CN109570073A - A kind of sorting of dynamic and carry automated system - Google Patents
A kind of sorting of dynamic and carry automated system Download PDFInfo
- Publication number
- CN109570073A CN109570073A CN201811547189.0A CN201811547189A CN109570073A CN 109570073 A CN109570073 A CN 109570073A CN 201811547189 A CN201811547189 A CN 201811547189A CN 109570073 A CN109570073 A CN 109570073A
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- CN
- China
- Prior art keywords
- wire body
- automated system
- dynamic
- logistics
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- 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
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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
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of sorting of dynamic and automated system is carried, is mainly made of articulated robot, retinue device, industrial vision, photoelectric sensor and control system；The end of articulated robot is equipped with fixture, and retinue device contacts arrangement with logistics wire body, and industrial vision and photoelectric sensor are arranged in the side of logistics wire body and towards the products flowed in logistics wire body；Retinue device, industrial vision and photoelectric sensor are realized by control system and articulated robot and are communicated.Automated system is sorted and carried using a kind of dynamic described in the invention, can be made accurately to grab material on the assembly line of robot in operation and be classified, efficient stable.
Description
Technical field
The present invention relates to a kind of automated system and relevant apparatus, specifically a kind of logistics sorting and carrying automated system
And device, it is furtherly a kind of automated system and device for sorting and carrying for realizing dynamic on assembly line.
Background technique
Attention with the universal and many production enterprise of industrial 4.0 concepts to automated system, robot replace people
Concept increasingly by big well-established.Robot is a system engineering for people, is related to machinery, electronics, optics and figure
Etc. technical fields.Machine heat, not just to save labour, is more embodied in and improves efficiency for people, and guarantee produced
The digitlization and standardization of process control have better guarantee to the quality of product.
Logistics system refer to product how each Flow of Goods and Materials, sorting, carrying and the management mutually assembled in production process
And control process, logistics system efficiency how is improved, reducing production beat is that automated system needs to consider and solve
Problem.The application of robot in process of production can efficiently, steadily improve the degree of automation of entire production process.And mesh
Preceding robot grabs in the case where no vision, places material requires a little to position grasping at for material with set-point
(or product stops in logistics wire body) guarantees that robot picks and places the accuracy of material.This undoubtedly improves productive temp.This
The invention a kind of sorting of dynamic and carrying automated system, pass through industrial vision and differentiate the classification of product, good time, robot
It is fed back by the information of follower mechanism, the product on assembly line in operation can accurately be grabbed, substantially reduce life
Beat is produced, there is certain promotion value.
Summary of the invention
The purpose of the present invention is exactly the shortcoming being directed in the presence of the above-mentioned prior art and a kind of dynamic point provided
Pick and carry automated system.
The purpose of the invention can be realized by following technique measures:
A kind of sorting of dynamic and carry automated system, mainly by articulated robot 1, retinue device 2, industrial vision 3,
Photoelectric sensor 4 and control system composition；The end of the articulated robot is equipped with fixture 11；The retinue device 2
Input shaft is connected with the moving component of logistics wire body 5；The industrial vision 3 and photoelectric sensor 4 are arranged in logistics wire body 5
Side and towards the product 6 flowed in logistics wire body；Retinue device 2, industrial vision 3 and photoelectric sensor 4 pass through control
System and articulated robot 1, which are realized, to be communicated.
The articulated robot 1 is six axis joint manipulators, is in particular a kind of commercial criterion six axis robot.
The fixture 11 is the clamping jaw of open-close type, and the opening and closing movement of clamping jaw can be realized by cylinder, motor etc..
Certainly, the fixture 11 can also be a kind of magnechuck or vacuum chuck, so-called magnechuck are exactly to pass through electricity
Magnetic conversion, which is realized, adsorbs material and unclamps, and vacuum chuck is exactly to pass through pneumatically to vacuumize to make the intracavitary formation negative pressure of closed type,
To realize the absorption to material.
The retinue device 2 is a kind of encoder in fact, and the transform linear motion of assembly line line is encoder by encoder
Rotary motion, to converse the information such as the speed of service of auto instrument automatic needle press, acceleration and feed back to robot.
The image processing system that the industrial vision 3 is made of industrial camera, light source and industrial personal computer.Industrial vision is machine
The eyes of device people, by product surface information (such as: by the comparison of the bad products mark to surface, judge to be good
Product or substandard products) or appearance profile information (model or classification of judging product) sorted.
The logistics wire body 5 refers to the common processing lines such as suspended chain, belt line, working plate wire body.
The invention has the beneficial effect that:
Automated system is sorted and carried using a kind of dynamic described in the invention, passes through the device 2, industrial vision of accompanying
3 setting can make robot 1 accurately grab material from running assembly line and classify, efficient stable.
Detailed description of the invention
Fig. 1 is integral arrangement figure (top view) of the present invention.
Fig. 2 is overall structure of the present invention (perspective view).
Serial number in figure: 1 robot, 2 retinue devices, 3 industrial visions, 4 photoelectric sensors, 5 logistics wire bodies, 6 products, 7 produce
Product placement rack, 11 fixtures.
