CN110860488A - Article sorting device and method for multiple stations - Google Patents
Article sorting device and method for multiple stations Download PDFInfo
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- CN110860488A CN110860488A CN201911158142.XA CN201911158142A CN110860488A CN 110860488 A CN110860488 A CN 110860488A CN 201911158142 A CN201911158142 A CN 201911158142A CN 110860488 A CN110860488 A CN 110860488A
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- robot
- camera
- truss
- workpiece
- guide rail
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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
- B07C5/02—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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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Abstract
The invention relates to the technical field of article sorting, in particular to an article sorting device and method for multiple stations, wherein the article sorting device comprises a first truss and a first guide rail, wherein the first truss is arranged on the first truss; the second truss is arranged on the first side of the first truss in parallel, a second guide rail is arranged on the second truss, and at least two conveying stations are vertically arranged on one side of the second truss; the master robot and the at least one slave robot are respectively arranged on the first guide rail and are in communication connection with at least one camera, and the camera is arranged on the second guide rail; and after the camera photographs the workpiece according to the control instruction, the main robot or the slave robot receives a feedback signal output by the camera to search for the workpiece and grab the workpiece for sorting. The technical scheme of the invention has the beneficial effects that: the grabbing of the main robot and the grabbing of the slave robot and the camera photographing do not occupy space and time, and the function that a single camera deals with multiple conveying stations can be realized, so that the hardware cost is saved.
Description
Technical Field
The invention relates to the technical field of article sorting, in particular to an article sorting device and method for multiple stations.
Background
The article letter sorting of tradition reply multistation generally adopts two kinds of modes, the first kind is through the article on a plurality of stations of handheld camera shooting of a robot, the second kind is through the fixed camera that adopts one or more robots cooperation a plurality of positions shoot the article in a plurality of stations, the first kind of mode is that the terminal area camera of robot removes the top of every station and shoots, the robot should not only accomplish the action of removing the shooting and also accomplish the work that the work piece snatchs put, the second kind of mode is that the fixed camera of every station top shoots in advance, single robot or many robots realize the letter sorting work piece, fixed camera can utilize the robot to put the clearance of work piece simultaneously, accomplish next round and shoot.
However, the existing article sorting mode has the disadvantages of both the robot-holding camera photographing mode and the multi-station fixed camera photographing mode, and in the former mode, due to the robot-holding camera mode, the robot cannot perform grabbing when photographing, and the camera cannot photograph when the robot performs grabbing, so that the robot sorting efficiency is low, and the production rhythm is slow; in the latter, although the camera and the robot are separated independently, the camera can complete the photographing action by utilizing the gap between the robot gripping and placing pieces, thereby saving time, the cost is greatly increased by configuring the camera on each station. Therefore, the above problems are difficult problems to be solved by those skilled in the art.
Disclosure of Invention
In view of the above problems in the prior art, an object sorting apparatus and method for multiple stations is provided to save time and cost for sorting objects.
The specific technical scheme is as follows:
the invention provides an article sorting device for multiple stations, which comprises:
the first truss is provided with a first guide rail;
the second truss is arranged on the first side of the first truss in parallel and has a preset distance with the first truss, a second guide rail is arranged on the second truss, at least two conveying stations are vertically arranged on one side of the second truss, and each conveying station comprises at least two conveying belts for conveying workpieces;
the main robot is arranged on the first guide rail and is in communication connection with at least one camera, and the at least one camera is arranged on the second guide rail;
the main robot is used for sending a control instruction to at least one camera, the camera receives the control instruction, photographs and identifies the workpiece on the conveyor belt according to the control instruction, and a feedback signal is output;
the article sorting device further comprises at least one slave robot, each slave robot is mounted on the first guide rail, and the at least one slave robot is respectively in communication connection with the master robot and the at least one camera;
and the master robot or at least one slave robot receives the feedback signal and searches the corresponding workpiece for grabbing according to the feedback signal so as to finish the sorting work of the workpiece.
