CN112158586A - Article gripping method, article gripping system, gripping control method, and gripping device - Google Patents
Article gripping method, article gripping system, gripping control method, and gripping device Download PDFInfo
- Publication number
- CN112158586A CN112158586A CN202011023211.9A CN202011023211A CN112158586A CN 112158586 A CN112158586 A CN 112158586A CN 202011023211 A CN202011023211 A CN 202011023211A CN 112158586 A CN112158586 A CN 112158586A
- Authority
- CN
- China
- Prior art keywords
- article
- container
- grabbing
- grab bucket
- weight information
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
Abstract
The invention relates to an article grabbing method, an article grabbing system, a grabbing control method and a grabbing device, wherein the article grabbing method comprises the following steps: the weighing device acquires weight information of an article and sends the weight information to the gripping device, wherein the article is placed in the container; the grabbing device calculates the depth data of the object according to the weight information; the grabbing device controls the falling depth of the grab bucket according to the depth data and controls the grab bucket to grab the articles. According to the article grabbing method, the grabbing device can calculate the depth data of the articles in the container according to the weight information of the articles sent by the weighing device, and then the falling depth of the grab bucket is controlled according to the depth data of the articles, so that the problems that the grab bucket is empty or less grabbed due to too little falling and the grab bucket is bottom-contacted due to too deep falling are avoided, on one hand, the article grabbing efficiency of the grab bucket is improved, and on the other hand, the fault rate of the grabbing device is reduced.
Description
Technical Field
The invention relates to the technical field of article grabbing, in particular to an article grabbing method, an article grabbing system, a grabbing control method and a grabbing device.
Background
In the garbage collection process, sanitation personnel pour garbage into a feeding box of a garbage collection and transportation vehicle, after the garbage is conveyed to a terminal station, the working personnel control a travelling crane grab bucket to grab and discharge the garbage in the feeding box, and in the process, the operation personnel cannot see the specific distribution condition of the garbage in the feeding box, so that the process of operating the travelling crane grab bucket is blindness, the problem of grabbing empty or less grabs due to the fact that the grab bucket falls too shallowly frequently occurs, and the problem of failure due to the fact that the grab bucket falls too deeply and touches the bottom of the feeding box occurs, on one hand, the grabbing efficiency is low, and on the other hand, the failure rate of the travelling crane grab bucket is increased.
In view of the above, it is necessary to provide a method, an article grasping system, a grasping control method, and a grasping apparatus for grasping an article according to the depth of the article in a hopper.
Disclosure of Invention
The embodiment of the application provides an article grabbing method, an article grabbing system, a grabbing control method and a grabbing device, so that the article grabbing method is more intelligent.
In a first aspect, an embodiment of the present application provides an article grabbing method, including the following steps:
the weighing device acquires weight information of an article and sends the weight information to the gripping device, wherein the article is placed in the container;
the grabbing device calculates the depth data of the object according to the weight information;
the grabbing device controls the falling depth of the grab bucket according to the depth data and controls the grab bucket to grab the articles.
According to the article grabbing method, the grabbing device can calculate the depth data of the articles in the container according to the weight information of the articles sent by the weighing device, and then the falling depth of the grab bucket is controlled according to the depth data of the articles, so that the problems that the grab bucket is empty or less grabbed due to too little falling and the grab bucket is bottom-contacted due to too deep falling are avoided, on one hand, the article grabbing efficiency of the grab bucket is improved, and on the other hand, the fault rate of the grabbing device is reduced.
In one embodiment, the step of grasping the article further comprises the step of controlling the movement of the grapple.
In one embodiment, the container is a hopper of a garbage collection vehicle and the item is garbage.
In a second aspect, an embodiment of the present application provides an article grasping system, including:
a container for holding an item;
the weighing device is arranged at the bottom of the container and used for acquiring the weight information of the article;
the grabbing device is arranged at the top of the container and electrically connected with the weighing device, the grabbing device comprises a grab bucket, the grabbing device can calculate the depth data of the object according to the weight information of the object, control the falling depth of the grab bucket according to the depth data, and control the grab bucket to grab the object.
