CN109748027A - A kind of body feed tank automatic selecting machine device people and its control method - Google Patents
A kind of body feed tank automatic selecting machine device people and its control method Download PDFInfo
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- CN109748027A CN109748027A CN201910179874.0A CN201910179874A CN109748027A CN 109748027 A CN109748027 A CN 109748027A CN 201910179874 A CN201910179874 A CN 201910179874A CN 109748027 A CN109748027 A CN 109748027A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000003860 storage Methods 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 238000012795 verification Methods 0.000 claims description 4
- 230000003111 delayed effect Effects 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 abstract description 6
- 230000007115 recruitment Effects 0.000 abstract description 2
- 238000006467 substitution reaction Methods 0.000 abstract description 2
- 239000012636 effector Substances 0.000 abstract 4
- 238000004519 manufacturing process Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 5
- 239000000203 mixture Substances 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 235000013324 preserved food Nutrition 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
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Abstract
The invention discloses a kind of hopper automatic selecting machine device people and its control methods, including robot chassis, control cabinet, elevating movement mechanism, end effector mechanism, hopper identification positioning system, hopper buffer storage；The robot chassis is realized under the control of control cabinet advances, retreats, turns left, turns right and rotates in place movement；The elevating movement mechanism realizes the elevating movement of end effector mechanism vertical direction under the control of control cabinet；The end effector mechanism is arranged in elevating movement mechanism, the position stored under the control of control cabinet by rotation, stretching motion to body feed tank, and adjusts end effector mechanism according to hopper size and realize picking for hopper；The hopper identification positioning system realizes identifying and positioning for single body feed tank under the control of control cabinet；The present invention may be implemented electric business and store in a warehouse the automatic sorting of single body feed tank, completely the work pattern that manually sorts now of substitution, solve the problems, such as electric business enterprise online shopping peak period recruitment hardly possible.
Description
Technical field
The present invention relates to 3C manufacturing industry and warehouse logistics automatic field, specially a kind of body feed tank automatic selecting machine device people
And its control method.
Background technique
Industrial 4.0 epoch, 3C manufacturing industry change from automation to intelligence, require more while realizing unmanned operation
Add intelligentized system, to realize more complicated interjob, safer operation guarantee and the operation of higher efficiency output.Work
Industry 4.0 is not only that production link realizes intelligence, and even more production is merged with the height of logistics, for the efficient, soft of logistics side
Property proposes requirements at the higher level.Market pressure under consumption upgrading, the stock control of miscellaneous product category are difficult to control
Human cost, have become manufacture, electric business storage etc. industries common puzzlement.These industries are to hopper Prospect of Robot Sorting System
Core, efficient, accurate, reliable and Flexible Material Flow solution demand is more more and more urgent.
The automaton automation of present some transports is high, partially can flexibly transport picking and be also required to artificially grasp
To make, cannot efficiently, accurately, flexibly complete the hopper picking task of material on the whole, the fitness between machinery is not also high,
Robot motion's route sheet one is unfavorable for the flexibility and the competitiveness of enterprise of enterprise's production, storage.
Summary of the invention
The purpose of the present invention is to provide a kind of body feed tank automatic selecting machine device people and its control methods, to solve above-mentioned back
The problem of being proposed in scape technology.
To achieve the above object, the invention provides the following technical scheme: a kind of hopper automatic selecting machine device people, including machine
People chassis, hopper identification positioning system, hopper buffer storage, control cabinet, the mechanical arm controlled by control cabinet and setting are in machinery
End picking device on arm；Identify that positioning system identifies hopper position, and the end picking device and machinery by hopper
Arm is controlled by control cabinet, and hopper is picked out and is placed in hopper buffer storage by cooperation.
As a preferred technical solution of the present invention, the robot chassis includes carrier frame, is arranged in chassis frame
The driving wheel and front and back universal wheel of frame bottom.
As a preferred technical solution of the present invention, the hopper identification positioning system includes RGB-D camera, RGB-D
Camera realizes the positioning of single hopper position, and obtain hopper dimension information by output point cloud chart of the hopper with depth information；
The hopper corresponding informance in hopper picture, two dimensional code or bar code information and database exported by RGB-D camera compares
Analysis, realizes the identification and verification of hopper.