Preferably, the length of the second truss is smaller than the length of the first truss.
Preferably, the robot further comprises at least two tool fixtures, wherein the at least two tool fixtures are symmetrically arranged on the second side of the first truss respectively and used for welding the workpiece grabbed by the main robot or the slave robot.
Preferably, at least one of the cameras is driven by the second guide rail to respectively shoot the workpieces placed at the first position and the second position on the conveyor belt;
the master robot or at least one slave robot respectively picks up the workpieces placed at the first position and the second position.
Preferably, the master robot and each slave robot are connected by an ethernet.
The invention also provides an article sorting method for multiple stations, which is applied to the article sorting device for multiple stations, wherein the article sorting method comprises the following steps:
step S1, providing a master robot and at least one slave robot, and respectively mounting the master robot and the at least one slave robot on a first guide rail;
step S2, providing at least one camera, and mounting the at least one camera on a second guide rail;
step S3, the main robot sends a control instruction to at least one camera;
step S4, the camera receives the control instruction, respectively takes pictures of the workpieces on the conveyor belt according to the control instruction, and outputs a feedback signal;
and step S5, the master robot or at least one slave robot receives the feedback signal, and searches the corresponding workpiece for grabbing according to the feedback signal so as to finish the sorting work of the workpiece.
Preferably, in step S4, at least one of the cameras is driven by the second guide rail to respectively photograph the workpieces placed at the first position and the second position on the conveyor belt;
in step S5, the master robot or at least one of the slave robots respectively grasps the workpiece placed at the first position and the second position.
Preferably, after step S5, the master robot or at least one of the slave robots picks up the workpiece at the first position and places the workpiece on a workpiece holder for welding operation.
The technical scheme of the invention has the beneficial effects that: the utility model provides an article sorting device, both with camera and host computer robot with from the robot separately, can realize host computer robot and from the action of snatching of robot and camera recognition not occupation space and time each other that shoots, again with the camera through the mode of round trip movement on the second guide rail, realize that single camera corresponds the function of many conveying stations to save the hardware cost.
Drawings
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and are not restrictive of the scope of the invention.
Fig. 1 is a schematic view of the overall structure of an article sorting apparatus according to an embodiment of the present invention;
fig. 2 is a step diagram of an article sorting method according to an embodiment of the present invention.
The above reference numerals denote descriptions:
a first truss (1); a first guide rail (10); a second truss (2); a second guide rail (20); a transfer station (3); a conveyor belt (30); a main robot (4); a camera (5); a first position (50); a second position (51); a slave robot (6); and a tool clamp (7).
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The invention provides an article sorting device for multiple stations, which comprises:
a first truss 1, wherein a first guide rail 10 is arranged on the first truss 1;
a second truss 2, the second truss 2 is arranged on the first side of the first truss 1 in parallel and has a preset distance with the first truss 1, a second guide rail 20 is arranged on the second truss 2, at least two conveying stations 3 are vertically arranged on one side of the second truss 2, each conveying station 3 comprises at least two conveyor belts 30 for conveying workpieces (not shown in the figure);
the main robot 4 is installed on the first guide rail 10, the main robot 4 is in communication connection with at least one camera 5, and the at least one camera 5 is installed on the second guide rail 20;
the main robot 4 is configured to send a control instruction to at least one camera 5, and the camera 5 receives the control instruction, performs photographing recognition on a workpiece (not shown in the figure) on the conveyor belt 30 according to the control instruction, and outputs a feedback signal;
the article sorting apparatus further comprises at least one slave robot 6, each slave robot 6 being mounted on a first rail 10, the at least one slave robot 6 being communicatively connected to the master robot 4 and the at least one camera 5, respectively;
the master robot 4 or at least one slave robot 6 receives the feedback signal, and searches the corresponding workpiece (not shown in the figure) for grabbing according to the feedback signal so as to complete the sorting work of the workpiece (not shown in the figure).