According to the article grabbing system, the grabbing device can calculate the depth data of the articles in the container according to the article weight information sent by the weighing device, and then the falling depth of the grab bucket is controlled according to the depth data of the articles, so that the problems that the grab bucket is too few in falling to cause empty grabbing or less grabbing and the grab bucket is too deep in falling to cause bottom contact are avoided, the efficiency of grabbing the articles by the grab bucket is improved on the one hand, and on the other hand, the fault rate of the grabbing device is reduced.
In one embodiment, the grab can move relative to the container above.
In one embodiment, the container is a hopper of a garbage collection vehicle and the item is garbage.
In a third aspect, an embodiment of the present application provides a capture control method, including the following steps:
receiving weight information of an article, wherein the article is placed in a container, and the weight information is obtained by a weighing device arranged below the container;
calculating depth data of the article according to the weight information;
and controlling the falling depth of the grab bucket and controlling the grab bucket to grab the article according to the depth data, wherein the grab bucket is arranged above the container.
The grabbing control method comprises the steps of receiving the weight information of the object and calculating the depth data of the object according to the weight information of the object, and then controlling the falling depth of the grab bucket according to the depth data of the object, so that the problems that the grab bucket is empty or less grabs due to too little falling and the grab bucket is bottom-touching due to too deep falling are avoided, the efficiency of grabbing the object by the grab bucket is improved on one hand, and the failure rate of the grabbing device is reduced on the other hand.
In one embodiment, the step of gripping the article is followed by the step of controlling the relative movement of the grapple over the container.
In one embodiment, the container is a hopper of a garbage collection vehicle and the item is garbage.
In one embodiment of the method of the present invention,
in a fourth aspect, an embodiment of the present application provides a grasping apparatus, including:
the receiving module is used for receiving weight information of an article, wherein the article is placed in a container, the weight information is obtained by a weighing device, and the weighing device is arranged below the container;
a calculation module that can calculate depth data of the item from the weight information;
the control module can control the falling depth of the grab bucket according to the depth data; and
and the grabbing module is used for grabbing the object, wherein the grabbing module comprises a grab bucket, and the grab bucket is arranged above the container.
Above-mentioned grabbing device, including receiving module, calculation module, control module and grabbing module, receiving module can receive the weight information of article, calculation module can be according to the depth data of the weight information calculation article of article, control module can be according to the depth data control grab bucket falling depth of article, thereby avoided the grab bucket because of the whereabouts too little lead to empty grab or few grab the problem and the grab bucket because of the whereabouts too deep lead to the problem of touching the end, the efficiency that the grab bucket grabbed the article has been improved on the one hand, on the other hand, grabbing device's fault rate has been reduced.
Drawings
FIG. 1 is a flow chart of an article capture method according to one embodiment;
FIG. 2 is a flow chart of another embodiment article capture method;
FIG. 3 is a schematic diagram of an embodiment of an article handling system;
FIG. 4 is a flowchart of a fetch control method according to one embodiment;
FIG. 5 is a flowchart of a grasp control method according to another embodiment;
fig. 6 is a functional block diagram of a grasping apparatus according to an embodiment.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention can be embodied in many different forms than those herein described and many modifications may be made by one skilled in the art without departing from the spirit and scope of the invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" or "in communication with" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "upper", "lower", "vertical", "horizontal", "left", "right" and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Referring to fig. 1 and 3, an embodiment of an article grabbing method includes the following steps:
step S110: the weighing device acquires weight information of the article and sends the weight information to the gripping device.
Specifically, the article grasping method is realized by an article grasping system which comprises three parts, namely a container 10, a weighing device 20 and a grasping device 30, wherein the top of the container 10 is opened, an article 40 is placed in the container 10, and the weight of the same article 40 is positively correlated with the height of the same article in the container 10, namely the heavier the weight of the article 40 is, the higher the height of the article in the container 10 is, and conversely, the lighter the weight of the article 40 is, the lower the height of the article in the container 10 is. The weighing device 20 is disposed at the bottom of the container 10, the weighing device 20 can sense and acquire the weight information of the object 40 in the container 10 in real time, and send the acquired weight information to the gripping device 30, and the weighing device 20 is used as a prior art and is not described herein again.
In some embodiments, the item grabbing system is a garbage collection truck, the container 10 is a hopper of the garbage collection truck, the item 40 is garbage loaded in the hopper, and the grabbing device 30 is a grab of a crane.
