CN205575020U - Picking and placing system - Google Patents
Picking and placing system Download PDFInfo
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- CN205575020U CN205575020U CN201620389744.1U CN201620389744U CN205575020U CN 205575020 U CN205575020 U CN 205575020U CN 201620389744 U CN201620389744 U CN 201620389744U CN 205575020 U CN205575020 U CN 205575020U
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- 230000000903 blocking effect Effects 0.000 claims description 40
- 239000000969 carrier Substances 0.000 claims description 2
- 238000003491 array Methods 0.000 abstract 1
- 238000011144 upstream manufacturing Methods 0.000 description 8
- 210000000078 claw Anatomy 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 4
- 244000299461 Theobroma cacao Species 0.000 description 2
- 235000019219 chocolate Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 230000015572 biosynthetic process Effects 0.000 description 1
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Abstract
The utility model provides a picking and placing system, including at least one input conveyor, at least one output conveyor and at least one grabbing device. Input conveyor's work piece gets into the guide rail messenger randomly arranged's of end setting the orderly range of work piece, the ordered arrays of work piece along with the input conveyor get into extremely input conveyor goes up the fixed lane place of picking up that sets up, works as fixed picking up when all having placed the work piece on the lane place, grabbing device snatchs the fixed work piece that picks up on the lane place extremely on the input conveyor. Need not according to available position pick -up time and the storage period corresponding with the available position calculation of placing of picking up, reduced to calculate requiring and the cost, improved work efficiency.
Description
Technical Field
The utility model belongs to the technical field of automation and specifically relates to a pick up and place system.
Background
As a result of the development in the field of computer technology, the versatility and flexibility of industrial robots is greatly increased. Robots can be used for very different types of industrial tasks, including spot welding parts of automobiles and tasks commonly referred to as pick and place. Pick and place tasks include picking items from a conveyor belt and placing them in a shipping pallet or shipping box. A well-known example is picking up chocolates from a conveyor belt and placing them in packaging trays or chocolate boxes.
A typical pick and place system includes an infeed conveyor on which articles from an article source are conveyed. The items are transferred to a pick and place robot that picks up the items and places them on an output conveyor. The flow rate of the articles on the input conveyor, i.e. the number of articles conveyed per unit time, can vary to a small or large extent. Likewise, the ability of the output conveyor to receive articles may also vary. For example, if the output conveyor slows down or even stops for a shorter or longer period of time, it will become impossible for the pick and place robot to place items because the output conveyor is already full of items placed within the placement range of the robot.
Such variations regarding the availability of item flows and placement locations are a problem that needs particular attention when designing pick and place systems, and in particular when designing the manner in which pick and place robots operate in the system.
One prior art pick and place system is described in the prior patent application publication No. 200980161398.4. In this system, it is necessary to determine available pick-up locations at which buses can be picked up on the input conveyor, and to determine available place locations at which tools can be placed on the output conveyor, and based on the available pick-up locations and the available place locations, to calculate corresponding pick-up times and place times, and to instruct at least one robot to pick up and place workpieces at the available pick-up locations at the available place locations in an order determined by the corresponding pick-up times and place times. Meanwhile, at least two robots and two cameras are needed, the occupied positions are large, the cost is high, each robot can only grab one workpiece at a time, and the efficiency is low.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a pick up and place system to raise the efficiency, reduce cost.
In order to achieve the above object, the present invention provides a pick and place system comprising at least one input conveyor, at least one output conveyor, and at least one grasping device; wherein,
the workpiece inlet end of the input conveying device is provided with a guide rail, so that the workpieces entering the input conveying device are orderly arranged;
the input conveying device is provided with a fixed picking position area, and when a preset number of workpieces are placed on the fixed picking position area, the gripping device grips the workpieces on the fixed picking position area onto the output conveying device.
Preferably, in the above pick and place system, a blocking member is provided on the input conveyor, the blocking member straddling the input conveyor.
Preferably, in the above pick and place system, the blocking member includes a first blocking cylinder and a second blocking cylinder, a first fixed pick-up position area is provided on a side of the first blocking cylinder close to the workpiece entrance end of the input conveyor, a second fixed pick-up position area is provided on a side of the second blocking cylinder close to the workpiece entrance end of the input conveyor, and the gripping device grips the workpiece from the second fixed pick-up position area.
