CN110813766A - Sorting system, device and method for mechanical arm belt conveyor - Google Patents
Sorting system, device and method for mechanical arm belt conveyor Download PDFInfo
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- CN110813766A CN110813766A CN201911212625.3A CN201911212625A CN110813766A CN 110813766 A CN110813766 A CN 110813766A CN 201911212625 A CN201911212625 A CN 201911212625A CN 110813766 A CN110813766 A CN 110813766A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000005484 gravity Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/06—Linear sorting machines in which articles are removed from a stream at selected points
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
- B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
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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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Sorting Of Articles (AREA)
Abstract
The invention discloses a sorting system, a sorting device and a sorting method for a mechanical arm belt conveyor. This letter sorting system can be suitable for and is applicable to the sorting of smallclothes in the postal service completely, obtains the widen for the application scope of traditional arm, carries out the check mouth distribution to the container of fixed position in real time for equipment can be according to the change dynamic adjustment check mouth quantity of place size and mail letter sorting demand, increases the rate of utilization of equipment flexibility and improve equipment. The target lattice information of the mails is acquired through a code scanner before the upper circulation sorting machine, the image identification devices on each belt conveyor acquire the volume information of the mails, and through judgment of information integration comparison, appropriate industrial robots are allocated to grab the mails and put the mails into corresponding lattices.
Description
Technical Field
The invention relates to the technical field of mail sorting, in particular to a mechanical arm belt conveyor sorting system, device and method.
Background
Although the sorting form combining the transmission belt conveyor and the manual work has the defects of low efficiency, high personnel requirement and the like, the sorting form is widely applied to postal enterprises by virtue of the advantages of low cost and flexible bureau. At present, the first-level sorting center of postal companies or other domestic express companies mostly adopts a cross belt sorting system to automatically sort packages, and the second-level and third-level processing fields almost adopt a manual sorting mode. The method has a direct relation with a small treatment field and high investment cost of the cross belt sorting machine. With the gradual increase of labor cost and the great increase of package quantity, the processing capacity of the second-level and third-level processing fields is limited to further increase of express service level.
Disclosure of Invention
The invention aims to provide a sorting system, a sorting device and a sorting method for a mechanical arm belt conveyor, so that the problems in the prior art are solved.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a sorting system of a mechanical arm belt conveyor comprises a mechanical arm sorting service system, a mechanical arm upper system, a mechanical arm control system and a mail recognition and acquisition system, wherein the mail recognition and acquisition system is used for acquiring and acquiring mail information and transmitting the mail information to the mechanical arm upper system; the mechanical arm upper computer system receives and analyzes the mail information identified by the mail identification and acquisition system, issues a sorting command to the mechanical arm sorting service system and the mechanical arm control system, and monitors the equipment states of the mechanical arm and the mail identification and acquisition system;
the mechanical arm sorting service system is in charge of butt joint with the mail service processing system, monitoring and management of the mechanical arm are achieved, and sorting information is provided for a mechanical arm upper computer system; and the mechanical arm control system receives a task instruction of the upper computer system, decomposes the task instruction into a mechanical arm action instruction and finishes a sorting task.
Preferably, the mail information collected by the mail identification and collection system comprises a mail image, mail destination information, mail volume data and mail position information.
The invention also provides a mechanical arm belt conveyor sorting device which comprises a belt conveyor, an image recognition device and a plurality of mechanical arm sorting devices, wherein the mechanical arm sorting devices and the image recognition device are installed on the belt conveyor, and the image recognition device is positioned at the front end of the mechanical arm sorting device.
Preferably, the image recognition device comprises a 3D camera and a barcode scanner, the 3D camera and the barcode scanner are mounted on a support, and the 3D camera is used for shooting the shape data of the mail; and the code scanner scans the mail bar code information and determines the destination information of the code-scanned mail.
Preferably, the mechanical arm sorting device comprises parallel mechanical arms, and the parallel mechanical arms are mounted on a support.
