CN114455146A - Material subpackaging unmanned system and control method thereof - Google Patents
Material subpackaging unmanned system and control method thereof Download PDFInfo
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- CN114455146A CN114455146A CN202210209141.9A CN202210209141A CN114455146A CN 114455146 A CN114455146 A CN 114455146A CN 202210209141 A CN202210209141 A CN 202210209141A CN 114455146 A CN114455146 A CN 114455146A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000005303 weighing Methods 0.000 claims description 31
- 230000032258 transport Effects 0.000 claims description 24
- 230000000007 visual effect Effects 0.000 claims description 19
- 238000007599 discharging Methods 0.000 claims description 6
- 238000004806 packaging method and process Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 238000009826 distribution Methods 0.000 description 7
- 230000006872 improvement Effects 0.000 description 6
- 230000007306 turnover Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/24—Feeding, e.g. conveying, single articles by endless belts or chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B37/00—Supplying or feeding fluent-solid, plastic, or liquid material, or loose masses of small articles, to be packaged
- B65B37/16—Separating measured quantities from supply
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B37/00—Supplying or feeding fluent-solid, plastic, or liquid material, or loose masses of small articles, to be packaged
- B65B37/16—Separating measured quantities from supply
- B65B37/18—Separating measured quantities from supply by weighing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/20—Applications of counting devices for controlling the feed of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
- B65B65/003—Packaging lines, e.g. general layout
Abstract
The invention provides a material subpackaging unmanned system in the technical field of material subpackaging, and further relates to a control method of the material subpackaging unmanned system. The vision of unmanned system of material partial shipment tear pile up neatly machine people I (4) open and arrange near material loading end transfer chain (22) one end, material loading end transfer chain (22) other end is close to material unloading end transfer chain (11) one end, tilting mechanism (19) side sets up loopback transfer chain (20), lifting machine (8) are close to material unloading end transfer chain (11) one end, material unloading end transfer chain (11) other end sets up the vision and tears pile up neatly machine people II (5) open. The material subpackaging unmanned system and the control method have reliable control, realize high-efficiency and high-quality unmanned subpackaging of the materials, replace the traditional manual or manual auxiliary subpackaging and solve the problems of low manual efficiency and difficult control of subpackaging quality parameters.
Description
Technical Field
The invention belongs to the technical field of material subpackaging, and particularly relates to a material subpackaging unmanned system and a control method of the material subpackaging unmanned system.
Background
In the prior art, the material split charging production comprises a plurality of processes, and most of the materials are manually operated to complete split charging operation. Artifical partial shipment material efficiency is lower, and the difficult stable partial shipment process quality that guarantees of same workman, and there is the difference to the accuse of partial shipment process quality different workman, and has the condition that a great deal of technology is irregular, influences the whole quality of partial shipment, and these existential problems make artifical partial shipment material can't adapt to modern industry's quality control and control among the prior art, are difficult to satisfy the urgent demand to efficiency and production standard among the modern industry.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the material subpackaging unmanned system control method is simple in steps, realizes the material subpackaging technology based on machine vision, robot technology and electromechanical control, realizes high-efficiency and high-quality unmanned subpackaging of materials, replaces traditional manual or manual auxiliary subpackaging, and solves the problems of low manual efficiency and difficulty in subpackaging quality parameter control.
To solve the technical problems, the invention adopts the technical scheme that:
the invention relates to a control method of a material subpackaging unmanned system, which comprises the following control steps:
s1, receiving an AGV arrival signal by a visual unstacking and stacking robot I, grabbing a transfer box body according to visual positioning information, grabbing the transfer box body, and placing the transfer box body to a material loading end conveying line;
s2, the visual unstacking and stacking robot II grabs an empty subpackaging box body and places the empty subpackaging box body on a material subpackaging empty box conveying line, the material subpackaging empty box conveying line conveys the empty subpackaging box body to a material distributing conveying belt position close to a lifting machine, and materials to be subpackaged enter the empty subpackaging box body from the lifting machine through the material distributing conveying belt;
s3, the cylinder pushing mechanism pushes the subpackage box body filled with the materials to a material discharging end conveying line, the material discharging end conveying line conveys the subpackage box body filled with the materials to move towards the direction close to the visual pile-up removing robot II, and the visual pile-up removing robot II grabs the subpackage box body and places the subpackage box body at a pile-up position of the subpackage material box body.