As a preferred technical solution of the present invention, the hopper buffer storage include on bracket and bracket from bottom to up
Several batch boards set gradually, two adjacent containers lining standard spacing are 60cm, the distance between two batch boards
It is adjustable.
As a preferred technical solution of the present invention, the mechanical arm include horizontal rotation apparatus and vertical lift arm,
Horizontal rotation apparatus setting is on vertical lift arm.
As a preferred technical solution of the present invention, the end picking device include telescopic arm, hook take device, pallet
And tray susceptor, the telescopic arm and hook take device to be arranged on pallet, pallet is arranged on tray susceptor；The control cabinet is logical
The rotation of control motor is crossed, belt wheel is made to drive belt movement, sliding block cooperation belt moves forward and backward, and realizes pallet opposing tray pedestal
Stretching motion.
Compared with prior art, emphasis hopper automatic selecting machine device people of the present invention, can be in complicated storage environment, no
With any navigation identification is added, by having previously been stored in the position of each shelf in control cabinet, Automatic-searching to required sorting
Body feed tank, and can pick out from shelf automatically, realize the automatic sorting of body feed tank, the operation that substitution manually sorts now
Mode, also, robot can once complete the transport of more than one piece body feed tank, and operating efficiency is greatly improved, compared to artificial
The sorting cost of picking mode, hopper automatic selecting machine device people's single-piece hopper is sorted far below artificial, and therefore, hopper is automatic
Prospect of Robot Sorting System can substitute manually completely, realize 3C manufacturing works and the unmanned picking of electric business storage, and it is difficult to solve peak period recruitment
The problem of, reduce operating cost.
Detailed description of the invention
Fig. 1 is the whole composition figure of hopper automatic selecting machine device people of the present invention；
Fig. 2 is mechanical arm of the present invention composition figure；
Fig. 3 is picking device in end of the present invention composition figure；
Fig. 4 is RGB-D camera outline drawing of the present invention；
Fig. 5 is body feed tank buffer storage of the present invention composition figure；
Fig. 6 is body feed tank automatic selecting machine device people's work flow diagram of the present invention；.
In appended drawing reference: robot chassis 1, control cabinet 2, mechanical arm 3, hopper identify positioning system 4, end picking device
5, hopper buffer storage 6, horizontal rotation apparatus 31, vertical lift arm 32, RGB-D camera 41, telescopic arm 51, hook take device 52,
Pallet 53, tray susceptor 54, batch board 61, bracket 62.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-6 is please referred to, the present invention provides a kind of hopper automatic selecting machine device people, including robot chassis 1, hopper identification
Positioning system 4, hopper buffer storage 6, control cabinet 2, the mechanical arm 3 controlled by control cabinet 2 and the end that is arranged on mechanical arm 3
Picking device 5；Identify that positioning system 4 identifies hopper position by hopper, and end picking device 5 and mechanical arm 3 are by control cabinet 2
Hopper is picked out and is placed in hopper buffer storage 6 by control, cooperation.Robot chassis 1 exists including carrier frame, setting
The driving wheel and front and back universal wheel of carrier frame bottom.Hopper identifies that positioning system 4 includes RGB-D camera 41, RGB-D camera 41
By exporting point cloud chart of the hopper with depth information, the positioning of single hopper position is realized, and obtain hopper dimension information；Pass through
Hopper corresponding informance in hopper picture that RGB-D camera 41 exports, two dimensional code or bar code information and database compares point
Analysis, realizes the identification and verification of hopper.If hopper buffer storage 6 includes setting gradually from bottom to up on bracket 61 and bracket 61
Dried food and nuts separator for container 62, two 62 normal pitches of adjacent containers partition are 60cm, and the distance between two batch boards 62 can be adjusted
It is whole.Mechanical arm 3 includes horizontal rotation apparatus 31 and vertical lift arm 32, and the setting of horizontal rotation apparatus 31 is in vertical lift arm 32
On.End picking device 5 takes device 52, pallet 53 and tray susceptor 54 including telescopic arm 51, hook, and telescopic arm 51 and hook take device
52 are arranged on pallet 53, and pallet 53 is arranged on tray susceptor 54；Control cabinet 2 drives belt wheel by control motor rotation
Belt movement, sliding block cooperation belt move forward and backward, and realize the stretching motion of 53 opposing tray pedestal 54 of pallet.