Specifically, the top of the feeding box 10 is provided with a top cover which can be opened and closed, when the top cover is opened, the garbage 40 can be directly poured into the feeding box 10 through the top opening, after the garbage 40 is poured into the feeding box 10, the garbage 40 spreads towards the edge under the action of gravity, and the weighing device 20 arranged at the bottom of the feeding box 10 can acquire the weight information of the garbage 40 in the feeding box 10 and send the weight information to the gripping device 30. The object 40 is solid waste or solid-liquid mixed waste.
Preferably, the object 40 is solid-liquid mixed garbage, and when the water content of the garbage reaches a certain degree, the object 40 can be spread and leveled in the container 10, and the object 40 can be repeatedly grabbed without adjusting the position of the grabbing device 30, so that the grabbing efficiency of the object 40 is improved.
In the present embodiment, the articles 40 are solid-liquid mixed kitchen waste.
Step S130: the grasping device calculates depth data of the article based on the weight information.
After receiving the weight information sent by the weighing device 20, the grasping device 30 calculates according to a formula to obtain depth data of the object 40.
Specifically, the depth of the article 40 is calculated by the formula h ═ m/(ρ × s), where h is the depth data of the article 40, m is the weight data acquired and transmitted by the weighing device 20, ρ is the density of the article 40, ρ can be set by pre-input, and s is the bottom area of the container.
Step S150: and controlling the falling depth of the grab bucket according to the depth data, and controlling the grab bucket to grab the articles.
The grabbing device 30 controls the grab bucket 301 to fall according to the calculated depth data, the falling depth of the grab bucket 301 can grab a proper amount of articles 40, and after the grab bucket 301 falls to a proper position, the grabbing device 30 further controls the opening and closing of the grab bucket 301 to grab the articles 40, so that one-time grabbing operation is completed. In the process, the falling depth of the grab bucket 301 is proper, so that the grab bucket 301 cannot grab the object in a vacant mode or less grab due to insufficient falling depth, and cannot touch the object due to excessive falling depth, and the failure rate of the grabbing device is reduced while the grabbing efficiency of the object is improved.
In some embodiments, referring to fig. 2, after step S130 and before step S150, step S140 is further included.
Step S140: the grab bucket is controlled to move relatively above the container.
Since the solid substance is contained in the object 40, when the solid content of the object 40 is high, the spreading performance of the object 40 is poor, and after the grabbing device 30 operates at the same position in the container 10 for a period of time, the height of the object 40 at the position in the container 10 is reduced, while the height of the object 40 at the rest positions is kept unchanged, so that the grabbing operation needs to be performed by moving the grab bucket 301 to other positions in the container 10, thereby being beneficial to improving the grabbing efficiency.
According to the article grabbing method, the grabbing device 30 can calculate the depth data of the articles 40 in the container 10 according to the article weight information sent by the weighing device 20, and then the falling depth of the grab bucket 301 is controlled according to the depth data of the articles 40, so that the problems that the grab bucket 301 is empty or less in grabbing due to too little falling and the grab bucket is bottom-touching due to too deep falling are solved, on one hand, the article grabbing efficiency of the grab bucket 301 is improved, and on the other hand, the failure rate of the grabbing device 30 is reduced.
Referring to fig. 3, an embodiment of an article grabbing system includes: a container 10, a weighing device 20 and a gripping device 30.
A container 10 for containing a product 40, the container 10 having an opening at a top thereof, the product 40 being disposed in the container 10. For the same item 40, its weight is positively correlated to its height within the container 10, i.e., the heavier the item 40, the higher its height within the container 10, whereas the lighter the item 40, the lower its height within the container 10.
In some embodiments, the container 10 is a hopper of a garbage collection vehicle, the item 40 is garbage loaded in the hopper, and the grasping device 30 is a grab of a vehicle.
Specifically, the top of the feeding box 10 is provided with a top cover which can be opened and closed, when the top cover is opened, the garbage 40 can be directly poured into the feeding box 10 through the top opening, after the garbage 40 is poured into the feeding box 10, the garbage 40 spreads towards the edge under the action of gravity, and the weighing device 20 arranged at the bottom of the feeding box 10 can acquire the weight information of the garbage 40 in the feeding box 10 and send the weight information to the gripping device 30. The object 40 is solid waste or solid-liquid mixed waste.