The branch material conveyer belt of lifting machine include the belt line of weighing, when treating the partial shipment material according to the partial shipment of weight parameter standard, the baffle I of the lifting machine frame of lifting machine is opened, baffle II is closed, treats that the partial shipment material gets into the belt line of weighing, after the material reaches the weight sensor setting threshold value of belt line of weighing, stop the material and carry, the belt line of weighing carries the material partial shipment box on the empty case transfer chain of material partial shipment.
The branch material conveyer belt of lifting machine include the count belt line, when treating the partial shipment material according to quantity parameter standard partial shipment, baffle I of the lifting machine frame of lifting machine is closed, baffle II is opened, treats that the partial shipment material gets into the vibration dish, treat that the partial shipment material carries the count belt line afterwards on, the material reaches the count sensor of count belt line and sets up the threshold value after, stops the material and carries, the count belt line carries the material in the partial shipment box on the empty case transfer chain of material partial shipment.
Before the vision pile up neatly machine people I receives AGV1 and arrives the signal, AGV1 will be equipped with the transportation box that treats the partial shipment material and transport the material and set for the position, transport the box and carry tilting mechanism by material loading end transfer chain, the lifting machine is poured into to the material that tilting mechanism will transport in the box, then carry empty transportation box and loopback the transfer chain, vision pile up neatly machine people I snatchs empty transportation box again and places and transport empty case pile up neatly position.
After the vision pile up neatly machine people I receives the AGV and arrives the signal, trigger the industry camera acquisition image that the vision pile up neatly machine people I was torn open to the vision, the vision location and the two-dimensional code discernment of transport box are accomplished through vision software to the vision is torn pile up neatly machine people I is torn open to the vision, wherein the two-dimensional code contains material model information and partial shipment parameter standard information, the vision software is simultaneously with material model information, partial shipment parameter standard information transmission for PLC, opening and shutting of PLC control baffle I or baffle II.
The vision pile up neatly machine people II snatchs the partial shipment box and places partial shipment material box pile up neatly after, the partial shipment box that the partial shipment material will be equipped with to AGV transports the partial shipment material from partial shipment material box pile up neatly and sets for the workspace position.
The invention also relates to a material subpackaging unmanned system which is simple in structure, realizes the material subpackaging technology based on machine vision, robot technology and electromechanical control, realizes high-efficiency and high-quality unmanned subpackaging of materials, replaces the traditional manual or manual auxiliary subpackaging, and solves the problems of low manual efficiency and difficult control of subpackaging quality parameters.
Unmanned system of material partial shipment include AGV, the pile up neatly machine people is torn open to the vision I, the vision is torn pile up neatly machine people I and is close to material loading end transfer chain one end and arranges, the material loading end transfer chain other end is close to material unloading end transfer chain one end, set up tilting mechanism and lifting machine between material loading end transfer chain and the material unloading end transfer chain, the tilting mechanism side sets up and loopbacks the transfer chain, the lifting machine is close to material unloading end transfer chain one end, the material unloading end transfer chain other end sets up the vision and tears pile up neatly machine people II open.
Tilting mechanism set up to the material upset in the material box that can carry material loading end transfer chain and pour into the structure in the lifting machine, tilting mechanism sets up simultaneously to the empty structure of transporting the box and carrying the loopback transfer chain that can will fall the material.
The lifting machine comprises a lifting machine frame, a baffle I and a baffle II are arranged on the lifting machine frame, the side surface of the lifting machine frame, which is provided with the baffle I, is close to the weighing belt line, and a weighing sensor is arranged on the weighing belt line; the side face of the lifting machine frame, provided with the baffle II, is close to the counting belt line, a vibrating disc is arranged between the position close to the baffle II and the counting belt line, and a counting sensor is arranged on the counting belt line.
