and the carrying and stacking of plate take long time and inefficiency
Problem.
Technical solution in embodiment in order to enable those skilled in the art to better understand the present invention, and make of the invention real
The above objects, features, and advantages for applying example can be more obvious and easy to understand, with reference to the accompanying drawing to the technology in the embodiment of the present invention
Scheme is described in further detail.
Attached drawing 2 is please referred to, Fig. 2 is a kind of structure of robot palletizer work station shown in an exemplary embodiment of the invention
Schematic diagram.As shown in Fig. 2, the robot palletizer work station includes:
Plate transport production line 2；The plate transport production line 2 is for transporting plate, stacking combining Figure 1 and Figure 2
System, the plate transport production line 2 include production line transmission mechanism, production line fixed frame, a plurality of are connected to the production line
Fixed frame both ends and the rollgang being parallel to each other and the driving belt for being socketed on a plurality of rollgang.Pass through production
Line transmission mechanism drives rollgang, and a plurality of rollgang drives the driving belt being socketed on it, to drive plate step by step
By various processes.
As a kind of preferred embodiment, as shown in Fig. 2, the robot palletizer work station is in 2 work of plate transport production line
Before sequence further include: oven 1；It is arranged in the roller conveyor structure 12 of oven 1, wherein roller conveyor structure 12 is far from oven 1
One end that one end starts with the transport of plate transport production line 2 offsets；And it is set to the cooling of the top of roller conveyor structure 12
Gas hood 13.
Plate is by before carrying the various processes with stacking on plate transport production line 2, it is also necessary to pass through oven 1
It is baked, a part of hot gas is then siphoned away by gas hood, plate is promoted to cool down, to obtain more molding plate.Simultaneously
There is partial heat by the plate also remaining after the baking of oven 1 and gas hood heat absorption, so that subsequent photoelectric detector be facilitated to carry out
Accurate detection.
In the present embodiment, the first photoelectric detector 5 for successively arranging along the transporting direction of plate transport production line 2, vision
System 6, the second photoelectric detector 7 and the first robot palletizer 8.
When detecting plate by the first photoelectric detector 5, vision system 6 is sent a signal in time, to notify on time
Vision system 6 obtains and sends the location information of plate to the first robot palletizer 8, and detects in the second photoelectric detector 7
When plate, the first robot palletizer 8 of control adjusts itself plate in time and takes angle and position of taking, consequently facilitating first yard
The plate of accurately taking of pile robot 8 carries out stacking, improves carrying and stacking efficiency to plate.
In the present embodiment, the first photoelectric detector 5 be fixedly arranged on plate transport production line 2 transport start one end and with view
Feel system 6 is electrically connected, wherein the detection direction and transporting direction of the first photoelectric detector 5 are perpendicular.
First photoelectric detector 5 is set to one end that the transport of plate transport production line 2 starts, when the production line starts to transport
When plate, the first photoelectric detector 5 can obtain the position of plate in time, to start to take the photograph to the transmission of vision system 6 in time
As trigger signal, to trigger vision system 6 in time to obtain plate location information promptly and accurately.
In the present embodiment, vision system 6 is between the first photoelectric detector 5 and the first robot palletizer 8 and with first
Robot palletizer 8 is electrically connected, wherein the width of the shooting area covering plate transport production line 2 of vision system 6.
Vision system 6 is mutually separated with preset distance with the first photoelectric detector 5, when the transmission of the first photoelectric detector 5 starts to take the photograph
Vision system 6 has certain buffer time to be able to open camera function when as trigger signal.Simultaneously because the shooting of vision system 6
The width of region overlay plate transport production line 2, therefore vision system 6 can take the plate of different deviation angles.Work as plate
When part transports the shooting area of the vision system 6, vision system 6 absorbs the image information of plate, and vision system 6 is analyzed at this time
For image information to obtain the location information of plate, which includes the centre coordinate information and deviation angle information of plate.
In the present embodiment, the second photoelectric detector 7 is fixedly arranged on the plate between vision system 6 and the first robot palletizer 8
It transport production line 2 and is electrically connected with the first robot palletizer 8, wherein the detection direction and transporter of the second photoelectric detector 7
To perpendicular.
The distance between second photoelectric detector 7 and the first robot palletizer 8 are fixed, examine when plate is transported to the second photoelectricity
When surveying device 7, the second photoelectric detector 7 sends plate apart from trigger signal to the first robot palletizer 8.By the signal, first
Robot palletizer 8 can access the actual range between plate and the first robot palletizer 8, so as to adjust plate of itself taking
When position.