It is a final object of the present invention to provide a method for sorting mail using a robotic belt sorting system, comprising the steps of:
s1, placing the mails to be sorted on a belt conveyor, acquiring information of each mail to be sorted by the mail identification and acquisition system, and uploading the information of each mail to the upper computer system of the mechanical arm;
s2, the upper computer system of the mechanical arm receives and analyzes the mail information identified by the mail identification and acquisition system, and sends sorting commands to the mechanical arm sorting service system and the mechanical arm control system;
and S3, the mechanical arm control system receives the task instruction of the mechanical arm upper computer system, decomposes the task instruction into mechanical arm action instructions and completes a sorting task.
Preferably, the mail information acquired in step S1 includes: mail image, mail destination information, and mail location information.
Preferably, the mail position information acquiring method includes the following steps:
a1, shooting the outline characteristics of the mail by a camera, obtaining volume data of the mail based on an image recognition technology, and calculating and confirming the center or gravity center position of the mail;
a2, confirming the center or gravity center position of the mail, and selecting a reference point as the origin in the camera view field;
and A3, comparing the position of the center or gravity center of the mail with the position of the origin to obtain the position information of the mail.
The invention has the beneficial effects that:
the invention discloses a mechanical arm belt conveyor sorting system, device and method. This letter sorting system can be suitable for and is applicable to the sorting of smallclothes in the postal service completely, obtains the widen for the application scope of traditional arm, carries out the check mouth distribution to the container of fixed position in real time for equipment can be according to the change dynamic adjustment check mouth quantity of place size and mail letter sorting demand, increases the rate of utilization of equipment flexibility and improve equipment. The target lattice information of the mails is acquired through a code scanner before the upper circulation sorting machine, the image identification devices on each belt conveyor acquire the volume information of the mails, and through judgment of information integration comparison, appropriate industrial robots are allocated to grab the mails and put the mails into corresponding lattices.
Drawings
Fig. 1 is a schematic view of a robotic belt sorting system according to embodiment 1;
fig. 2 is a partially enlarged schematic view of a robot-arm belt sorting apparatus according to embodiment 2;
FIG. 3 is a schematic view of a robot-belt sorting apparatus according to embodiment 2;
FIG. 4 is a robot arm with a suction cup device in embodiment 2;
fig. 5 is a side view of the suction cup device in embodiment 2;
fig. 6 is a side view of the suction cup device in embodiment 2;
fig. 7 is a vacuum chuck robot system of the robot-belt sorting apparatus of embodiment 2;
the automatic sorting machine comprises a conveying belt 1, a parallel robot 2, a 3D camera, a code scanner 4, a circulating belt 5, a package to be sorted 6, a visual recognition system 7, an air distribution block 8, an air pipe 9, a vacuum sucker 10, a sucker integrated board 11, a vacuum sucker 12, a fixing screw 13, a plug 14, a vacuum switch 15, a vacuum sucker 16, an air compressor 17, a filter 18, a pressure regulating filter 19, an electromagnetic valve 20 and a vacuum generator 21.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The embodiment discloses a sorting system of a mechanical arm belt conveyor, which comprises a mechanical arm sorting service system, a mechanical arm upper system, a mechanical arm control system and a mail recognition and acquisition system, wherein the mail recognition and acquisition system is used for acquiring and acquiring mail information and transmitting the mail information to the mechanical arm upper system; the mechanical arm upper computer system receives and analyzes the mail information identified by the mail identification and acquisition system, issues a sorting command to the mechanical arm sorting service system and the mechanical arm control system, and monitors the equipment states of the mechanical arm and the mail identification and acquisition system;
the mechanical arm sorting service system is in charge of butt joint with the mail service processing system, monitoring and management of the mechanical arm are achieved, and sorting information is provided for a mechanical arm upper computer system; and the mechanical arm control system receives a task instruction of the upper computer system, decomposes the task instruction into a mechanical arm action instruction and finishes a sorting task.
The mail information acquired by the mail identification and acquisition system in this embodiment includes a mail image, mail destination information, mail volume data, and mail position information.
Example 2
The embodiment provides a mechanical arm belt conveyor sorting device, as shown in fig. 2, which comprises an annular belt conveyor, an image recognition device and a plurality of mechanical arm sorting devices, wherein the mechanical arm sorting devices and the image recognition device are installed on the belt conveyor, and the image recognition device is located at the front end of the mechanical arm sorting device.