Preferably, in the above pick and place system, the first fixed pick-up position area is provided with a plurality of first workpiece pick-up positions, each of the first workpiece pick-up positions is provided with a first sensor, and the first block cylinder is opened when all the first sensors detect the workpieces.
Preferably, in the above pick and place system, the second fixed pick-up position area is provided with a plurality of second workpiece pick-up positions, each of the second workpiece pick-up positions is provided with a second sensor, and the gripping device grips the workpiece from the second fixed pick-up position area when all the second sensors detect the workpiece.
Preferably, in the above pick and place system, the first sensor and the second sensor are both infrared reflection type sensors.
Preferably, in the above pick and place system, the output conveyor is provided with a plurality of carrier trays, and each carrier tray is provided with a plurality of workpiece carrying grooves.
Preferably, in the above pick and place system, the fixed pick-up position area is provided with a plurality of workpiece pick-up positions, and the distribution structure of the workpiece pick-up positions on the fixed pick-up position area is the same as the distribution structure of the workpiece carrying grooves on the carrying tray.
Preferably, in the above pick-and-place system, the gripping end of the gripping device is provided with a plurality of small jaws, the distribution structure of the plurality of small jaws is the same as the distribution structure of the workpiece bearing grooves on the bearing plate, and each small jaw grips one workpiece.
Preferably, in the above pick-and-place system, an image capturing device is further included, and the image capturing device is located at one side of the output conveying device and is used for acquiring image data of the carrier tray located at a predetermined position.
The utility model provides an in picking up and placing system, the guide rail that input conveyor's work piece got into the end setting makes the orderly range of work piece of mixed and disorderly chapter, the work piece of arranging orderly is along with input conveyor gets into extremely the last fixed position district that picks up that sets up of input conveyor works as when all placing the work piece on the fixed position district that picks up, grabbing device snatchs work piece on the fixed position district that picks up extremely on the input conveyor. The corresponding picking time and placing time do not need to be calculated according to the available picking position and the available placing position, the calculation requirement and cost are reduced, and the working efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of a pick and place system according to a first embodiment of the present invention;
fig. 2 is a flowchart of a method for implementing the pick and place system according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a pick and place system according to a second embodiment of the present invention;
101-an input conveyor; 102-an output transport; 103-a gripping device; 104-a guide rail; 1051-a first fixed pick-up location area; 1052-a second fixed pick-up location area; 1061-a first barrier cylinder; 1062-a second barrier cylinder; 107-a workpiece; 108-a carrier tray; 109-a second sensor; 110-a workpiece-carrying trough; 111-an image acquisition device;
201-input conveying means; 202-output transport; 203-a gripping device; 2041-a first rail portion; 2042-a second rail portion; 2051-a first fixed pick-up location area; 2052-a second fixed pick-up location area; 2061-first barrier cylinder; 2062-second barrier cylinder; 207-workpiece; 208-a carrier tray; 209-a second sensor; 210-a workpiece-carrying groove; 211-image acquisition means.
Detailed Description
The following describes in detail embodiments of the present invention with reference to the drawings. Advantages and features of the present invention will become apparent from the following description, taken in conjunction with the appended claims. It is to be noted that the drawings are in a very simplified form and are not to be construed as precise ratios as are merely intended to facilitate and distinctly illustrate the embodiments of the present invention.
Example one
The present embodiment provides a pick and place system, specifically, as shown in fig. 1, comprising at least one input conveyor 101, at least one output conveyor 102, and at least one grasping device 103.
The input conveying device 101 is provided with a blocking component, which includes a first blocking cylinder 1061 and a second blocking cylinder 1062, and the first blocking cylinder 1061 and the second blocking cylinder 1062 span across the input conveying device 101. The input conveyor 101 and the output conveyor 102 are both a conveyor belt. The first blocking cylinder 1061 and the second blocking cylinder 1062 divide the input conveying device 101 into an upstream, a midstream, and a downstream along the workpiece conveying direction, wherein a portion between the workpiece entering end of the input conveying device 101 and the first blocking cylinder 1061 is the upstream, a portion between the first blocking cylinder 1061 and the second blocking cylinder 1062 is the midstream, and a portion behind the second blocking cylinder 1062 is the downstream.