Working principle: as shown in Figure 1, a kind of body feed tank automatic selecting machine device people, including robot chassis 1, control cabinet 2,
Mechanical arm 3, hopper identify positioning system 4, end picking device 5, hopper buffer storage 6；Control cabinet 2 can control robot fortune
It moves and completes picking operation；Elevating movement and the horizontal revolving motion of vertical direction may be implemented in mechanical arm 3；Hopper identification is fixed
Identifying and positioning for single hopper may be implemented in position system 4；End picking device 5 is arranged on mechanical arm 3, can pass through rotation
Turn, lifting, stretching motion to hopper buffer storage 6.
As shown in Fig. 2, mechanical arm 3 includes horizontal rotation apparatus 631 and vertical lift arm 32, horizontal rotation apparatus 631 is set
It sets on vertical lift arm 32；As shown in fig. 6, hopper identification positioning system 4 include RGB-D camera 41, pass through RGB-D camera
41 output point cloud charts of the hopper with depth information to realize the positioning of hopper position, and get hopper length and height letter
Breath；The hopper picture in hopper color image and database exported by RGB-D camera 41 compares and analyzes, and realizes hopper
Identification and verification, do not need manual operation.
As shown in figure 3, end picking device 5 takes device 52, pallet 53 and tray susceptor 54 including telescopic arm 51, hook, hook
Device 52 and telescopic arm 51 is taken to be arranged in 53 structure of pallet, pallet 53 is arranged on tray susceptor 54.
As shown in figure 3, control cabinet 2 sends movement instruction, the movement of motor rotation driven gear, and then telescopic arm 51 is driven to transport
Dynamic, to realize 51 stretching motion of telescopic arm, the hook being arranged on telescopic arm 51 takes device 52 to rotate an angle, catches on material
Case, to realize the function of sorting hopper；Pallet 53 is arranged on tray susceptor 54, and control cabinet 2 sends movement instruction, and motor is logical
The movement that moving link realizes sliding block is crossed, moving link does not limit, wherein can are as follows: motor rotation band movable belt pulley moves, and then band
Dynamic belt movement, sliding block follows belt to be moved forward and backward, to realize the stretching motion of 53 opposing tray pedestal 54 of pallet.
As shown in figure 5, hopper buffer storage 6 include bracket 7662 and be placed sequentially in bracket 7662 on lower
Several batch boards 7461 can place one layer of batch board 7661 every 60cm on bracket 7662, batch board 7661
The number of plies and spacing distance are adjustable, and hopper can be directly placed on batch board 7661, can also be on batch board 7661 again
A container is placed, hopper is placed into container, which, which is that electric business storage is common, sorts basket, sorts basket size for choosing
It selects, can efficiently, accurately, flexibly complete the hopper picking task of material.
As shown in fig. 6, this method includes as follows the present invention also provides a kind of body feed tank automatic selecting machine device people's control method
Step:
(1) control cabinet 2 receives picking job order, in picking job order comprising where each hopper to be picked shelf and
Goods yard number；
(2) it is controlled before robot chassis 1 moves to wait pick shelf and the goods yard number where hopper by control cabinet 2；
(3) control of control cabinet 2 vertical lift 32 elevating movement of arm, moves to the pallet 53 of end picking device 5 wait pick
The bottom level of sorting case, and towards hopper；
(4) hopper to be picked is taken by RGB-D camera 41, obtained opposite between feed box and end picking device 5
Location information；
(5) control cabinet 2 controls the pallet 53 of end picking device 5 close to the bottom of hopper to be picked；Telescopic arm 51 protrudes into
Then hopper two sides open hook and take device 52, it will be able to which hopper is hauled out；Telescopic arm 51 works as material with hopper back shrinkage
When case leaves shelf, it will be lifted by pallet 53；
(6) hopper is transported at hopper buffer storage 6, and control cabinet 2 controls telescopic arm 51 and stretches out again, is held in the palm at this time
Disk 53 is not upheld outward, is released when hopper and is delayed outside pallet 53, closes hook and device 52 is taken to discharge hopper, then, telescopic arm 51 is past
Recycling contracting, hopper are just automatically discharged into hopper buffer storage 6；
(7) next picking point is moved towards in picking robot starting, meanwhile, mechanical arm 3 is controlled by control cabinet 2 and end picks
Goods device 5 is restored to initial position；
(8) after picking robot completes the sorting of all hoppers in picking list, picking robot takes all hoppers to
Set destination.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of hopper automatic selecting machine device people, which is characterized in that including robot chassis, the robot chassis includes chassis
Frame, the driving wheel that carrier frame bottom is set and front and back universal wheel；Control cabinet and controlled is provided on the carrier frame
The mechanical arm of case control processed；The end picking device controlled by control cabinet and hopper identification positioning are provided on the mechanical arm
System；The end picking device is corresponding with hopper buffer storage, and hopper buffer storage is set to the side of mechanical arm, and bottom passes through
Robot chassis supports.