Preferably, the object 40 is solid-liquid mixed garbage, and when the water content of the garbage reaches a certain degree, the object 40 can be spread and leveled in the container 10, and the object 40 can be repeatedly grabbed without adjusting the position of the grabbing device 30, so that the grabbing efficiency of the object 40 is improved.
In the present embodiment, the articles 40 are solid-liquid mixed kitchen waste.
Weighing device 20 locates the bottom of container 10, and weighing device 20 can real-time response acquire the weight information of article 40 that is located in container 10 to send the weight information who obtains to grabbing device 30, weighing device 20 is as prior art, and this is not repeated herein.
The gripping device 30 is arranged on the top of the container 10 and comprises a grab bucket 301, and the gripping device 30 is electrically connected with the weighing device 20.
The gripping device 30 may receive the weight information from the weighing device 20 and calculate the weight information using a formula to obtain depth data of the object 40 in the container 10. Specifically, the calculation formula of the depth of the article 40 is h ═ m/(ρ × s), where h is the depth data of the article 40, m is the weight data obtained by the weighing device 20, ρ is the density of the article 40, ρ can be set by a predetermined input, and s is the bottom area of the container.
On the other hand, the gripping device 30 can control the falling of the grab bucket 301 according to the calculated depth data of the object 40, the falling depth of the grab bucket 301 can just grip a proper amount of the object 40, and after the grab bucket 301 falls to a proper position, the gripping device 30 further controls the opening and closing of the grab bucket 301 to grip the object 40, so that one-time gripping operation is completed. In the process, the falling depth of the grab bucket 301 is proper, so that the grab bucket 301 cannot grab the object in a vacant mode or less grab due to insufficient falling depth, and cannot touch the object due to excessive falling depth, and the failure rate of the grabbing device is reduced while the grabbing efficiency of the object is improved.
In some embodiments, the gripping device 30 may also control the relative movement of the grapple 301 over the container 10.
Since the solid substance is contained in the object 40, when the solid content of the object 40 is high, the spreading performance of the object 40 is poor, and after the grabbing device 30 operates at the same position in the container 10 for a period of time, the height of the object 40 at the position in the container 10 is reduced, while the height of the object 40 at the rest positions is kept unchanged, so that the grabbing operation needs to be performed by moving the grab bucket 301 to other positions in the container 10, thereby being beneficial to improving the grabbing efficiency.
According to the article grabbing system, the grabbing device 30 can calculate the depth data of the articles 40 in the container 10 according to the article weight information sent by the weighing device 20, and then the falling depth of the grab bucket 301 is controlled according to the depth data of the articles 40, so that the problem that the grab bucket 301 is empty or less grabbed due to too little falling is avoided, and the problem that the grab bucket is bottom-contacted due to too deep falling is avoided, on one hand, the article grabbing efficiency of the grab bucket 301 is improved, and on the other hand, the failure rate of the grabbing device 30 is reduced.
Referring to fig. 4 and fig. 3, a capture control method according to an embodiment includes the following steps:
s210: weight information of the item is received.
The gripping control method is realized by the gripping device 30 of the article gripping system, which comprises the container 10 with the top opening, the weighing device 20 and the gripping device 30, wherein the container 10 with the top opening and the article 40 placed in the container 10 have positive correlation with the height of the same article 40 in the container 10, that is, the heavier the article 40 is, the higher the height of the article 40 in the container 10 is, and conversely, the lighter the article 40 is, the lower the height of the article 40 in the container 10 is. The weighing device 20 is disposed at the bottom of the container 10, the weighing device 20 can sense and acquire the weight information of the object 40 in the container 10 in real time, and send the acquired weight information to the gripping device 30, and the weighing device 20 is used as a prior art and is not described herein again. The gripper device 30 may receive weight information of the item 40 sent by the weighing device 20.
In some embodiments, the item grabbing system is a garbage collection truck, the container 10 is a hopper of the garbage collection truck, the item 40 is garbage loaded in the hopper, and the grabbing device 30 is a grab of a crane.