In the present embodiment, the first robot palletizer 8 is located at the side of plate transport production line 2, and the first robot palletizer 8
Side be provided with stacking region 9.
First robot palletizer 8 is electrically connected with vision system 6 and the second photoelectric detector 7 respectively, is receiving vision system
The plate that the centre coordinate information and deviation angle information and the second photoelectric detector 7 that system 6 is sent are sent is apart from trigger signal
When, itself take angle and position of taking to plate can be accurately adjusted according to above- mentioned information.To obtain plate securely,
And by the stacking region 9 of plate stacking to side.Since stacking region 9 is located at the side of the first robot palletizer 8, first
Robot palletizer 8 can be then followed by next plate of taking directly by plate stacking to the region, until 9 plate of stacking region
Part is accumulated to predetermined quantity, to improve the stacking efficiency of the robot palletizer work station.
To sum up, the course of work of robot palletizer work station provided in an embodiment of the present invention is as follows: plate transport production line 2
Plate is transported, when plate is transported to the position of the first photoelectric detector 5, the first photoelectric detector 5 is opened to the transmission of vision system 6
Begin camera shooting trigger signal.Vision system 6 starts to image and absorb the image information of plate, and vision system 6 analyzes image letter at this time
For breath to obtain the location information of plate, which includes the centre coordinate information and deviation angle information of plate；Then it regards
Location information is sent to the first robot palletizer 8 by feel system 6.As plate transports the position of the second photoelectric detector 7 of arrival
When, the second photoelectric detector 7 detects plate and sends plate apart from trigger signal to the first robot palletizer 8.First stacking
The trigger signal according to this distance of robot 8, can obtain the actual range of plate and the first robot palletizer 8；Then according to view
The centre coordinate information and deviation angle information and above-mentioned plate distance triggering letter that the location information that feel system 6 is sent includes
Number, the first robot palletizer 8 adjusts itself plate and takes angle and position of taking；Finally, when plate is transported to the first stacking
When the position of robot 8, the first robot palletizer 8 takes angle according to plate and plate is taken to stacking region 9 in position of taking.
Robot palletizer work station provided in an embodiment of the present invention is examined by the first photoelectric detector 5 of setting, the second photoelectricity
Device 7 and vision system 6 are surveyed, the motion state and location status of plate can be accurately obtained, to reach first yard in plate
When pile robot 8, plate can be carried to the stacking of side by the first robot palletizer 8 from plate transport production line 2 automatically
Region 9 is then followed by repeat the above process and be carried, until the plate in stacking region 9 reaches predetermined number.To solve
Need to carry back and forth using fork truck in the prior art and stacking plate caused by take a long time, the problem of inefficiency, in turn
The palletization times for shortening plate improve the stacking efficiency of plate.
Robot palletizer work station is during stacking, when plate transport production line 2 transports plate, it is understood that there may be the
One robot palletizer 8 is also the case where working, and at this time if without other robot palletizers, which cannot be by stacking to finger
Determine stacking region.
In order to solve this problem, embodiment as one preferred, as shown in Fig. 2, the robot palletizer work station is also
Include:
The third photoelectric detector 10 and the second robot palletizer successively arranged along the transporting direction of plate transport production line 2
11, wherein
Third photoelectric detector 10 is fixedly arranged on the transport of the plate between the first robot palletizer 8 and the second robot palletizer 11
Production line 2, wherein the detection direction of third photoelectric detector 10 and transporting direction are perpendicular；
Second robot palletizer 11 is also electrically connected with vision system 6 and third photoelectric detector 10 respectively.
Robot palletizer work station provided in an embodiment of the present invention passes through the second robot palletizer 11 of setting and third photoelectricity
Detector 10 can directly transmit plate when third photoelectric detector 10 detects plate apart from trigger signal to the second stacking
Robot 11, so that the second robot palletizer 11 obtains the positional distance of plate；While the second robot palletizer 11 is gone back and vision
System 6 is electrically connected, and can obtain the centre coordinate information and deviation angle information of plate.Pass through above- mentioned information, the second stacking machine
The plate that device people 11 can adjust itself, which is taken, angle and takes position, so that plate of accurately taking securely is to specified stacking area
Domain 9.Wherein, the mode of taking of the first robot palletizer 8 and the second robot palletizer 11 includes and is not limited to absorption mode and grabs
Take mode.