With the article sorting apparatus provided above, as shown in fig. 1, the first guide rail 10 is provided on the first truss 1, and then the master robot 4 and the at least one slave robot 6 are respectively mounted on the first guide rail 10, and the master robot 4 and the at least one slave robot 6 are moved by the first guide rail 10.
A second truss 2 is arranged on the first side of the first truss 1 in parallel and has a preset distance with the first truss 1, a second guide rail 20 is arranged on the second truss 2, at least one camera 5 is arranged on the second guide rail 20, at least two conveying stations 3 are also arranged on one side of the second truss 2 vertically, each conveying station 3 comprises at least two conveyor belts 30, and workpieces (not shown in the figure) are conveyed through the conveyor belts 30.
When a workpiece (not shown in the figure) is conveyed to one end of the conveyor belt 30 facing the second truss 2 through the conveyor belt 30, the main robot 4 sends a control instruction to at least one camera 5, and after the camera 5 receives the control instruction, the camera performs photographing identification on the workpiece (not shown in the figure) at one end of the conveyor belt 30 according to the control instruction, and outputs a feedback signal.
Further, the main robot 4 or at least one of the sub-robots 6 receives the feedback signal output by the camera 5, and then searches for a corresponding workpiece (not shown in the figure) to grab according to the feedback signal, so as to complete the sorting work of the workpiece (not shown in the figure).
In addition, in the present embodiment, the operation principle of the article sorting apparatus of the present invention is further described by providing two robots, namely, one master robot 4 and one slave robot 6, one camera 5, and four conveyor belts 30, wherein one robot corresponds to two conveyor belts 30, and the master robot 4 and the slave robot 6 are connected through ethernet to implement data sharing.
Further, the main robot 4 is used to control the operation state of the camera 5, the camera 5 moves back and forth to fix two positions to photograph the workpieces (not shown) on the conveyor belts 30 for four conveyor belts 30, when the main robot 4 sends a control command to the camera 5, the camera 5 starts a first round of photographing to photograph the workpieces (not shown) on the two conveyor belts 30 at the first position 50, after the photographing is completed, the main robot 4 receives a feedback signal transmitted by the camera 5 and grasps the workpieces (not shown) on the two conveyor belts 30 at the first position 50, and at the same time, the camera 5 has moved from the first position 50 to the second position 51, and photographs the workpieces (not shown) on the two conveyor belts 30 at the second position 51 are completed, and then grasps the workpieces (not shown) on the two conveyor belts 30 at the second position 51 from the robot 6, repeatedly, when a plurality of robots are used, Data obtained by photographing by the camera 5 can be sent to other robots interconnected with the ethernet through Data transfer between robots, the capturing process is consistent with the description in the embodiment, and each robot is responsible for capturing a workpiece (not shown) in the corresponding transmission station 3, so that the capturing action of the master robot 4 and the slave robot 6 and the photographing identification of the camera 5 do not occupy space and time, and the function that a single camera 5 corresponds to a plurality of transmission stations 3 is realized by moving the camera 5 back and forth on the second guide rail 20, so that the hardware cost is saved.
Note that the camera 5 in the present embodiment employs a 3D Area Sensor (wide Area three-dimensional Sensor).
In a preferred embodiment, the length of the second girder 2 is smaller than the length of the first girder 1.
In a preferred embodiment, the robot further comprises at least two tooling fixtures 7 symmetrically disposed on the second side of the first truss 1, respectively, for performing welding operation on the main robot 4 or a workpiece (not shown) picked up by the robot 6.
Specifically, as shown in fig. 1, after the main robot or the slave robot 6 picks up a workpiece (not shown), the workpiece (not shown) is placed on the respective corresponding tooling fixtures 7, and the welding work is performed on the corresponding tooling fixtures 7.