The vision pile up neatly machine people II is close to partial shipment material box pile up neatly position setting, the vision pile up neatly machine people II is close to partial shipment empty box pile up neatly position setting simultaneously.
By adopting the technical scheme of the invention, the following beneficial effects can be obtained:
the invention provides a material subpackaging unmanned system and a control method, and aims to provide a control system and a control method capable of realizing unmanned automatic control in the whole process, in particular to realize automatic and unmanned control on materials to be subpackaged, no matter the materials to be subpackaged are transferred, grabbed, fed, subpackaged and transported, so that the subpackaging efficiency is improved, the labor intensity of operators is reduced, and the subpackaging precision is reliably guaranteed. Therefore, the key point of the invention is that through the setting of the control system and the control method, each part is reliably matched, thereby completing the unmanned sub-packaging of the materials. Therefore, the improvement point of the present invention is not the improvement of individual components but the integrated design of the whole system. This is the key to the technical difficulty and inventive step of embodying the present invention. The unmanned material subpackaging system and the control method are reliable in control, realize the material subpackaging technology based on machine vision, robotics and electromechanical control, realize high-efficiency and high-quality unmanned subpackaging of materials, replace traditional manual or manual auxiliary subpackaging, and solve the problems of low manual efficiency and difficult control of subpackaging quality parameters.
Drawings
The contents of the description and the references in the drawings are briefly described as follows:
fig. 1 is a schematic structural diagram of a material subpackaging unmanned system according to the invention;
in the drawings, the reference numbers are respectively: 1. AGV; 2. a transfer box body; 3. feeding and setting positions; 4. a visual pile-up removing robot I; 5. a visual pile up neatly removing robot II; 6. a split charging box body; 7. a material distribution conveyor belt; 8. a hoist; 9. materials to be subpackaged; 10. a material split charging empty box conveying line; 11. a material blanking end conveying line; 12. subpackaging material box body stacking positions; 13. weighing the belt line; 14. a hoist frame; 15. a baffle plate I; 16. a baffle II; 17. counting the belt lines; 18. a vibrating pan; 19. a turnover mechanism; 20. returning to the conveying line; 21. subpackaging empty boxes to form stacking positions; 22. a material loading end conveying line; 23. and transferring empty boxes to stack positions.
Detailed Description
The following detailed description of the embodiments of the present invention, such as the shapes and structures of the components, the mutual positions and connection relations among the components, the functions and operation principles of the components, will be made by referring to the accompanying drawings and the description of the embodiments:
as shown in the attached figure 1, the invention relates to a control method of a material subpackaging unmanned system, which comprises the following control steps:
s1, receiving an arrival signal of an AGV1 by a visual unstacking robot I4, grabbing a transfer box body 2 according to visual positioning information, and placing the transfer box body 2 to a material loading end conveying line 22; s2, the visual palletizing robot II 5 grabs an empty subpackaging box body 6 and places the empty subpackaging box body 6 on a material subpackaging empty box conveying line 10, the material subpackaging empty box conveying line 10 conveys the empty subpackaging box body 6 to a position close to a material distributing conveying belt 7 of a lifting machine 8, and materials 9 to be subpackaged enter the empty subpackaging box body 6 from the lifting machine 8 through the material distributing conveying belt 7; s3, the cylinder pushing mechanism pushes the subpackage box body 6 filled with materials to the material discharging end conveying line 11, the material discharging end conveying line 11 conveys the subpackage box body 6 filled with the materials to move towards the direction close to the visual pile up removing robot II 5, and the visual pile up removing robot II 5 picks the subpackage box body 6 and places the subpackage box body pile up neatly position 12. The steps provide a brand new technical scheme aiming at the defects in the prior art. The invention aims to provide a control system and a control method capable of realizing unmanned automatic control in the whole process, in particular to realize automatic and unmanned control on materials to be subpackaged, such as transfer, grabbing, feeding, subpackaging and transportation of the materials to be subpackaged, so that the subpackaging efficiency is improved, the labor intensity of operators is reduced, and the subpackaging precision is reliably guaranteed. Therefore, the key point of the invention is that through the setting of the control system and the control method, each part is reliably matched, and the unmanned subpackaging of the materials is completed. Therefore, the improvement point of the present invention is not the improvement of individual components but the integrated design of the whole system. This is the key to the technical difficulty and inventive step of embodying the present invention. The unmanned system and the control method for material subpackaging are reliable in control, realize the material subpackaging technology based on machine vision, robotics and electromechanical control, realize high-efficiency and high-quality unmanned subpackaging of materials, replace traditional manual or manual auxiliary subpackaging, and solve the problems of low manual efficiency and difficult control of subpackaging quality parameters.
