CN204799579U - Developments letter sorting and transport automatic system - Google Patents
Developments letter sorting and transport automatic system Download PDFInfo
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- CN204799579U CN204799579U CN201520468393.9U CN201520468393U CN204799579U CN 204799579 U CN204799579 U CN 204799579U CN 201520468393 U CN201520468393 U CN 201520468393U CN 204799579 U CN204799579 U CN 204799579U
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Abstract
The utility model discloses a developments letter sorting and transport automatic system, it mainly comprises joint robot, retinue device, industry vision, photoelectric sensor and control system, anchor clamps are installed to joint robot's end, and the retinue device arranges with commodity circulation line physical contact, and industry vision and photoelectric sensor arrange in the side of thing streamlined body and towards the product of flow on the thing streamlined body, retinue device, industry vision and photoelectric sensor pass through control system and realize the communication with joint robot. Adopt the utility model discloses create a developments letter sorting and transport automatic system can make the robot accurately snatch material and categorised on operating assembly line, and is high -efficient stable.
Description
Technical field
The utility model relates to a kind of automated system and relevant apparatus, and specifically a kind of logistics sorting and carrying Department of Automation unify device, is that a kind of Department of Automation for realizing dynamically sorting and carrying on streamline unifies device furtherly.
Background technology
Along with the universal of industrial 4.0 concepts and many production enterprises are to the attention of automated system, robot for people concept more and more accept by masses.Robot is a system engineering for people, relates to the technical fields such as machinery, electronics, optics and graphics.Machine heat is not only to save labour for people, is more embodied in and raises the efficiency, and ensures the digitlization that production process controls and standardization, has better guarantee to the quality of product.
Logistics system refers to the product how management of each Flow of Goods and Materials in production process, sorting, carrying and assembling mutually and control procedure, and how to improve logistics system efficiency, reducing production beat is the problem that automated system needs to consider and solve.Robot application in process of production efficiently, stably can improve the automaticity of whole production process.And at present robot capture when there is no vision, place material all need to material grasp at a little and set-point positions (or product stops on material flow line body), ensure that robot picks and places the accuracy of material.This improves productive temp undoubtedly.One described in the utility model dynamically sorts and carries automated system, the classification, good time of product is differentiated by industrial vision, robot is by the information feed back of follower mechanism, product on the streamline be in operation can be captured exactly, greatly reduce productive temp, there is certain promotion value.
Utility model content
The one that the purpose of this utility model provides for weak point existing in above-mentioned prior art just dynamically sorts and carries automated system.
The object of the invention realizes by following technique measures:
A kind of dynamically sorting and carrying automated system, it is primarily of articulated robot 1, retinue device 2, industrial vision 3, photoelectric sensor 4 and control system composition; The end of described articulated robot is provided with fixture 11; The power shaft of described retinue device 2 is connected with the moving component of material flow line body 5; Described industrial vision 3 and photoelectric sensor 4 be arranged in material flow line body 5 side and towards the product 6 flowed on material flow line body; Retinue device 2, industrial vision 3 and photoelectric sensor 4 realize communication by control system and articulated robot 1.
Described articulated robot 1 is six axle joint Manipulators, is a kind of commercial criterion six axis robot in particular.
Described fixture 11 is the jaw of open-close type, and the opening and closing movement of jaw is by the realization such as cylinder, motor.
Certainly, described fixture 11 can also be a kind of magnechuck or vacuum cup, so-called magnechuck realizes material absorption by electromagnetic conversion exactly and unclamps, and vacuum cup is exactly form negative pressure by pneumatic vacuumizing in the die cavity that makes to close, thus realizes the absorption to material.
Described retinue device 2 is a kind of encoder in fact, and the transform linear motion of streamline line is the rotary motion of encoder by encoder, thus converses the information such as the speed of service, acceleration of streamline body and feed back to robot.
The image processing system that described industrial vision 3 is made up of industrial camera, light source and industrial computer.Industrial vision is the eyes of robot, by to product surface information (such as: by the comparison of the bad product mark of effects on surface, judge non-defective unit or substandard products), or appearance profile information (judging model or the classification of product) sorts.
Described material flow line body 5 refers to the processing line that suspended chain, belt line, frock printed line body etc. are common.
The beneficial effect of the invention is as follows:
Adopt a kind of dynamically sorting and carrying automated system described in the invention, by the setting of retinue device 2, industrial vision 3, robot 1 can be made from operating streamline, to capture material exactly and classify, efficient stable.