In this embodiment, it is also explained by providing two robots, namely, one master robot 4 and one slave robot 6, one camera 5 and four conveyor belts 30, that when the slave robot 6 picks up the workpieces (not shown) on the two conveyor belts 30 at the second position 51, the master robot 4 has placed the workpieces (not shown) on the two conveyor belts 30 picked up at the first position 50 on the tooling fixture 7 to perform the welding operation, and during this time, the camera 5 has moved from the second position 51 to the first position 50 to take a next round of photograph of the two conveyor belts 30 at the first position 50, and at the same time, the robot 6 places the picked-up workpieces (not shown) on the corresponding tooling fixtures 7 to perform the operation, and the operation is performed in a cycle, so that the robot operation and the photograph of the camera 5 are performed completely independently, and the time is saved, the working efficiency is improved, and the hardware cost can be saved.
In a preferred embodiment, at least one camera 5 is driven by the second guiding rail 20 to respectively photograph a workpiece (not shown) placed at a first position 50 and a second position 51 on the conveyor belt 30;
the master robot 4 or at least one slave robot 6 respectively picks up a workpiece (not shown) placed at the first position 50 and the second position 51.
The invention also provides an article sorting method for multiple stations, which is applied to the article sorting device for multiple stations, and the article sorting method comprises the following steps:
step S1, providing a master robot 4 and at least one slave robot 6, and respectively installing the master robot 4 and the at least one slave robot 6 on a first guide rail 10;
step S2, providing at least one camera 5, and mounting the at least one camera 5 on a second rail 20;
step S3, the main robot 4 sends a control command to at least one camera 5;
step S4, the camera 5 receives the control command, and respectively photographs and identifies the workpieces (not shown in the figure) on the conveyor belt 30 according to the control command, and outputs a feedback signal;
step S5, the master robot 4 or at least one slave robot 6 receives the feedback signal, and searches for a corresponding workpiece (not shown) to grab according to the feedback signal, so as to complete the sorting of the workpiece (not shown).
With the article sorting method provided above, as shown in fig. 2, the master robot 4 and the at least one slave robot 6 are respectively mounted on the first guide 10, and the master robot 4 and the at least one slave robot 6 are moved using the first guide 10.
Then, at least one camera 5 is installed on the second guide rail 20, the main robot 4 sends a control instruction to the at least one camera 5, and after receiving the control instruction, the camera 5 performs photographing recognition on a workpiece (not shown in the figure) at one end of the conveyor belt 30 according to the control instruction and outputs a feedback signal.
Further, the main robot 4 or at least one of the slave robots 6 receives the feedback signal output by the camera 5, and then searches for a corresponding workpiece (not shown in the figure) to capture according to the feedback signal to complete the sorting work of the workpiece (not shown in the figure), so that the capturing action of the main robot 4 and the slave robot 6 and the photographing recognition of the camera 5 do not occupy space and time, and the camera 5 moves back and forth on the second guide rail 20 to realize the function that a single camera 5 corresponds to multiple conveyor belts 30, thereby saving the hardware cost.
In a preferred embodiment, in step S4, at least one camera 5 is driven by the second guiding rail 20 to respectively shoot the workpieces (not shown) placed at the first position 50 and the second position 51 on the conveyor belt 30;
in step S5, the master robot 4 or at least one slave robot 6 respectively picks up the workpiece (not shown) placed at the first position 50 and the second position 51.
In a preferred embodiment, as shown in fig. 2, after step S5, the master robot 4 or at least one slave robot 6 picks up a workpiece (not shown) at the first position 50 and places the workpiece (not shown) on a workpiece holder 7 for welding operation.
Specifically, when the robot 6 picks up the workpieces (not shown in the figure) on the two conveyor belts 30 at the second position 51, the main robot 4 has placed the workpieces (not shown in the figure) on the two conveyor belts 30 picked up at the first position 50 on the tooling fixture 7 to perform the welding operation, and during this time, the camera 5 has moved from the second position 51 to the first position 50 to take a next round of photographing of the two conveyor belts 30 at the first position 50, and at the same time, the robot 6 places the picked-up workpieces (not shown in the figure) on the corresponding tooling fixture 7 to perform the operation, and the operations are performed in a circulating manner, so that the robot operation and the photographing of the camera 5 are performed completely independently, time is saved, work efficiency is improved, and hardware cost can also be saved.