The input conveyor 101 is provided with a fixed picking position area, and when a predetermined number of workpieces are placed on the fixed picking position area, the gripping device grips the workpieces on the fixed picking position area onto the output conveyor. The fixed pick-up location areas comprise a first fixed pick-up location area 1051 and a second pick-up location area 1052. Specifically, a first fixed picking position area 1051 is provided on a side of the first blocking cylinder 1061 close to the workpiece entrance end of the input conveyor, and a second fixed picking position area 1052 is provided on a side of the second blocking cylinder close to the workpiece entrance end of the input conveyor, and the grasping means grasps the workpiece from the second fixed picking position area 1052. That is, the first fixed pickup position area 1051 is provided adjacent to the first blocking cylinder upstream of the input conveyor, and the second fixed pickup position area 1052 is provided adjacent to the second blocking cylinder mid-stream of the input conveyor.
Further, a plurality of carrier trays 108 are disposed on the output conveyor 102, and a plurality of workpiece carrier slots 110 are disposed on each carrier tray 108. The first fixed picking position area 1051 is provided with a plurality of first workpiece picking positions having the same distribution structure as the plurality of workpiece carrying grooves 110, and the second fixed picking position area 1052 is provided with a plurality of second workpiece picking positions having the same distribution structure as the plurality of workpiece carrying grooves 110. Specifically, the data of the first workpiece picking position and the second workpiece picking position are the same as the number of the workpiece bearing grooves on each bearing plate, and the arrangement sequence of the first workpiece picking position and the second workpiece picking position is also the same as the arrangement sequence of the workpiece bearing grooves on each bearing plate.
The predetermined number may be the same as the number of the first and second workpiece picking positions, and when facing the last batch of workpieces, the gripping device directly grips the batch of workpieces regardless of how many workpieces reach the number of the first workpiece picking positions.
In this embodiment, each of the trays on the output conveyor 102 has 6 workpiece receiving slots 110 arranged in two rows and three columns, and then the first fixed picking position area 1051 on the input conveyor 101 has 6 first workpiece picking positions arranged in two rows and three columns. Likewise, 6 second workpiece picking positions are also provided in the second fixed picking position area 1052 on the input conveyor, and these 6 second workpiece picking positions are also arranged in two rows and three columns. A guide rail 104 is provided upstream of the input conveyor 101 to enable the workpieces entering the input conveyor 101 to be arranged in an orderly manner, i.e., to enable the workpieces entering the input conveyor 101 to be arranged in two orderly rows. The guide rail 104 is located on the center line of the input conveyor 101, the width of the input conveyor 101 is equally divided, and the sum of the thickness of the guide rail 104 and the width of the two workpieces 107 is equal to the width of the input conveyor 101.
The gripping end of the gripping device 103 is provided with a plurality of small claws, the distribution structure of the plurality of small claws is the same as that of the workpiece bearing grooves 110 on the bearing plate 108, and each small claw grips one workpiece. That is, in the present embodiment, the gripping end of the gripping device 103 is provided with 6 small jaws, and the 6 small jaws are also arranged in two rows and three columns, and each small jaw grips one workpiece at a time when the workpieces of the second fixed pickup position area 1052 are all gripped, thereby improving the working efficiency.
Further, each of the first workpiece pickup positions is provided with a first sensor (not shown), and the first block cylinder is turned on when all the first sensors detect the workpiece. In this embodiment, the number of the first sensors is 6, and the first sensors are fixedly arranged on the input conveying device. Specifically, the first sensor is an infrared reflection type sensor. The first sensors may be disposed below the input conveyor, i.e., below the conveyor belt, each first sensor corresponding to a first workpiece pick-up location. Or on opposite side walls of the input conveyor, each first sensor corresponding to a first workpiece pick-up location. When the 6 first sensors detect the workpieces, the first blocking cylinder is opened, the workpieces at the 6 first workpiece picking positions are transmitted with the input conveying device, and after all the workpieces at the 6 first workpiece picking positions pass through the first blocking cylinder, the first blocking cylinder is put down to block the workpieces at the upstream of the input conveying device from entering the midstream of the input conveying device.
A second sensor 109 is provided for each of the second workpiece pickup positions, and the gripping device 103 grips the workpiece from the second fixed pickup position area 1052 when all of the second sensors 109 detect the workpiece. The number of the second sensors 109 is 6 as the first sensors. And, similarly, is fixedly arranged on the input conveying device. Specifically, the second sensor is an infrared reflection type sensor. The second sensors may be arranged below the input conveyor, i.e. below the conveyor belt, each second sensor corresponding to a second workpiece pick-up position. Or on opposite side walls of the input conveyor, each second sensor corresponding to a second workpiece pick-up location.