2. a kind of hopper automatic selecting machine device people according to claim 1, it is characterised in that: the hopper identification positioning system
System includes RGB-D camera.
3. a kind of hopper automatic selecting machine device people according to claim 1, it is characterised in that: the hopper buffer storage packet
Include several batch boards set gradually from bottom to up on bracket and bracket.
4. a kind of hopper automatic selecting machine device people according to claim 1, it is characterised in that: the mechanical arm includes vertical
Lifting arm and the horizontal rotation apparatus being arranged on vertical lift arm.
5. a kind of hopper automatic selecting machine device people according to claim 1, it is characterised in that: the end picking device packet
Telescopic arm is included, hooks and takes device, pallet and tray susceptor, the telescopic arm and hook take device to be arranged on pallet, and pallet setting exists
On tray susceptor.
6. a kind of hopper automatic selecting machine device people according to claim 5, it is characterised in that: the control cabinet and offer are dynamic
The motor of power connects, and motor is cooperated by moving link and sliding block, and sliding block is connect with pallet, and pallet is arranged on tray susceptor,
It is flexibly connected with tray susceptor.
7. a kind of control method based on hopper automatic selecting machine device people as claimed in any one of claims 1 to 6, feature exist
In including the following steps:
S1 sorts data input:
Control cabinet receives picking job order；
S2, robot starting move towards first picking point, single hopper on picking job order and are discharged into hopper buffer storage；
S3, repetition pick experienced hopper:
Next picking point is moved towards in robot starting, meanwhile, mechanical arm is controlled by control cabinet and end picking device is restored to
Initial position；
S4, after picking robot completes the sorting of all hoppers in picking list, all hoppers are taken to setting by picking robot
Destination.
8. the control method of hopper automatic selecting machine device people according to claim 7, which is characterized in that step S2 includes:
A1, control cabinet control robot bobbin movement to before wait pick shelf and the goods yard number where hopper；
A2, control cabinet control mechanical arm lifting and rotation, make the tray motion of end picking device to the bottom of hopper to be picked
Highly, and towards hopper；
A3 takes hopper to be picked by RGB-D camera, obtains the relative position letter between feed box and end picking device
Breath, RGB-D camera realize the positioning of single hopper position, and obtain hopper by output point cloud chart of the hopper with depth information
Dimension information；The hopper corresponding informance in hopper picture, two dimensional code or bar code information and database exported by RGB-D camera
It compares and analyzes, realizes the identification and verification of hopper；
A4, control cabinet control the pallet of end picking device close to the bottom of hopper to be picked；
A5, control cabinet control end picking device two telescopic arms protrude into hopper two sides, protrude into place afterwards open hook take device,
Hook the back side for taking device to catch on hopper；
The hook of A6, control cabinet control end picking device take device to drive hopper back shrinkage, when hopper leaves shelf, can be held in the palm
Pan arrest is lifted；
A7, hopper are transported at hopper buffer storage: control cabinet control telescopic arm, pallet stretch out again, when hopper pushes away
It is delayed outside pallet out, hook takes the hook pulling block of device to be rotated by 90 °, and is restored to origin position, telescopic arm, pallet back shrinkage, hopper
It is discharged into hopper buffer storage.
9. the control method of hopper automatic selecting machine device people according to claim 7, which is characterized in that the picking task
Single includes the shelf where each hopper picked and goods yard number.
10. the control method of hopper automatic selecting machine device people according to claim 7, which is characterized in that the control cabinet
In be equipped with database, database includes the position data in shelf and goods yard number.
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