Accompanying drawing explanation
Fig. 1 is the utility model integral arrangement figure (top view).
Fig. 2 is the utility model overall structure schematic diagram (stereogram).
Sequence number in figure: 1 robot, 2 retinue devices, 3 industrial visions, 4 photoelectric sensors, 5 material flow line bodies, 6 products, 7 product placement racks, 11 fixtures.
Detailed description of the invention
As shown in Figure 1 (in figure, arrow line represents the traffic direction of material flow line body 5), described one dynamically sorts and carries automated system primarily of articulated robot 1, retinue device 2, industrial vision 3, photoelectric sensor 4 and control system composition, the end of articulated robot 1 is provided with fixture 11, is used for capturing product 6, the power shaft of retinue device 2 is connected with the moving component of material flow line body 5, furtherly, described retinue device 2 is exactly an encoder, encoder and material flow line body 5 can face one side CONTACT WITH FRICTION, also can be intermeshing tooth-like connection, can also be direct-connected etc. by the rotating shaft of the rotary part on material flow line body 5 and encoder, its objective is the rotation input in order to by the transform linear motion of material flow line body 5 be encoder, thus the point-to-point speed conversing material flow line body 5 is (when speed is 0, be considered as static), and this information is fed back to robot 1 by control system.Industrial vision 3 and photoelectric sensor 4 be arranged in material flow line body 5 side and towards the product 6 flowed on material flow line body; All used for products 6 arrange, its objective is to detect in real time product.Wherein, the surface information of industrial vision 3 testing product 6 and profile information, thus product is judged, judge whether it is the target needing to capture.Such as: the surface as fruit product is marked as substandard products mark, compared by industrial vision 3, and result is fed back to robot 1 by control system, robot 1 selects corresponding program to carry out sorting placement to it.Retinue device 2, industrial vision 3 and photoelectric sensor 4 realize communication by control system and articulated robot 1.Certainly, the product 1 of crawl and product placement rack 7 is needed all should to be within the efficient working range of robot 1.
As shown in Figure 1 and Figure 2, when product 6 along with material flow line body 5 (material flow line body can be the common streamline such as suspended chain, belt line and frock printed line) through industrial vision 3 time, inductor triggers, industrial vision 3 starts its photographic analysis, and result is fed back to robot 1 by control system, the signal that robot 1 feeds back according to industrial vision 3, selects corresponding program, carries out to capture to prepare.When product 6 runs to the position of photoelectric sensor 4 with material flow line body 5, photoelectric sensor 4 is triggered, send instructions to robot 1, the movable information (information such as the speed of service, acceleration of material flow line body 5) that the robot awaited orders feeds back according to retinue device 2 captures product 6.In crawl process, robot 1 and material flow line body 5 geo-stationary, namely its speed of service is identical with material flow line body 5, along with material flow line running body, also namely accompanies.Thus realize not stopping line crawl more accurately.During crawl, the fixture 11 of robot 1 end opens, and the position suitable at product 6 closes, and realizes clamping, and places it on the product placement rack 7 of assigned address, realize material and dynamically carry.If described product 6 is applicable to using sucker (magnechuck or vacuum slot formula sucker) to carry out picking and placeing action, then efficiency is higher, and speed is faster.Certainly, according to the judged result of industrial vision 3, product can carry out classifying and be placed on different product placement racks 7 by robot 1, also namely realizes Material Sorting.
Same reason, when product placement rack 7 is also on a kind of material flow line body of motion, arranges device of accompanying accordingly thereon, can also realize the dynamic placement of material.The dynamic crawl to material, placement and sorting can be realized simultaneously, greatly will shorten pitch time, and also improve the automaticity of production process, great popularization.
The foregoing is only preferred embodiments of the present utility model, but do not limit enforcement of the present utility model extension.All unsubstantialities done on the basis of this embodiment are created, and all will be considered as distorting of the present utility model or plagiarize, and all should protect by the utility model.
Claims (7)
1. dynamically sort and a carrying automated system, it is characterized in that: described one dynamically sorts and carry automated system primarily of articulated robot (1), retinue device (2), industrial vision (3), photoelectric sensor (4) and control system composition; The end of described articulated robot is provided with fixture (11); The power shaft of described retinue device (2) is connected with the moving component of material flow line body (5); Described industrial vision (3) and photoelectric sensor (4) be arranged in material flow line body (5) side and towards the product flowed on material flow line body (6); Retinue device (2), industrial vision (3) and photoelectric sensor (4) realize communication by control system and articulated robot (1).