Wherein, the second photoelectric detector 7 is also electrically connected with third photoelectric detector 10.Or second photoelectric detector 7 it is logical
Console is crossed to be electrically connected with third photoelectric detector 10.Due to the second photoelectric detector 7 and the first robot palletizer 8 directly or
Electrical connection is connect, therefore in the second photoelectric detector 7 when detecting the new plate transported, if the second photoelectric detector 7 is certainly
Body or console fail to receive the work end signal of the first robot palletizer 8 return, can send to third photoelectric detector 10
Trigger signal, triggering third photoelectric detector 10 work, and then trigger the work of the second robot palletizer 11, and plate of taking is to specified
Stacking region 9.
Robot palletizer work station provided in an embodiment of the present invention passes through setting third photoelectric detector 10 and the second stacking
Robot 11 can control two stacking machine co-ordinations.Specifically, when the first robot palletizer 8 just at work, can lead to
It crosses vision system 6 and third photoelectric detector 10 and sends location information and plate respectively apart from trigger signal to the second stacking machine device
People 11, and the second robot palletizer 11 of control takes plate to specified stacking region.Similarly, when the second robot palletizer 11 works
When, it controls vision system 6 and the second photoelectric detector 7 transmits a signal to the first robot palletizer 8, control the first robot palletizer
8 take plate.So as to plate of taking from plate transport production line in time, the plate that avoids newly arriving can not be by stacking to specified
The case where region, occurs.
Embodiment as one preferred, as shown in Fig. 2, stacking region 9 includes: to be set to 8 liang of the first robot palletizer
The the first stacking area 901 and the second stacking area 902 of side；Wherein, the central point in the first stacking area 901 and the second stacking area 902 connects
Line is parallel with plate transport production line 2, and the first stacking area 901 and the second stacking area 902 are respectively arranged with plate pedestal
903。
In robot palletizer work station provided in this embodiment, the first stacking area is set in 8 two sides of the first robot palletizer
901 and the second stacking area 902, the first robot palletizer 8 can be first to 901 stacking of the first stacking area, when the plate of stacking reaches
After predetermined quantity, second stacking area 902 stacking of first robot palletizer 8 to the other side is controlled.The plate in the first stacking area 901
Plate carrying trigger signal can be sent to the mobile terminal of relevant operation personnel after reaching predetermined quantity, so that relevant operation personnel
The plate in the region is transported in time, to avoid the excessive stacking of plate.Then empty pedestal is placed again in the region, is waited
Next stacking.Similarly the second stacking area 902 also executes corresponding operating.Similarly, 11 two sides of the second robot palletizer are also equipped with two
A stacking region.
Embodiment as one preferred, as shown in figure 3, the present embodiment each structure as shown in connection with fig. 2, in the present embodiment
Vision system 6 includes:
Normal place image memory device 601, wherein the normal place image memory device 601 includes being located at plate to transport
The standard coordinate position of the standard area inner panel of defeated production line 2.Such as when the central point of plate is located at plate transport production line 2
Central axes on and plate two sides end line it is concordant with plate transport production line 2 when, then determine the plate be located at plate transport
In the standard area of production line 2.
The photographic device 602 being electrically connected with the first photoelectric detector 5；The photographic device 602 is used to obtain the reality of plate
Coordinate position.
The image data comparison device being electrically connected with normal place image memory device 601 and photographic device 602
603, image data comparison device 603 is also electrically connected with the first robot palletizer 8 and the second robot palletizer 11 respectively.The image
Comparing device 603 is used for standard of comparison coordinate position and real coordinate position, to accurately obtain the practical center of plate
Coordinate points and deviation angle information；After the practical center coordinate points and deviation angle information for obtaining plate, then by above- mentioned information
It is sent to the first robot palletizer 8 or the second robot palletizer 11, so that two robot palletizers accurately adjust taking for itself
Take angle and position of taking.
In addition, the shooting area of vision system 6 generally requires the area of covering plate, however plate specification size is not
One, therefore vision system 6 is also required to adjust the area of the shooting area of itself.Therefore, embodiment as one preferred, vision
System 6 includes: the height adjustment bracket 604 for being set to 2 side of plate transport production line；It is connected to 604 end of height adjustment bracket
The photographic unit 605 at end, wherein the shooting angle of photographic unit 605 is towards plate transport production line 2, and shooting area covers
The width of plate transport production line 2.