Specifically, the top of the feeding box 10 is provided with a top cover which can be opened and closed, when the top cover is opened, the garbage 40 can be directly poured into the feeding box 10 through the top opening, after the garbage 40 is poured into the feeding box 10, the garbage 40 spreads towards the edge under the action of gravity, and the weighing device 20 arranged at the bottom of the feeding box 10 can acquire the weight information of the garbage 40 in the feeding box 10 and send the weight information to the gripping device 30. The object 40 is solid waste or solid-liquid mixed waste.
Preferably, the object 40 is solid-liquid mixed garbage, and when the water content of the garbage reaches a certain degree, the object 40 can be spread and leveled in the container 10, and the object 40 can be repeatedly grabbed without adjusting the position of the grabbing device 30, so that the grabbing efficiency of the object 40 is improved.
In the present embodiment, the articles 40 are solid-liquid mixed kitchen waste.
S230: depth data for the item is calculated from the weight information.
After receiving the weight information sent by the weighing device 20, the grasping device 30 calculates according to a formula to obtain depth data of the object 40.
Specifically, the depth of the article 40 is calculated by the formula h ═ m/(ρ × s), where h is the depth data of the article 40, m is the weight data acquired and transmitted by the weighing device 20, ρ is the density of the article 40, ρ can be set by pre-input, and s is the bottom area of the container.
S250: and controlling the falling depth of the grab bucket according to the depth data, and controlling the grab bucket to grab the articles.
The grabbing device 30 controls the grab bucket 301 to fall according to the calculated depth data, the falling depth of the grab bucket 301 can grab a proper amount of articles 40, and after the grab bucket 301 falls to a proper position, the grabbing device 30 further controls the opening and closing of the grab bucket 301 to grab the articles 40, so that one-time grabbing operation is completed. In the process, the falling depth of the grab bucket 301 is proper, so that the grab bucket 301 cannot grab the object in a vacant mode or less grab due to insufficient falling depth, and cannot touch the object due to excessive falling depth, and the failure rate of the grabbing device is reduced while the grabbing efficiency of the object is improved.
In some embodiments, referring to fig. 5, after step S230 and before step S250, step S240 is further included.
Step S240: the grab bucket is controlled to move relatively above the container.
Since the solid substance is contained in the object 40, when the solid content of the object 40 is high, the spreading performance of the object 40 is poor, and after the grabbing device 30 operates at the same position in the container 10 for a period of time, the height of the object 40 at the position in the container 10 is reduced, while the height of the object 40 at the rest positions is kept unchanged, so that the grabbing operation needs to be performed by moving the grab bucket 301 to other positions in the container 10, thereby being beneficial to improving the grabbing efficiency.
The grabbing control method comprises the steps of receiving the weight information of the article 40 and calculating the depth data of the article 40 according to the weight information of the article 40, and then controlling the falling depth of the grab bucket 301 according to the depth data of the article 40, so that the problems that the grab bucket 301 is empty or less grabs due to too little falling and the grab bucket 301 is bottom-out due to too deep falling are avoided, on one hand, the efficiency of grabbing the article by the grab bucket 301 is improved, and on the other hand, the fault rate of the grabbing device 30 is reduced.
Referring to fig. 6, a grabbing apparatus according to an embodiment includes: a receiving module 310, a calculating module 320, a control module 330, and a grabbing module 340.
The receiving module 310 is used for receiving the weight information of the object 40 placed in the container 10 sent by the weighing device 20.
Specifically, the above-mentioned gripping device exists as a link of an article gripping system, which comprises three parts, namely a container 10, a weighing device 20 and a gripping device 30, wherein the top of the container 10 is open, an article 40 is placed in the container 10, and the weight of the same article 40 is positively correlated with the height of the same article in the container 10, namely, the heavier the weight of the article 40 is, the higher the height of the article in the container 10 is, and conversely, the lighter the weight of the article 40 is, the lower the height of the article in the container 10 is. The weighing device 20 is disposed at the bottom of the container 10, the weighing device 20 can sense and acquire the weight information of the object 40 in the container 10 in real time, and send the acquired weight information to the gripping device 30, and the weighing device 20 is used as a prior art and is not described herein again.
In some embodiments, the item grabbing system is a garbage collection truck, the container 10 is a hopper of the garbage collection truck, the item 40 is garbage loaded in the hopper, and the grabbing device 30 is a grab of a crane.