The technical scheme of the invention has the beneficial effects that: the utility model provides an article sorting device, both with camera and host computer robot with from the robot separately, can realize host computer robot and from the action of snatching of robot and camera recognition not occupation space and time each other that shoots, again with the camera through the mode of round trip movement on the second guide rail, realize that single camera corresponds the function of many conveying stations to save the hardware cost.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (8)
1. An article sorting apparatus for multiple stations, comprising:
the first truss is provided with a first guide rail;
the second truss is arranged on the first side of the first truss in parallel and has a preset distance with the first truss, a second guide rail is arranged on the second truss, at least two conveying stations are vertically arranged on one side of the second truss, and each conveying station comprises at least two conveying belts for conveying workpieces;
the main robot is arranged on the first guide rail and is in communication connection with at least one camera, and the at least one camera is arranged on the second guide rail;
the main robot is used for sending a control instruction to at least one camera, the camera receives the control instruction, photographs and identifies the workpiece on the conveyor belt according to the control instruction, and a feedback signal is output;
the article sorting device further comprises at least one slave robot, each slave robot is mounted on the first guide rail, and the at least one slave robot is respectively in communication connection with the master robot and the at least one camera;
and the master robot or at least one slave robot receives the feedback signal and searches the corresponding workpiece for grabbing according to the feedback signal so as to finish the sorting work of the workpiece.
2. The apparatus of claim 1, wherein the second truss has a length less than a length of the first truss.
3. The apparatus of claim 1, further comprising at least two tooling fixtures symmetrically disposed on the second side of the first truss for performing a welding operation on the workpiece picked by the master robot or the slave robot.
4. The apparatus of claim 1, wherein at least one of the cameras is driven by the second guide rail to photograph the work pieces placed at first and second positions on the conveyor belt, respectively;
the master robot or at least one slave robot respectively picks up the workpieces placed at the first position and the second position.
5. The apparatus of claim 1, wherein the master robot and each slave robot are connected via an ethernet connection.
6. A method for sorting articles for multiple stations, which is applied to the apparatus for sorting articles for multiple stations according to any one of claims 1 to 5, the method comprising:
step S1, providing a master robot and at least one slave robot, and respectively mounting the master robot and the at least one slave robot on a first guide rail;
step S2, providing at least one camera, and mounting the at least one camera on a second guide rail;
step S3, the main robot sends a control instruction to at least one camera;
step S4, the camera receives the control instruction, respectively takes pictures of the workpieces on the conveyor belt according to the control instruction, and outputs a feedback signal;
and step S5, the master robot or at least one slave robot receives the feedback signal, and searches the corresponding workpiece for grabbing according to the feedback signal so as to finish the sorting work of the workpiece.
7. The method according to claim 6, wherein in step S4, at least one of the cameras is driven by the second guide rail to capture the workpiece at a first position and a second position on the conveyor belt, respectively;
in step S5, the master robot or at least one of the slave robots respectively grasps the workpiece placed at the first position and the second position.
8. The method of claim 6, wherein after step S5, the master robot or at least one of the slave robots picks the workpiece from the first position and places the workpiece on a workpiece holder for welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911158142.XA CN110860488A (en) | 2019-11-22 | 2019-11-22 | Article sorting device and method for multiple stations |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911158142.XA CN110860488A (en) | 2019-11-22 | 2019-11-22 | Article sorting device and method for multiple stations |
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| CN110860488A true CN110860488A (en) | 2020-03-06 |
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| CN201911158142.XA Pending CN110860488A (en) | 2019-11-22 | 2019-11-22 | Article sorting device and method for multiple stations |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112808610A (en) * | 2020-12-31 | 2021-05-18 | 深圳市木王智能科技有限公司 | Probe appearance detection system and device |
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| JPS61129520A (en) * | 1984-11-28 | 1986-06-17 | Hitachi Metals Ltd | Inspecting, measuring, and sorting instrument |
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