As shown in fig. 3, the image recognition apparatus includes a 3D camera and a scanner, the 3D camera and the scanner being mounted on a stand, the 3D camera being used to photograph the profile data of the mail; and the code scanner scans the mail bar code information and determines the destination information of the code-scanned mail.
The mechanical arm sorting device comprises parallel mechanical arms, and the parallel mechanical arms are installed on the support.
The mechanical arm adopted in the embodiment can be an existing mechanical arm or a specific mechanical arm with a sucker system.
The mechanical arm structure with the sucking disc system is shown in fig. 7 and comprises an air exhaust device and a sucking disc device, wherein the air exhaust device is connected with the sucking disc device, the sucking disc device is shown in fig. 4-6, the sucking disc device comprises a sucking disc integrated board and a vacuum suction nozzle, the sucking disc integrated board is provided with at least one air flow channel, one end of the air flow channel is connected with the air exhaust device through an air pipe, and the other end of the air flow channel is closed or provided with a plug or the vacuum suction nozzle; the air flow channel is provided with an air hole, and the vacuum suction nozzle is arranged above the air hole so that the air flow channel is communicated with the vacuum suction nozzle.
The air extracting device comprises a pressure regulating valve, an electromagnetic valve, a vacuum generator, an air distributing block and an air compressor, the pressure regulating valve, the electromagnetic valve, the vacuum generator and the air distributing block are sequentially connected, and the vacuum generator is connected with the sucker device; the gas distribution block introduces and distributes the vacuum degree generated in the vacuum generator to the suction cup device. The air extraction device can be connected with the sucker devices of a plurality of parallel mechanical arms and can also be connected with the sucker device of a single mechanical arm.
The air path 1 is divided into 3 by the air dividing block in the embodiment, 3 air flow channels are arranged, and three vacuum suction nozzles are arranged on each air flow channel. The suction nozzle on the vacuum suction disc adopts a ripple type suction nozzle, and a vacuum switch is arranged on the suction nozzle.
Every the corrugated suction nozzle ventilates each other, the corrugated suction nozzle divide into ordinary suction nozzle and the suction nozzle that has the check valve, ordinary suction nozzle is located the vacuum chuck in sucking disc integrated board center, the suction nozzle that has the check valve is located on the integrated board edge, and except that suction nozzle in this embodiment in the middle of being the, other 8 suction nozzles all have the check valve, and this 9 ripple formula suction nozzles constitute a vacuum chuck, and the benefit of design like this lies in, and when the mail size is less, marginal part suction nozzle does not contact with the mail and also can not destroy the vacuum that has formed, improves the adaptation degree of sucking disc to mail size.
Meanwhile, due to the adoption of the corrugated suction nozzle, the whole vacuum suction disc has strong adaptability to mails with concave or convex surfaces, has good height difference compensation, can move at high speed by the mechanical arm, has excellent stability, can bear transverse force and transverse acceleration well, can move mails gently, and has good sealing performance and surface fitting degree.
Example 3
The present embodiment adopts the sorting system and apparatus in embodiment 1 and embodiment 2 to perform the sorting method, which includes the following steps:
s1, placing the mails to be sorted on the belt conveyor, and acquiring information of each mail to be sorted by the mail identification and acquisition system, wherein the mail information comprises: mail images, mail destination information and mail position information are uploaded to a mechanical arm upper computer system;
s2, the upper computer system of the mechanical arm receives and analyzes the mail information identified by the mail identification and acquisition system, and sends sorting commands to the mechanical arm sorting service system and the mechanical arm control system;
the mail position information acquisition mode comprises the following steps:
a1, shooting the outline characteristics of the mail by a camera, obtaining volume data of the mail based on an image recognition technology, and calculating and confirming the center or gravity center position of the mail;
a2, confirming the center or gravity center position of the mail, and selecting a reference point as the origin in the camera view field;
and A3, comparing the position of the center or gravity center of the mail with the position of the origin to obtain the position information of the mail.