Specifically, the top of the feeding box 10 is provided with a top cover which can be opened and closed, when the top cover is opened, the garbage 40 can be directly poured into the feeding box 10 through the top opening, after the garbage 40 is poured into the feeding box 10, the garbage 40 spreads towards the edge under the action of gravity, and the weighing device 20 arranged at the bottom of the feeding box 10 can acquire the weight information of the garbage 40 in the feeding box 10 and send the weight information to the gripping device 30. The object 40 is solid waste or solid-liquid mixed waste.
Preferably, the object 40 is solid-liquid mixed garbage, and when the water content of the garbage reaches a certain degree, the object 40 can be spread and leveled in the container 10, and the object 40 can be repeatedly grabbed without adjusting the position of the grabbing device 30, so that the grabbing efficiency of the object 40 is improved.
In the present embodiment, the articles 40 are solid-liquid mixed kitchen waste.
The calculating module 320 may calculate the depth data of the object 40 in the container 10 according to the weight information, and after the calculating module 320 receives the weight information of the object 40 sent by the weighing device 20, the calculating module may calculate according to a formula to obtain the depth data of the object 40.
Specifically, the depth of the article 40 is calculated by the formula h ═ m/(ρ × s), where h is the depth data of the article 40, m is the weight data obtained by the weighing device 20, ρ is the density of the article 40, ρ can be set by pre-input, and s is the bottom area of the container.
The control module 330 can control the falling depth of the grab bucket 301 according to the depth data calculated by the calculation module 320, so that the falling depth of the grab bucket 301 can just grab a proper amount of articles 40, therefore, the grab bucket 301 cannot grab the articles in a vacant way or less due to insufficient falling depth, and cannot touch the bottom due to excessive falling depth, thereby improving the efficiency of grabbing the articles and reducing the failure rate of the grabbing device.
In some embodiments, the control module 330 may also control the relative movement of the grapple 301 over the container 10. Because the articles 40 contain solid substances, when the solid content of the articles 40 is high, the articles 40 cannot be spread and leveled, after the grabbing device 30 operates at the same position in the container 10 for a period of time, the height of the articles 40 at the position in the container 10 will decrease, while the heights of the articles 40 at other positions remain unchanged, so that the grabbing operation needs to be performed by moving the grab bucket 301 to other positions in the container 10, which is beneficial to improving the grabbing efficiency.
And the grabbing module 340 is used for grabbing the articles 40, wherein the grabbing module comprises a grab bucket 301, the grab bucket 301 is arranged above the container 10, and after the grabbing module 340 controls the grab bucket 301 to fall to a proper position, the opening and closing of the grab bucket 301 are further controlled, the articles 40 are grabbed, and therefore grabbing operation is completed.
The grabbing device comprises a receiving module 310, a calculating module 320, a control module 330 and a grabbing module 340, wherein the receiving module 310 can receive weight information of an article 10, the calculating module 320 can calculate depth data of the article 10 in the container 10 according to the weight information of the article 10, and the control module 330 can control the falling depth of the grab bucket 301 according to the depth data of the article 10, so that the problem that the grab bucket 301 is empty or lightly grabbed due to too little falling and the problem that the grab bucket 301 is bottom-touched due to too deep falling are avoided, on one hand, the efficiency of the grab bucket 301 grabbing the article is improved, and on the other hand, the failure rate of the grabbing device is reduced.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An article grasping method, characterized by comprising the steps of:
the weighing device acquires weight information of an article and sends the weight information to the gripping device, wherein the article is placed in the container;
the grabbing device calculates the depth data of the object according to the weight information;
the grabbing device controls the falling depth of the grab bucket according to the depth data and controls the grab bucket to grab the articles.
2. The article grasping method according to claim 1, further comprising the step of controlling the relative movement of the grasping bucket over the container prior to the step of grasping the article.
3. The item grabbing method of claim 2, wherein the container is a feeding bin of a garbage collection vehicle, and the item is garbage.
4. An article grasping system, comprising:
a container for holding an item;
the weighing device is arranged at the bottom of the container and used for acquiring the weight information of the article;
the grabbing device is arranged at the top of the container and electrically connected with the weighing device, the grabbing device comprises a grab bucket, the grabbing device can calculate the depth data of the object according to the weight information of the object, control the falling depth of the grab bucket according to the depth data, and control the grab bucket to grab the object.