Bat can be adjusted since the height of height adjustment bracket 604 is adjustable by adjusting height adjustment bracket 604
The height of mechanism 605 is taken the photograph, so as to adjust the coverage area of shooting area, and then meets the shooting to the plate of different specification size
Demand.Simultaneously it is noted that shooting area will cover the width of plate transport production line 2, to avoid that the complete of plate can not be taken
The case where looks, occurs.Wherein, vision system 6 is included in above-described embodiment photographic device 602, normal place image storage dress
Set 601 and image data comparison device 603 can be integrated in photographic unit 605.
Embodiment as one preferred, as shown in Fig. 2, the first robot palletizer 8 in the present embodiment includes:
It is set to the robot base 801 of 2 side of plate transport production line；
It is rotationally connected with the sixdegree-of-freedom simulation 802 of robot base 801；
It is rotationally connected with the plate device for taking 803 of 802 end of sixdegree-of-freedom simulation, wherein plate device for taking 803
It can include the plate grabbing assembly (figure for drawing the plate Suction cup assembly of plate (in figure unmarked) and for grabbing plate
In it is unmarked).
And the position adjusting mechanism 804 of taking being electrically connected with vision system 6 and the second photoelectric detector 7, it takes
Position adjusting mechanism 804 is also electrically connected with sixdegree-of-freedom simulation 802 and plate device for taking 803.
By the way that robot base 801 is arranged, which does not need to move around to be transported to plate slices back and forth
Stacking region 9, and only need to be freely rotated by sixdegree-of-freedom simulation 802, to adjust the position of plate device for taking 803,
The stacking region 9 of side can be taken and is carried to plate accurately and securely.Wherein, it takes position adjusting mechanism 804
Be responsible for the centre coordinate information, deviation angle information and the plate that are sent respectively according to vision system 6 and the second photoelectric detector 7 away from
From the coordinate position that trigger signal adjusts sixdegree-of-freedom simulation 802 and plate device for taking 803, with plate of taking.
Based on the same inventive concept, the embodiment of the present application also provides plate palletizing methods, due to the corresponding system of method
It is the robot palletizer work station in the embodiment of the present application, and the principle that this method solves the problems, such as is similar to system, therefore should
The implementation of method may refer to the implementation of system, and overlaps will not be repeated.
Referring to fig. 4, Fig. 4 is a kind of flow diagram of plate palletizing method shown in the embodiment of the present invention, the plate code
Robot palletizer work station of the stacking method for being mentioned in any of the above-described embodiment, as shown in figure 4, the plate palletizing method packet
Include following steps:
S110: the first photoelectric detector starts when detecting the plate of plate transport production line to vision system transmission
Image trigger signal.
First photoelectric detector is set to one end that the transport of plate transport production line starts, when the production line starts plate conveyor
When part, the first photoelectric detector can obtain the position of plate in time, to start camera shooting touching to vision system transmission in time
It signals, and then vision system can be triggered in time to obtain plate location information promptly and accurately.
S120: vision system absorbs the image information of plate, analyzes image information to obtain the location information of plate, by position
Confidence breath is sent to the first robot palletizer.Wherein, location information includes the centre coordinate information and deviation angle information of plate.
Wherein, the predetermined plate image information in normal place can be stored in advance in vision system, then in the first photoelectricity
When detector detects plate, which is compared with the plate image information of intake, so that it is determined that actual plate
Centre coordinate information and deviation angle information.
In addition, as a kind of preferred embodiment, in transport production line transportational process, plate often deviation angle one
Determine in range, in order to quickly obtain the centre coordinate information and offset angle information of plate.Machine can be used in this plate palletizing method
Learning algorithm detects the centre coordinate and deviation angle feature determined in plate image information, according to the centre coordinate and deviation angle
Degree feature determines the centre coordinate information and deviation angle information of plate.Vision system and the first photoelectric detector are mutually separated with predetermined
Distance, when the transmission of the first photoelectric detector starts to image trigger signal, vision system has certain buffer time to open camera shooting
Function.Simultaneously because the width of the shooting area covering plate transport production line of vision system, therefore vision system can be shot
To the plate of different deviation angles.When plate transports the shooting area of the vision system, vision system absorbs the figure of plate
As information, vision system analyzes image information to obtain the location information of plate at this time, which includes the center of plate
Coordinate information and deviation angle information.
S130: the second photoelectric detector sends plate distance triggering letter when detecting plate, to the first robot palletizer
Number.