Material distribution conveyor belt 7 of lifting machine 8 including weighing belt line 13, when treating partial shipment material 9 according to the partial shipment of weight parameter standard, I15 of baffle of lifting machine frame 14 of lifting machine 8 is opened, baffle II 16 is closed, treats partial shipment material 9 and gets into weighing belt line 13, after the material reaches weighing belt line 13's weighing sensor set threshold value, stop the material and carry, weighing belt line 13 carries the material partial shipment box 6 on the empty case transfer chain 10 of material partial shipment. Above-mentioned step, when carrying out weight parameter standard partial shipment, baffle I is opened, the material gets into the belt line of weighing, after the material reached weighing sensor and sets up the threshold value, stop the material and carry, the belt line of weighing carries the material to snatch by vision pile up neatly machine people II 5 and places in the empty partial shipment box 6 on the empty case transfer chain 10 of material partial shipment, cylinder pushing mechanism promotes the partial shipment box 6 that will fill with the material to material unloading end transfer chain 11, material unloading end transfer chain 11 carries the partial shipment box 6 that fills with the material to being close to the removal of vision pile up neatly machine people II 5 direction, vision pile up neatly machine people II 5 snatch the partial shipment box 6 and place partial shipment box hack position 12. Therefore, the whole process is convenient and fast to control, the full-scale unmanned distribution is realized, and the unmanned distribution of the materials is conveniently and reliably completed.
Divide material conveyer belt 7 of lifting machine 8 include counting belt line 17, treat that partial shipment material 9 is when according to the partial shipment of quantity parameter standard, baffle I15 of lifting machine frame 14 of lifting machine 8 is closed, baffle II 16 is opened, treat that partial shipment material 9 gets into vibration dish 18, treat that partial shipment material 9 carries on counting belt line 17 afterwards, after the material reached counting belt line 17's count sensor setting threshold value, stop the material and carry, counting belt line 17 carries the material in the partial shipment box 6 on the empty case transfer chain 10 of material partial shipment. Above-mentioned step, during weight parameter standard partial shipment, baffle I is opened, the material gets into the belt line of weighing, after the material reaches weighing sensor and sets up the threshold value, stop the material and carry, the belt line of weighing will carry the material to snatch the empty partial shipment box 6 of placing on material partial shipment empty case transfer chain 10 by vision pile up neatly machine people II 5 in, cylinder pushing mechanism will fill with the partial shipment box 6 of material and promote material unloading end transfer chain 11, material unloading end transfer chain 11 carries the partial shipment box 6 of filling with the material and removes to being close to vision pile up neatly machine people II 5 directions, vision pile up neatly machine people II 5 snatch partial shipment box 6 and place partial shipment material box pile up neatly position 12, however the partial shipment box can transport again. Therefore, the whole process is convenient and fast to control, the full-scale unmanned distribution is realized, and the unmanned distribution of the materials is conveniently and reliably completed.