5. The article handling system of claim 4, wherein the grapple is relatively movable over the container.
6. The article grasping system according to claim 5, wherein the container is a hopper of a garbage collection vehicle and the article is garbage.
7. A grabbing control method is characterized by comprising the following steps:
receiving weight information of an article, wherein the article is placed in a container, and the weight information is obtained by a weighing device arranged below the container;
calculating depth data of the article according to the weight information;
and controlling the falling depth of the grab bucket and controlling the grab bucket to grab the article according to the depth data, wherein the grab bucket is arranged above the container.
8. The grip control method of claim 7, wherein said step of gripping the article is followed by the step of controlling relative movement of the grapple over the container.
9. The grip control method according to claim 7, wherein the container is a hopper of a garbage collection vehicle, and the article is garbage.
10. A grasping device, comprising:
the receiving module is used for receiving weight information of an article, wherein the article is placed in a container, the weight information is obtained by a weighing device, and the weighing device is arranged below the container;
a calculation module that can calculate depth data of the item from the weight information;
the control module can control the falling depth of the grab bucket according to the depth data; and
and the grabbing module is used for grabbing the object, wherein the grabbing module comprises a grab bucket, and the grab bucket is arranged above the container.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011023211.9A CN112158586A (en) | 2020-09-25 | 2020-09-25 | Article gripping method, article gripping system, gripping control method, and gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011023211.9A CN112158586A (en) | 2020-09-25 | 2020-09-25 | Article gripping method, article gripping system, gripping control method, and gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112158586A true CN112158586A (en) | 2021-01-01 |
Family
ID=73863851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011023211.9A Pending CN112158586A (en) | 2020-09-25 | 2020-09-25 | Article gripping method, article gripping system, gripping control method, and gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112158586A (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0637208U (en) * | 1992-10-27 | 1994-05-17 | 富士車輌株式会社 | Garbage collection box discharge device |
| CN201780494U (en) * | 2010-07-21 | 2011-03-30 | 北京起重运输机械设计研究院 | Control system for waste grab crane |
| CN102642721A (en) * | 2012-04-17 | 2012-08-22 | 三一集团有限公司 | Reclaiming control method of bucket-wheel reclaimer and bucket-wheel reclaimer |
| KR101527924B1 (en) * | 2014-10-20 | 2015-06-10 | 동병길 | Construction waste disposal system |
| CN206692221U (en) * | 2017-01-22 | 2017-12-01 | 长沙有色冶金设计研究院有限公司 | A kind of transporter grab crane control system |
| CN207746126U (en) * | 2017-12-15 | 2018-08-21 | 苏州奇思汇智能科技有限公司 | A kind of Automated Sorting System |
| CN108584467A (en) * | 2018-05-25 | 2018-09-28 | 金陵科技学院 | A kind of unattended mining area loading goods system |
| CN109718945A (en) * | 2018-12-29 | 2019-05-07 | 中国神华能源股份有限公司 | Hm coal preparation plant intelligently adds Jie's system and method |
| CN109733988A (en) * | 2018-12-27 | 2019-05-10 | 中冶京诚工程技术有限公司 | Intelligence grabs slag method and apparatus |
| CN110466924A (en) * | 2019-08-27 | 2019-11-19 | 湖南海森格诺信息技术有限公司 | Rubbish automatic grasping system and its method |
| CN110510524A (en) * | 2019-09-05 | 2019-11-29 | 北京坚构创新科技有限公司 | A kind of material grab bucket intelligence control system |
| CN110766261A (en) * | 2019-06-13 | 2020-02-07 | 深圳市思拓通信系统有限公司 | Garbage clearing management method, system, storage medium and control terminal |
| CN210084125U (en) * | 2019-05-22 | 2020-02-18 | 惠明 | Intelligent kitchen waste collecting and transporting system |