The distance between second photoelectric detector and the first robot palletizer are fixed, when plate is transported to the second Photoelectric Detection
When device, the second photoelectric detector sends plate apart from trigger signal to the first robot palletizer.Pass through first stacking machine of signal
Device people can access the actual range between plate and the first robot palletizer, so as to adjust itself take plate when position
It sets.
S140: the first robot palletizer receives location information and plate apart from trigger signal, according to centre coordinate information, partially
Angle information and plate is moved to take angle and position of taking apart from trigger signal, the plate for adjusting the first robot palletizer.
First robot palletizer is electrically connected with vision system and the second photoelectric detector respectively, is receiving vision system hair
It, can when the plate that the centre coordinate information and deviation angle information sent and the second photoelectric detector are sent is apart from trigger signal
Itself take angle and position of taking to plate is accurately adjusted according to above- mentioned information.To obtain plate securely, and by plate
Stacking region of the part stacking to side.
S150: the first robot palletizer according to plate take angle and take position take plate to side stacking area
Domain.
Since stacking region is located at the side of the first robot palletizer, the first robot palletizer can be directly by plate
Stacking is then followed by next plate of taking to the region, until stacking region plate accumulation is removed to predetermined quantity, then by fork truck
Specified region is transported to, to improve the stacking efficiency of the robot palletizer work station.
To sum up, the course of work of robot palletizer work station provided in an embodiment of the present invention is as follows: plate transport production line
Plate is transported, when plate is transported to the position of the first photoelectric detector, the first photoelectric detector starts to vision system transmission
Image trigger signal.Vision system starts to image and absorb the image information of plate, at this time vision system analysis image information with
The location information of plate is obtained, which includes the centre coordinate information and deviation angle information of plate；Then vision system
Location information is sent to the first robot palletizer by system.When transporting the position for reaching the second photoelectric detector with plate, second
Photoelectric detector detects plate and sends plate apart from trigger signal to the first robot palletizer.First robot palletizer according to
This can obtain the actual range of plate and the first robot palletizer apart from trigger signal；Then it is sent according to vision system
Centre coordinate information and deviation angle information that location information includes and above-mentioned plate are apart from trigger signal, the first stacking machine
The plate that people adjusts itself, which is taken, angle and takes position；Finally, when plate is transported to the position of the first robot palletizer,
One robot palletizer takes angle according to plate and plate is taken to stacking region in position of taking.
Robot palletizer work station provided in an embodiment of the present invention is examined by the first photoelectric detector of setting, the second photoelectricity
Device and vision system are surveyed, the motion state and location status of plate can be accurately obtained, to be transported to first yard in plate
When pile robot, plate can be carried to the stacking area of side by the first robot palletizer from plate transport production line automatically
Domain is then followed by repeat the above process and be carried, until the plate in stacking region reaches predetermined quantity.It is existing to solve
Need to carry back and forth using fork truck in technology and stacking plate caused by take a long time, the problem of inefficiency, and then shorten
The palletization times of plate, improve the stacking efficiency of plate.
Plate is more faster than the transmission of common means of transportation on transport production line, therefore, if a stacking machine is only arranged
People, may cause robot palletizer it is busy and can not be by the timely stacking of new plate to specified stacking region, in order to solve this
The robot palletizer work station of problem, the application is also provided with the second robot palletizer, and the detection of third photoelectric detector is arranged
Plate position sends letter number to the second stacking machine device people in time, so that two robot palletizers coordinate stacking, avoiding the occurrence of can not
New plate stacking to the phenomenon that specified stacking region is occurred.Corresponding implementation method is as follows:
When determining that the first robot palletizer or the second robot palletizer are idle, when other robot palletizers are busy, institute is controlled
It states vision system and photoelectric detector corresponding with idle robot palletizer, send the location information and plate distance respectively
Trigger signal is to the idle robot palletizer；
The idle robot palletizer is controlled according to the positional information with plate apart from trigger signal, adjusts the plate
It angle of taking and takes position, to take angle according to the plate and the plate is taken to stacking region in position of taking.
Embodiment as one preferred, as shown in figure 5, plate palletizing method provided in this embodiment is in addition to shown in Fig. 4
Each step outside it is further comprising the steps of:
S211: the first photoelectric detector starts when detecting the plate of plate transport production line to vision system transmission
Image trigger signal.
S212: vision system absorbs the image information of plate, analyzes image information to obtain the location information of plate.