Specific embodiment
(traffic direction of arrow line expression thing fairing 5 in figure) as shown in Figure 1, a kind of dynamic sorting and carry from
Dynamicization system is mainly made of articulated robot 1, retinue device 2, industrial vision 3, photoelectric sensor 4 and control system；It closes
The end of section robot 1 is equipped with fixture 11, for grabbing to product 6；The input shaft and logistics wire body 5 of retinue device 2
Moving component be connected, furtherly, the retinue device 2 is exactly an encoder, and encoder and logistics wire body 5 can be with
Face one side CONTACT WITH FRICTION is also possible to intermeshing tooth-like connection, can also pass through the rotary part and volume in logistics wire body 5
The rotary shaft of code device is direct-connected etc., its purpose is to by the rotation input that the transform linear motion of logistics wire body 5 is encoder, from
And the point-to-point speed (when speed is 0, being considered as static) of logistics wire body 5 is conversed, and the information is anti-by control system
It feeds robot 1.Industrial vision 3 and photoelectric sensor 4 are arranged in the side of logistics wire body 5 and move towards flowing in logistics wire body
Product 6；It is all towards product 6 arrange, its purpose is to can be measured in real time to product.Wherein, industrial vision 3 is examined
The surface information and profile information of product 6 are surveyed, to judge product judge whether it is the target for needing to grab.Than
Such as: if the surface of fruit product is marked as substandard products mark, being compared by industrial vision 3, and result is passed through into control system
Robot 1 is fed back to, robot 1 selects corresponding program to classify it.Retinue device 2, industrial vision 3 and light
Electric transducer 4 is realized by control system and articulated robot 1 and is communicated.Certainly, the product 1 and product placement rack 7 for needing to grab
It should all be within the efficient working range of robot 1.
As shown in Figure 1 and Figure 2, when product 6 is as (logistics wire body can be suspended chain, belt line and work to logistics wire body 5
The common assembly line such as loading board line) when passing through industrial vision 3, inductor triggering, industrial vision 3 starts to its photographic analysis, and
Result is fed back into robot 1 by control system, the signal that robot 1 is fed back according to industrial vision 3 selects corresponding journey
Sequence is carried out crawl and is prepared.When product 6 runs to the position of photoelectric sensor 4 with logistics wire body 5, photoelectric sensor 4 is touched
Hair, issues a command to robot 1, motion information (the operation speed of logistics wire body 5 that the robot to await orders is fed back according to retinue device 2
The information such as degree, acceleration) product 6 is grabbed.In the process of grasping, robot 1 and logistics wire body 5 are opposing stationary, i.e., its
The speed of service is identical as logistics wire body 5, with material flow line running body, namely retinue.To realize that the more accurate line that do not stop is grabbed
It takes.When crawl, the fixture 11 of 1 end of robot opens, and is closed in the suitable position of product 6, realizes clamping, and place it in
On the product placement rack 7 of designated position, realize that material dynamic is carried.If the product 6 be suitble to using sucker (magnechuck or
Vacuum slot formula sucker) carry out pick-and-place movement, then more efficient, speed is faster.Certainly, according to the judging result of industrial vision 3,
Product can be classified and is placed on different product placement racks 7 by robot 1, namely realize Material Sorting.
Same reason, when product placement rack 7 is also in a kind of logistics wire body of movement, be arranged on it accordingly with
Luggage is set, and can also realize that the dynamic of material is placed.It is able to achieve the dynamic crawl to material simultaneously, places and sorts, it will be big
It is big to shorten pitch time, also improve the degree of automation of production process, great popularization.
Embodiments of the present invention above described embodiment only expresses, the description thereof is more specific and detailed, but can not
Therefore limitations on the scope of the patent of the present invention are interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (7)
1. a kind of sorting of dynamic and carrying automated system, it is characterised in that: a kind of dynamic sorting and carry Department of Automation
System is mainly made of articulated robot (1), retinue device (2), industrial vision (3), photoelectric sensor (4) and control system；
The end of the articulated robot is equipped with fixture (11)；The input shaft of retinue device (2) and the movement of logistics wire body (5)
Component is connected；The industrial vision (3) and photoelectric sensor (4) are arranged in the side of logistics wire body (5) and towards in logistics
The product (6) flowed in wire body；It accompanies device (2), industrial vision (3) and photoelectric sensor (4) pass through control system and pass
It saves robot (1) and realizes communication.
2. a kind of dynamic sorting according to claim 1 and carrying automated system, it is characterised in that: the joint machine
People (1) is six axis joint manipulators.
3. a kind of dynamic sorting according to claim 1 and carrying automated system, it is characterised in that: the fixture (11)
For the clamping jaw of open-close type.
4. a kind of dynamic sorting according to claim 1 and carrying automated system, it is characterised in that: the fixture (11)
For a kind of magnechuck or vacuum chuck.
5. a kind of dynamic sorting according to claim 1 and carrying automated system, it is characterised in that: the retinue device
It (2) is a kind of encoder.
6. a kind of dynamic sorting according to claim 1 and carrying automated system, it is characterised in that: the industrial vision
(3) image processing system being made of industrial camera, light source and industrial personal computer.
7. a kind of dynamic sorting according to claim 1 and carrying automated system, it is characterised in that: the logistics wire body
It (5) is suspended chain or belt line or working plate wire body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811547189.0A CN109570073A (en) | 2018-12-18 | 2018-12-18 | A kind of sorting of dynamic and carry automated system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811547189.0A CN109570073A (en) | 2018-12-18 | 2018-12-18 | A kind of sorting of dynamic and carry automated system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109570073A true CN109570073A (en) | 2019-04-05 |
Family
ID=65930684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811547189.0A Pending CN109570073A (en) | 2018-12-18 | 2018-12-18 | A kind of sorting of dynamic and carry automated system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109570073A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110560391A (en) * | 2019-09-29 | 2019-12-13 | 伊恩斯国际新材料技术(北京)有限公司 | Workpiece coating detection machine and detection method |
-
2018
- 2018-12-18 CN CN201811547189.0A patent/CN109570073A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110560391A (en) * | 2019-09-29 | 2019-12-13 | 伊恩斯国际新材料技术(北京)有限公司 | Workpiece coating detection machine and detection method |
| CN110560391B (en) * | 2019-09-29 | 2024-03-29 | 北京汇聚和新材料科技有限公司 | Workpiece coating detection machine and detection method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190405 |