2. one according to claim 1 dynamically sorts and carries automated system, it is characterized in that: described articulated robot (1) is six axle joint Manipulators.
3. one according to claim 1 dynamically sorts and carries automated system, it is characterized in that: the jaw that described fixture (11) is open-close type.
4. one according to claim 1 dynamically sorts and carries automated system, it is characterized in that: described fixture (11) is a kind of magnechuck or vacuum cup.
5. one according to claim 1 dynamically sorts and carries automated system, it is characterized in that: described retinue device (2) is a kind of encoder.
6. one according to claim 1 dynamically sorts and carries automated system, it is characterized in that: the image processing system that described industrial vision (3) is made up of industrial camera, light source and industrial computer.
7. one according to claim 1 dynamically sorts and carries automated system, it is characterized in that: described material flow line body (5) is suspended chain or belt line or frock printed line body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520468393.9U CN204799579U (en) | 2015-07-03 | 2015-07-03 | Developments letter sorting and transport automatic system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520468393.9U CN204799579U (en) | 2015-07-03 | 2015-07-03 | Developments letter sorting and transport automatic system |
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| CN204799579U true CN204799579U (en) | 2015-11-25 |
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| CN201520468393.9U Expired - Fee Related CN204799579U (en) | 2015-07-03 | 2015-07-03 | Developments letter sorting and transport automatic system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105290785A (en) * | 2015-12-01 | 2016-02-03 | 长沙长泰机器人有限公司 | Workpiece sorting and assembling system based on vision |
| CN106269566A (en) * | 2016-08-30 | 2017-01-04 | 惠州荣川智能装备有限公司 | Plastic box CCD detection and automatically stack equipment |
| CN106552772A (en) * | 2016-10-25 | 2017-04-05 | 北京京东尚科信息技术有限公司 | Visual identifying system and the classification sorting system using the visual identifying system |
| CN107597600A (en) * | 2017-09-26 | 2018-01-19 | 北京京东尚科信息技术有限公司 | Sorting system and method for sorting |
| CN108038861A (en) * | 2017-11-30 | 2018-05-15 | 深圳市智能机器人研究院 | A kind of multi-robot Cooperation method for sorting, system and device |
| CN108082924A (en) * | 2017-12-05 | 2018-05-29 | 安徽蓝海供应链管理有限公司 | The transmission system of goods sorting |
-
2015
- 2015-07-03 CN CN201520468393.9U patent/CN204799579U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105290785A (en) * | 2015-12-01 | 2016-02-03 | 长沙长泰机器人有限公司 | Workpiece sorting and assembling system based on vision |
| CN106269566A (en) * | 2016-08-30 | 2017-01-04 | 惠州荣川智能装备有限公司 | Plastic box CCD detection and automatically stack equipment |
| CN106552772A (en) * | 2016-10-25 | 2017-04-05 | 北京京东尚科信息技术有限公司 | Visual identifying system and the classification sorting system using the visual identifying system |
| CN106552772B (en) * | 2016-10-25 | 2019-01-22 | 北京京东尚科信息技术有限公司 | Visual identifying system and the classification sorting system for using the visual identifying system |
| US11049278B2 (en) | 2016-10-25 | 2021-06-29 | Beijing Jingdong Qianshi Technology Co., Ltd. | System and method for visual identification, and system and method for classifying and sorting |
| CN107597600A (en) * | 2017-09-26 | 2018-01-19 | 北京京东尚科信息技术有限公司 | Sorting system and method for sorting |
| CN107597600B (en) * | 2017-09-26 | 2019-08-30 | 北京京东振世信息技术有限公司 | Sorting system and method for sorting |
| CN108038861A (en) * | 2017-11-30 | 2018-05-15 | 深圳市智能机器人研究院 | A kind of multi-robot Cooperation method for sorting, system and device |
| CN108082924A (en) * | 2017-12-05 | 2018-05-29 | 安徽蓝海供应链管理有限公司 | The transmission system of goods sorting |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151125 Termination date: 20160703 |
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| CF01 | Termination of patent right due to non-payment of annual fee |