S213: judge that the first robot palletizer or the second robot palletizer are idle；If the first robot palletizer is idle,
Execute step S214；If the second robot palletizer is idle, S218 is thened follow the steps.
S214: control vision system sends location information to the first robot palletizer.
S215: when the second photoelectric detector of control detects plate, plate distance triggering is sent to the first robot palletizer
Signal.
S216: the first robot palletizer of control is believed according to centre coordinate information, deviation angle information and plate distance triggering
Number, the plate that adjusts the first robot palletizer takes angle and position of taking.
S217: control the first robot palletizer according to plate take angle and take position take plate to side stacking
Region.S218: control vision system sends location information to the second robot palletizer.
S219: when control third photoelectric detector detects plate, plate distance triggering is sent to the second stacking machine device human hair
Signal.
S220: the second robot palletizer of control receives the location information that plate is sent apart from trigger signal and vision system,
Plate according to centre coordinate information, deviation angle information and plate apart from trigger signal, the second robot palletizer of adjusting is taken
Angle and position of taking.
S221: the second robot palletizer of control takes angle according to plate and plate is taken to stacking region in position of taking.
Plate palletizing method provided in an embodiment of the present invention passes through setting third photoelectric detector and the second stacking machine device
People can control two stacking machine co-ordinations.Specifically, when the first robot palletizer just at work, vision can be passed through
System and third photoelectric detector send location information and plate apart from trigger signal to the second robot palletizer respectively, control the
Two robot palletizers take plate to specified stacking region.Similarly, when the second stacking machine device man-hour, control vision system and
Second photoelectric detector transmits a signal to the first robot palletizer, and the first robot palletizer of control is taken plate.So as to and
When take from plate transport production line plate, avoid newly arriving plate can not by stacking to specified region the case where generation.
When third photoelectric detector detects plate, plate can be directly transmitted apart from trigger signal to the second stacking machine device
People, so that the second robot palletizer obtains the positional distance of plate；The second robot palletizer is also electrically connected with vision system simultaneously,
The centre coordinate information and deviation angle information of plate can be obtained.By above- mentioned information, the second robot palletizer can be adjusted
The plate of itself, which is taken, angle and takes position, so that accurate and plate of taking securely is to specified stacking region.As one kind
Preferred embodiment, as shown in fig. 6, plate palletizing method provided in this embodiment also wraps other than each step shown in Fig. 4
Include following steps:
S310: the first robot palletizer of control is in the first stacking area stacking plate；
S320: judge whether the plate in the first stacking area reaches the first predetermined number；
S330: when the plate in the first stacking area reaches the first predetermined number, the first robot palletizer is triggered to second code
Pile region starts stacking, and sends plate and carry trigger signal；
S340: judge whether the plate in the second stacking area reaches the second predetermined number；
S350: when the plate in the second stacking area reaches the second predetermined number, the first robot palletizer is triggered to first yard
Pile region starts stacking, and sends plate and carry trigger signal；
It controls the first robot palletizer and repeats above-mentioned steps, until all plate stackings finish.The present embodiment provides
Plate palletizing method in, in the first robot palletizer two sides, the first stacking area and the second stacking area, the first stacking machine are set
People can control the first robot palletizer to another first to the first stacking area stacking, after the plate of stacking reaches predetermined quantity
Second stacking area stacking of side.The plate in the first stacking area can be sent out after reaching predetermined quantity to the mobile terminal of relevant operation personnel
Plate is sent to carry trigger signal, so that relevant operation personnel transport the plate in the region in time, to avoid the excessive of plate
It stacks.Then empty pedestal is placed again in the region, waits next stacking.Similarly the second stacking region also executes corresponding operating.
Similarly, the second robot palletizer two sides are also provided with there are two stacking region.
In addition, the hardness of different plates is often different, in plate production process, it is understood that there may be plate defect due to collision
The case where.In order to detect the plate there are defect, embodiment as one preferred, plate provided by the embodiments of the present application in time
Part palletizing method is further comprising the steps of:
S410: controlling plate described in the vision system and photodetector pair and carry out non-destructive testing positioning, determine described in
Whether plate has the coordinate position of damage and failure area.The photoelectric detector includes the first photoelectric detector, and with the
Corresponding second photoelectric detector of one robot palletizer or third photoelectric detector corresponding with the second robot palletizer.
Wherein, vision system and photoelectric detector can carry out non-destructive testing positioning to plate.Such as: photoelectric detector can
The absorption and scattering phenomenon generated when using Radiolucent object, detect plate in because defect there are due to cause transmitted intensity to change
Degree detection plate defect area and defect situation.