Before I4 receipt AGV1 arrival signal of vision pile up neatly machine people tears, AGV1 will be equipped with the transportation box 2 of treating the partial shipment material and transport the material and set for position 3, transport box 2 and carry tilting mechanism 19 by material loading end transfer chain 22, tilting mechanism 19 will transport the material in the box 2 and pour into lifting machine 8, then carry empty transportation box 2 and loopback the transfer chain 20, I4 snatchs empty transportation box 2 again and places and transport empty box pile up neatly position 23. Pile up neatly machine people is torn open to vision I4 receive AGV1 and arrive the signal after, trigger the industry camera collection image that the pile up neatly machine people is torn open to vision I4, the vision location and the two-dimensional code discernment of transport box 2 are accomplished through vision software to the pile up neatly machine people is torn open to vision I4, wherein the two-dimensional code contains material model information and partial shipment parameter standard information, vision software is simultaneously with material model information, partial shipment parameter standard information sends for PLC, PLC control baffle I15 or II 16's of baffle open and shut.
The vision pile up neatly machine people II 5 snatch partial shipment box 6 and place partial shipment thing feed box pile position 12 after, AGV1 transports the partial shipment box 6 that is equipped with the partial shipment material from partial shipment thing feed box pile position 12 to the partial shipment material and sets for the workspace position.
The invention also relates to a material subpackaging unmanned system which is simple in structure, realizes the material subpackaging technology based on machine vision, robot technology and electromechanical control, realizes high-efficiency and high-quality unmanned subpackaging of materials, replaces the traditional manual or manual auxiliary subpackaging, and solves the problems of low manual efficiency and difficult control of subpackaging quality parameters.
Unmanned system of material partial shipment include AGV1, pile up neatly machine people I4 is torn in vision, pile up neatly machine people I4 is torn to vision and is close to material loading end transfer chain 22 one end and arranges, the material loading end transfer chain 22 other end is close to material unloading end transfer chain 11 one end, set up tilting mechanism 19 and lifting machine 8 between material loading end transfer chain 22 and the material unloading end transfer chain 11, tilting mechanism 19 side sets up and loopbacks transfer chain 20, lifting machine 8 is close to material unloading end transfer chain 11 one end, the material unloading end transfer chain 11 other end sets up vision and tears pile up neatly machine people II 5 open.
Tilting mechanism 19 set up to the structure in can pouring the material upset in the material box 2 that material loading end transfer chain 22 carried into lifting machine 8, tilting mechanism 19 sets up simultaneously to the structure that can carry the empty transport box 2 of pouring the material to loopback transfer chain 20.
The lifting machine 8 comprises a lifting machine frame 14, a baffle I15 and a baffle II 16 are arranged on the lifting machine frame 14, the side face, provided with the baffle I15, of the lifting machine frame 8 is close to the weighing belt line 13, and a weighing sensor is arranged on the weighing belt line 13; the side face, provided with the baffle II 16, of the elevator frame 14 is close to the counting belt line 17, a vibrating disc 18 is arranged between the position close to the baffle II 16 and the counting belt line 17, and a counting sensor is arranged on the counting belt line 17.
The vision pile up neatly machine people II 5 is torn open and is piled up neatly position 12 settings near partial shipment material box, vision pile up neatly machine people II 5 is torn open simultaneously and is piled up neatly position 21 settings near partial shipment empty box.
As shown in FIG. 1, a specific embodiment of the control system of the present invention is illustrated as follows:
(1) the AGV transports the transfer box body filled with the materials to be subpackaged to a feeding set position. (2) Add the vision of holding industry camera and tear pile up neatly machine people I and receive AGV arrival signal, trigger industry camera and gather the image, accomplish the vision location and the two-dimensional code discernment of box through vision software, wherein the two-dimensional code contains material model information and partial shipment parameter standard information. (3) The visual unstacking and stacking robot I finishes grabbing of the transfer box body according to the visual positioning information and places the transfer box body on a material feeding end conveying line; the vision software sends the material model information and the subpackaging parameter standard information to the PLC end, and the PLC controls the opening and closing of the baffle. (4) The turnover mechanism is conveyed by a material feeding end conveying line to the transfer box body filled with the materials to be subpackaged, the turnover machine enables the materials in the transfer box body to be poured into the elevator, and then the empty transfer box body is conveyed to the loopback conveying line. (5) And the cylinder push rod mechanism at the back conveying line acts to push the empty transfer box body to the empty back conveying line. (6) Loopback the transfer chain and carry empty transportation box and set for the position, pile up neatly machine people is torn open to vision I snatchs empty transportation box and carries out the pile up neatly operation. (7) And (5) the materials to be subpackaged are conveyed to a material distribution conveying belt through a lifter to be subpackaged by the materials with the standard weight parameter or the standard quantity parameter. When the weight parameter standard is subpackaged, the baffle I is opened, the material enters the weighing belt line, the material conveying is stopped after the material reaches the weight sensor setting threshold value, and the weighing belt line conveys the material into the subpackaging box body with holes; during quantity parameter standard partial shipment, baffle I is closed, and baffle II is opened, and the material gets into the vibration dish, makes more even transport of material on the counting belt line, and the material stops the material to carry after reaching the counting sensor and sets up the threshold value, and empty partial shipment box is carried with the material to the counting belt line. (8) The AGV transports the subpackage box body filled with the subpackage materials to a set working area position from the subpackage material box body stacking position.