And S3, the mechanical arm control system receives the task instruction of the mechanical arm upper computer system, decomposes the task instruction into mechanical arm action instructions and completes a sorting task.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained:
the invention discloses a mechanical arm belt conveyor sorting system, device and method. This letter sorting system can be suitable for and is applicable to the sorting of smallclothes in the postal service completely, obtains the widen for the application scope of traditional arm, carries out the check mouth distribution to the container of fixed position in real time for equipment can be according to the change dynamic adjustment check mouth quantity of place size and mail letter sorting demand, increases the rate of utilization of equipment flexibility and improve equipment. The target lattice information of the mails is acquired through a code scanner before the upper circulation sorting machine, the image identification devices on each belt conveyor acquire the volume information of the mails, and through judgment of information integration comparison, appropriate industrial robots are allocated to grab the mails and put the mails into corresponding lattices.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (8)
1. A mechanical arm belt conveyor sorting system is characterized by comprising a mechanical arm sorting service system, a mechanical arm upper system, a mechanical arm control system and a mail identification and acquisition system, wherein the mail identification and acquisition system is used for acquiring and acquiring mail information and transmitting the mail information to the mechanical arm upper system; the mechanical arm upper computer system is used for receiving and analyzing the mail information identified by the mail identification and acquisition system, issuing a sorting command to the mechanical arm sorting service system and the mechanical arm control system, and monitoring the equipment states of the mechanical arm and the mail identification and acquisition system;
the mechanical arm sorting service system is in charge of butt joint with the mail service processing system, monitoring and management of the mechanical arm are achieved, and sorting information is provided for the mechanical arm upper computer system; and the mechanical arm control system receives a task instruction of the upper computer system, decomposes the task instruction into a mechanical arm action instruction and finishes a sorting task.
2. The robotic belt sorting system of claim 1, wherein the mail piece information collected by the mail piece identification collection system includes mail piece images, mail piece destination information, mail piece volume data, and mail piece location information.
3. The utility model provides a mechanical arm belt feeder sorting device which characterized in that, includes belt feeder, image recognition device and a plurality of mechanical arm sorting device, mechanical arm sorting device with image recognition device installs on the belt feeder, image recognition device is located mechanical arm sorting device front end.
4. The robotic belt sorter of claim 3 wherein the image recognition device comprises a 3D camera and a scanner, the 3D camera and the scanner mounted on a support, the 3D camera for capturing profile data of mail pieces; and the code scanner scans the mail bar code information and determines the destination information of the code-scanned mail.
5. The robotic belt sorter of claim 3 wherein the robotic arm sorter comprises parallel-type robotic arms mounted on a support.
6. A method of sorting mail using the robotic belt sorting system of claims 1-2, comprising the steps of:
s1, placing the mails to be sorted on a belt conveyor, acquiring information of each mail to be sorted by the mail identification and acquisition system, and uploading the information of each mail to the upper computer system of the mechanical arm;
s2, the upper computer system of the mechanical arm receives and analyzes the mail information identified by the mail identification and acquisition system, and sends sorting commands to the mechanical arm sorting service system and the mechanical arm control system;
and S3, the mechanical arm control system receives the task instruction of the mechanical arm upper computer system, decomposes the task instruction into mechanical arm action instructions and completes a sorting task.
7. The method according to claim 6, wherein the mail information acquired in step S1 includes: mail image, mail destination information, and mail location information.
8. The method according to claim 7, wherein the mail position information acquiring means includes the steps of:
a1, shooting the outline characteristics of the mail by a camera, obtaining volume data of the mail based on an image recognition technology, and calculating and confirming the center or gravity center position of the mail;
a2, confirming the center or gravity center position of the mail, and selecting a reference point as the origin in the camera view field;
and A3, comparing the position of the center or gravity center of the mail with the position of the origin to obtain the position information of the mail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911212625.3A CN110813766A (en) | 2019-12-02 | 2019-12-02 | Sorting system, device and method for mechanical arm belt conveyor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911212625.3A CN110813766A (en) | 2019-12-02 | 2019-12-02 | Sorting system, device and method for mechanical arm belt conveyor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112623759A (en) * | 2020-12-18 | 2021-04-09 | 中国建材国际工程集团有限公司 | Glass stacking scheduling method |
| CN113457990A (en) * | 2020-03-31 | 2021-10-01 | 鸿富锦精密电子（成都）有限公司 | Goods sorting method, device, electronic equipment and medium |
| CN114146957A (en) * | 2021-12-03 | 2022-03-08 | 佛山新迈智能科技有限公司 | Eight tableware conveying and sorting device |
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