S420: it when determining that the plate has damage, determines the coordinate position of failure area and sends alarm signal to right
The robot palletizer answered, so that the robot palletizer is by the plate stacking of damage to specified region.
In the present embodiment, vision system and photoelectric detector can directly detect the plate there are defect, then notification code
Pile robot is handled, and is mixed to avoid by the plate of damage and unspoiled plate.Certainly relevant work can also be notified
The plate is transported to other regions by personnel.
To sum up, in robot palletizer work station and plate palletizing method provided in an embodiment of the present invention, plate transport production
Line transports plate, and when plate is transported to the position of the first photoelectric detector, the first photoelectric detector is opened to vision system transmission
Begin camera shooting trigger signal.Vision system starts to image and absorb the image information of plate, and vision system analyzes image information at this time
To obtain the location information of plate, which includes the centre coordinate information and deviation angle information of plate；Then vision
Location information is sent to the first robot palletizer by system.When transporting the position for reaching the second photoelectric detector with plate, the
Two photoelectric detectors detect plate and send plate apart from trigger signal to the first robot palletizer.First robot palletizer root
According to this apart from trigger signal, the actual range of plate and the first robot palletizer can be obtained；Then it is sent according to vision system
The location information centre coordinate information that includes and deviation angle information and above-mentioned plate apart from trigger signal, the first stacking machine
The plate that device people adjusts itself, which is taken, angle and takes position；Finally, when plate is transported to the position of the first robot palletizer,
First robot palletizer takes angle according to plate and plate is taken to stacking region in position of taking.
Robot palletizer work station and plate palletizing method provided in an embodiment of the present invention, by the way that the first Photoelectric Detection is arranged
Device, the second photoelectric detector and vision system can accurately obtain the motion state and location status of plate, thus in plate
When reaching the first robot palletizer, plate can be carried to side from plate transport production line automatically by the first robot palletizer
Stacking region, be then followed by repeat the above process and be carried, until the plate in stacking region reaches predetermined quantity.To solve
Determined need to carry back and forth using fork truck in the prior art and stacking plate caused by take a long time, the problem of inefficiency,
And then the palletization times of plate are shortened, improve the stacking efficiency of plate.
In the specific implementation, the present invention also provides a kind of computer storage mediums, wherein the computer storage medium can deposit
Program is contained, it includes step some or all of in each embodiment of method of calling provided by the invention which, which executes the moment,.
The storage medium can be disk, CD, read-only memory or random access memory etc..
Those skilled in the art should be clear the engineering department in the embodiment of the present invention by software and necessary hard
The mode of part platform is realized.Based on this understanding, the technical solution in the embodiment of the present invention is substantially in other words to existing skill
The part that art contributes can be expressed in the form of software products, which can store in storage medium
In, it is used including some instructions so that a computer equipment executes certain parts in each embodiment of the present invention or embodiment
Method.
Same and similar part may refer to each other between each embodiment in this specification, and each embodiment stresses
Be all differences from other embodiments.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot palletizer work station characterized by comprising
Plate transport production line (2)；
The first photoelectric detector (5) for successively arranging along the transporting direction of the plate transport production line (2), vision system (6),
Second photoelectric detector (7) and the first robot palletizer (8)；Wherein,
First photoelectric detector (5) be fixedly arranged on one end that the plate transport production line (2) transport starts and with the view
Feel system (6) electrical connection, wherein the detection direction of first photoelectric detector (5) and the transporting direction are perpendicular；
The vision system (6) between first photoelectric detector (5) and first robot palletizer (8) and with
First robot palletizer (8) electrical connection, wherein the shooting area of the vision system (6) covers the plate transport life
The width of producing line (2)；
Second photoelectric detector (7) is fixedly arranged on the plate between the vision system (6) and first robot palletizer (8)
It part transport production line (2) and is electrically connected with first robot palletizer (8), wherein second photoelectric detector (7)
Detection direction and the transporting direction are perpendicular；
First robot palletizer (8) is located at the side of the plate transport production line (2), and first robot palletizer
(8) side is provided with stacking region (9).