The invention provides a material subpackaging unmanned system and a control method, and aims to provide a control system and a control method capable of realizing unmanned automatic control in the whole process, in particular to realize automatic and unmanned control on materials to be subpackaged, no matter the materials to be subpackaged are transferred, grabbed, fed, subpackaged and transported, so that the subpackaging efficiency is improved, the labor intensity of operators is reduced, and the subpackaging precision is reliably guaranteed. Therefore, the key point of the invention is that through the setting of the control system and the control method, each part is reliably matched, thereby completing the unmanned sub-packaging of the materials. Therefore, the improvement point of the present invention is not the improvement of individual components but the integrated design of the whole system. This is the key to the technical difficulty and inventive step of embodying the present invention. The unmanned material subpackaging system and the control method are reliable in control, realize the material subpackaging technology based on machine vision, robotics and electromechanical control, realize high-efficiency and high-quality unmanned subpackaging of materials, replace traditional manual or manual auxiliary subpackaging, and solve the problems of low manual efficiency and difficult control of subpackaging quality parameters.
The present invention has been described in connection with the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, changes and equivalents of the embodiments of the invention, and its application to other applications without departing from the spirit and scope of the invention.
Claims (10)
1. A control method of a material subpackaging unmanned system is characterized by comprising the following steps: the control method of the material subpackaging unmanned system comprises the following control steps:
s1, a visual unstacking and stacking robot I (4) receives an arrival signal of an AGV (1), grabs a transfer box body (2) according to visual positioning information, and places the transfer box body (2) to a material loading end conveying line (22);
s2, the visual palletizing robot II (5) grabs an empty subpackaging box body (6) and places the empty subpackaging box body on a material subpackaging empty box conveying line (10), the material subpackaging empty box conveying line (10) conveys the empty subpackaging box body (6) to a position close to a material distributing conveying belt (7) of a lifting machine (8), and materials (9) to be subpackaged enter the empty subpackaging box body (6) from the lifting machine (8) through the material distributing conveying belt (7);
s3, the cylinder pushing mechanism pushes the subpackage box body (6) filled with the materials to a material discharging end conveying line (11), the material discharging end conveying line (11) conveys the subpackage box body (6) filled with the materials to move towards the direction close to the vision pile up neatly removing robot II (5), and the vision pile up neatly removing robot II (5) snatchs the subpackage box body (6) and places the subpackage box body pile up neatly position (12).
2. The material subpackaging unmanned system control method according to claim 1, characterized in that: divide material conveyer belt (7) of lifting machine (8) including weighing belt line (13), when treating partial shipment material (9) according to weight parameter standard partial shipment, baffle I (15) of lifting machine frame (14) of lifting machine (8) are opened, baffle II (16) are closed, treat partial shipment material (9) and get into weighing belt line (13), after the weight sensor that the material reached weighing belt line (13) sets up the threshold value, stop the material and carry, weighing belt line (13) carry the material partial shipment box (6) on empty case transfer chain (10) of material partial shipment.