| CN210876335U (en) * | 2019-08-22 | 2020-06-30 | 广州市龙图智能科技有限公司 | Sorting and conveying system |
-
2020
- 2020-09-25 CN CN202011023211.9A patent/CN112158586A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0637208U (en) * | 1992-10-27 | 1994-05-17 | 富士車輌株式会社 | Garbage collection box discharge device |
| CN201780494U (en) * | 2010-07-21 | 2011-03-30 | 北京起重运输机械设计研究院 | Control system for waste grab crane |
| CN102642721A (en) * | 2012-04-17 | 2012-08-22 | 三一集团有限公司 | Reclaiming control method of bucket-wheel reclaimer and bucket-wheel reclaimer |
| KR101527924B1 (en) * | 2014-10-20 | 2015-06-10 | 동병길 | Construction waste disposal system |
| CN206692221U (en) * | 2017-01-22 | 2017-12-01 | 长沙有色冶金设计研究院有限公司 | A kind of transporter grab crane control system |
| CN207746126U (en) * | 2017-12-15 | 2018-08-21 | 苏州奇思汇智能科技有限公司 | A kind of Automated Sorting System |
| CN108584467A (en) * | 2018-05-25 | 2018-09-28 | 金陵科技学院 | A kind of unattended mining area loading goods system |
| CN109733988A (en) * | 2018-12-27 | 2019-05-10 | 中冶京诚工程技术有限公司 | Intelligence grabs slag method and apparatus |
| CN109718945A (en) * | 2018-12-29 | 2019-05-07 | 中国神华能源股份有限公司 | Hm coal preparation plant intelligently adds Jie's system and method |
| CN210084125U (en) * | 2019-05-22 | 2020-02-18 | 惠明 | Intelligent kitchen waste collecting and transporting system |
| CN110766261A (en) * | 2019-06-13 | 2020-02-07 | 深圳市思拓通信系统有限公司 | Garbage clearing management method, system, storage medium and control terminal |
| CN210876335U (en) * | 2019-08-22 | 2020-06-30 | 广州市龙图智能科技有限公司 | Sorting and conveying system |
| CN110466924A (en) * | 2019-08-27 | 2019-11-19 | 湖南海森格诺信息技术有限公司 | Rubbish automatic grasping system and its method |
| CN110510524A (en) * | 2019-09-05 | 2019-11-29 | 北京坚构创新科技有限公司 | A kind of material grab bucket intelligence control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210456027U (en) | Intelligent classification system of kitchen garbage of community | |
| CN106827629B (en) | A kind of pretreatment type rejects the pop can packaging method of iron pop can in discarded pop can | |
| CN110550346A (en) | Garbage classification system based on Internet of things | |
| CN209023287U (en) | The batch turning of powder lot in bags automatic bag-opening and empty bag processing unit | |
| CN112158586A (en) | Article gripping method, article gripping system, gripping control method, and gripping device | |
| CN116281283A (en) | Intelligent ton bag feeding system | |
| CN108750442A (en) | Classification is weighed dustbin | |
| CN113979159A (en) | Full-automatic loading system | |
| CN210853247U (en) | Integrated treatment device for ton bagged powdery materials | |
| CN202022530U (en) | Fly ash disposal conveyor belt device | |
| CN208666115U (en) | Classification weighing dustbin | |
| CN211168732U (en) | Device for preventing blanking and cutoff of stock bin | |
| CN207917708U (en) | Weighing type underground garbage bin | |
| CN209988462U (en) | Plastic bottle collection box weighs | |
| CN210150023U (en) | Kitchen waste collection device | |
| CN104843243B (en) | Sorting method and device for express packages | |
| CN207016183U (en) | A kind of quick weighing induction system of solid particulate matter | |
| CN206654452U (en) | Tool weighs the automatic feeding of function | |
| CN210709472U (en) | Quantitative discharging sorting scale for walnut kernels | |
| CN209480165U (en) | One kind being used for black sesame paste sack-filling device | |
| CN208530930U (en) | A kind of Electromagnetically vibrating granular food quantitative racking machine | |
| CN208326547U (en) | A kind of dust-proof connecting device of material granting | |
| CN106915109B (en) | A kind of pretreatment type rejects the pop can packing apparatus of iron pop can in discarded pop can | |
| CN207016182U (en) | A kind of weighing induction system for solid particulate matter | |
| CN218457174U (en) | Octopus cake processing weighing type grader |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210101 |
|
| RJ01 | Rejection of invention patent application after publication |