2. robot palletizer work station according to claim 1, which is characterized in that further include:
The third photoelectric detector (10) and the second stacking machine successively arranged along the transporting direction of the plate transport production line (2)
Device people (11), wherein
The third photoelectric detector (10) is fixedly arranged on first robot palletizer (8) and second robot palletizer (11)
Between plate transport production line (2), wherein the detection direction of the third photoelectric detector (10) and the transporting direction phase
Vertically；
Second robot palletizer (11) is also electrically connected with the vision system (6) and the third photoelectric detector (10) respectively
It connects.
3. robot palletizer work station according to claim 2, which is characterized in that second photoelectric detector (7) is also
It is electrically connected with the third photoelectric detector (10).
4. robot palletizer work station according to claim 1, which is characterized in that the stacking region (9) includes:
It is set to the first stacking area (901) and the second stacking area (902) of the first robot palletizer (8) two sides；Wherein, institute
The central point line for stating the first stacking area (901) and second stacking area (902) is equal with plate transport production line (2)
Row, and first stacking area (901) and second stacking area (902) are respectively arranged with plate pedestal (903).
5. robot palletizer work station according to claim 2, which is characterized in that the vision system (6) includes:
Normal place image memory device (601)；
The photographic device (602) being electrically connected with first photoelectric detector (5)；
The image data ratio being electrically connected with the normal place image memory device (601) and the photographic device (602)
To device (603), described image comparing device (603) also respectively with first robot palletizer (8) and the second stacking
Robot (11) electrical connection.
6. robot palletizer work station according to claim 1, which is characterized in that the first robot palletizer (8) packet
It includes:
It is set to the robot base (801) of plate transport production line (2) side；
It is rotationally connected with the sixdegree-of-freedom simulation (802) of the robot base (801)；
It is rotationally connected with the plate device for taking (803) of the sixdegree-of-freedom simulation (802) end；
And the position adjusting mechanism of taking being electrically connected with the vision system (6) and second photoelectric detector (7)
(804), the position adjusting mechanism of taking (804) also with the sixdegree-of-freedom simulation (802) and the plate device for taking
(803) it is electrically connected.
7. a kind of plate palletizing method, which is characterized in that the plate palletizing method is used for any one of claims 1 to 6 institute
The robot palletizer work station stated, the plate palletizing method include:
When the first photoelectric detector detects the plate of plate transport production line, first photoelectric detector is controlled to vision
System transmission starts to image trigger signal；
The image information that the vision system absorbs the plate is controlled, analyzes described image information to obtain the position of the plate
Confidence breath, is sent to the first robot palletizer for the location information, wherein the location information includes the center of the plate
Coordinate information and deviation angle information；
When the second photoelectric detector detects the plate, second photoelectric detector is controlled to the first stacking machine
Human hair send plate apart from trigger signal；
It controls first robot palletizer and receives the location information and plate apart from trigger signal, according to the centre coordinate
Information, deviation angle information and plate are taken angle apart from trigger signal, the plate for adjusting first robot palletizer itself
With position of taking；
Control that first robot palletizer takes angle according to the plate and the plate is taken to stacking area in position of taking
Domain.
8. plate palletizing method according to claim 7, which is characterized in that further include:
When controlling the third photoelectric detector detection plate, Xiang Suoshu the second stacking machine device human hair send the plate distance
Trigger signal；
It controls second robot palletizer and receives the position letter that the plate is sent apart from trigger signal and the vision system
Breath, according to the centre coordinate information, deviation angle information and plate apart from trigger signal, adjusting second robot palletizer
Plate take and angle and take position；
Control that second robot palletizer takes angle according to the plate and the plate is taken to stacking area in position of taking
Domain.
9. plate palletizing method according to claim 8, which is characterized in that further include:
When determining the first robot palletizer or the second robot palletizer free time, control the vision system and with idle stacking
The corresponding photoelectric detector of robot sends the location information and plate apart from trigger signal to the idle stacking machine respectively
Device people；
The idle robot palletizer is controlled according to the positional information with plate apart from trigger signal, the plate is adjusted and takes
It angle and takes position, to take angle according to the plate and the plate is taken to stacking region in position of taking.
10. plate palletizing method according to claim 8, which is characterized in that further include:
Control plate described in the vision system and photodetector pair and carry out non-destructive testing positioning, with the determination plate whether
There is the coordinate position of damage and failure area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811488470.1A CN109502357A (en) | 2018-12-06 | 2018-12-06 | A kind of robot palletizer work station and plate palletizing method |
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|---|---|---|---|
| CN201811488470.1A CN109502357A (en) | 2018-12-06 | 2018-12-06 | A kind of robot palletizer work station and plate palletizing method |
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