3. The material subpackaging unmanned system control method according to claim 1, characterized in that: divide material conveyer belt (7) of lifting machine (8) including count belt line (17), treat that partial shipment material (9) when according to quantity parameter standard partial shipment, baffle I (15) of lifting machine frame (14) of lifting machine (8) are closed, baffle II (16) are opened, treat that partial shipment material (9) get into vibration dish (18), treat that partial shipment material (9) are carried on count belt line (17) afterwards, the material reaches behind the count sensor setting threshold value of count belt line (17), stop the material and carry, in partial shipment box (6) on material partial shipment empty case transfer chain (10) are carried with the material to count belt line (17).
4. The material subpackaging unmanned system control method according to claim 2 or 3, characterized in that: visual pile up neatly machine people I (4) are torn open and receive AGV (1) before arriving at the signal, AGV (1) will be equipped with transport box (2) of waiting to divide the partial shipment material and transport material settlement position (3), transport box (2) are carried tilting mechanism (19) by material loading end transfer chain (22), lifting machine (8) are poured into to the material that tilting mechanism (19) will be transported in box (2), then transport box (2) with the hole and carry and loopback transfer chain (20), visual pile up neatly machine people I (4) snatch empty transport box (2) again and place and transport empty case pile up neatly position (23).
5. The material sub-packaging unmanned system control method according to claim 4, characterized in that: after I (4) receipt AGV (1) arrival signal of pile up neatly machine people is torn open to vision, trigger the industry camera acquisition image that I (4) of pile up neatly machine people was torn open to vision, I (4) of pile up neatly machine people are torn open to vision accomplishes vision location and the two-dimensional code discernment of transporting box (2) through vision software, wherein the two-dimensional code contains material model information and partial shipment parameter standard information, vision software is simultaneously with material model information, partial shipment parameter standard information sends for PLC, opening and shutting of PLC control baffle I (15) or baffle II (16).
6. The material subpackaging unmanned system control method according to claim 2 or 3, characterized in that: the vision pile up neatly machine people II (5) snatch partial shipment box (6) and place partial shipment material box pile up neatly (12) after, partial shipment box (6) that partial shipment material will be equipped with in AGV (1) transports partial shipment material from partial shipment material box pile up neatly (12) and sets for the workspace position.
7. The utility model provides a material partial shipment unmanned system which characterized in that: including AGV (1), pile up neatly machine people I (4) are torn open to vision and are close to material loading end transfer chain (22) one end and arrange, material loading end transfer chain (22) other end is close to material unloading end transfer chain (11) one end, set up tilting mechanism (19) and lifting machine (8) between material loading end transfer chain (22) and material unloading end transfer chain (11), tilting mechanism (19) side sets up and loops back transfer chain (20), lifting machine (8) are close to material unloading end transfer chain (11) one end, material unloading end transfer chain (11) other end sets up vision and tears pile up neatly machine people II (5).
8. The material dispensing unmanned system of claim 7, wherein: tilting mechanism (19) set up to the material upset in the material box (2) that can carry material loading end transfer chain (22) and pour into the structure in lifting machine (8), tilting mechanism (19) set up simultaneously to carry the empty structure of returning transfer chain (20) of transporting box (2) that can will fall the material.
9. The material dispensing unmanned system of claim 7 or 8, wherein: the lifting machine (8) comprises a lifting machine frame (14), a baffle I (15) and a baffle II (16) are arranged on the lifting machine frame (14), the side face, provided with the baffle I (15), of the lifting machine frame (8) is close to the weighing belt line (13), and a weighing sensor is arranged on the weighing belt line (13); the side face of the elevator rack (14) provided with the baffle II (16) is close to the counting belt line (17), a vibrating disc (18) is arranged between the position close to the baffle II (16) and the counting belt line (17), and a counting sensor is arranged on the counting belt line (17).
10. The material dispensing unmanned system of claim 7 or 8, wherein: the vision pile up neatly machine people II (5) are close to partial shipment material box pile up neatly position (12) setting, vision pile up neatly machine people II (5) are close to partial shipment empty box pile up neatly position (21) setting simultaneously.
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