The pick and place system further includes an image pickup device 111, the image pickup device 111 being located at a side of the output conveyor 102 for acquiring image data of the carrier tray 108 located at a predetermined position. The image capturing Device 111 includes a camera, specifically, a Charge-coupled Device (CCD), for example. The predetermined position is generally set according to actual needs, and may be any position within a range where the grasping apparatus 103 can be placed, preferably, the predetermined position is a position where a distance that the grasping apparatus 103 moves is the smallest, and the position set by the image capturing apparatus 111 corresponds to the predetermined position.
When the 6 second sensors 109 each detect a workpiece and when it is judged from the acquired image data of the carrier tray 108 at the predetermined position that 6 workpiece carrier pockets 110 thereof are empty, the gripping device 103 grips a workpiece from the second fixed pickup position area 1052 and then places the gripped 6 workpieces into the 6 workpiece carrier pockets 110 of the carrier tray 108 at the predetermined position.
The specific implementation method is shown in fig. 2.
Step S1: and starting the input conveying device and the output conveying device, wherein the first blocking cylinder and the second blocking cylinder span the input conveying device, the workpiece enters the input conveying device from the workpiece inlet end of the input conveying device, and the bearing plate enters the output conveying device.
Step S2: and when the first sensor detects that workpieces exist at all the first workpiece picking positions in the first fixed picking position area, the first blocking cylinder is opened, and 6 workpieces at the first workpiece picking positions are conveyed to the second fixed picking position area. Meanwhile, after the workpieces at the 6 first workpiece picking positions all pass through the first blocking cylinder, the first blocking cylinder is put down to block the workpieces at the upstream of the input conveying device from entering the midstream of the input conveying device.
Step S3: when the second sensor detects that workpieces exist at the second workpiece picking position in the second fixed picking position area, the image acquisition device acquires the state of the workpiece bearing groove in the bearing disc at the preset position. When all the workpiece bearing grooves in the bearing plate are empty, the gripping device grips the workpieces in the second fixed picking position area and places the workpieces in the bearing plate. Otherwise, the bearing plate is carried away along with the output conveying device, and the gripping device grips the workpieces in the second fixed picking position area and places the workpieces in the bearing plate until all the workpiece bearing grooves in the bearing plate are empty.
Example two
As shown in fig. 3, each of the carrier trays 208 on the output conveyor 202 has 9 workpiece carriers 210 arranged in three rows and three columns, and then the first fixed picking position area 2051 on the input conveyor 201 has 9 first workpiece picking positions arranged in three rows and three columns. Likewise, 9 second workpiece pick-up locations are also provided in the second fixed pick-up location area 2052 on the input conveyor 201, and these 9 second workpiece pick-up locations are also arranged in three rows and three columns. A guide track is provided upstream of the infeed conveyor 201 to enable ordered arrangement of workpieces entering the infeed conveyor, and in this embodiment, the guide track comprises two portions, a first guide track portion 2041 and a second guide track 2041, to enable ordered arrangement of workpieces 207 entering the infeed conveyor 202 in three rows. The first rail portion 2041 and the second rail portion 2042 divide the width of the input conveyor 201 into three parts, and the sum of the thickness of the first rail portion 2041, the thickness of the second rail portion 2042, and the widths of the three workpieces 207 is equal to the width of the input conveyor 201.
The gripping end of the gripping device 203 is provided with a plurality of small claws, the distribution structure of the plurality of small claws is the same as that of the workpiece bearing grooves 210 on the bearing plate 208, and each small claw grips one workpiece. That is, in this embodiment, the gripping end of the gripping device 203 is provided with 9 small jaws, and the 9 small jaws are also arranged in three rows and three columns, and each small jaw grips one workpiece every time the workpiece in the second fixed picking position area 2052 is fully gripped, so that the work efficiency is improved.
In this embodiment, the number of the first sensors and the number of the second sensors 209 are 9, and each first sensor corresponds to one first workpiece picking position, and each second sensor corresponds to one second workpiece picking position. The first sensor and the second sensor are both arranged below the input conveying device, namely below the conveyor belt. When all the 9 first sensors detect a workpiece, the first blocking cylinder 2061 is opened, the workpiece 207 at the 9 first workpiece pickup positions is driven along with the input conveyor 201, when all the 9 first sensors cannot detect a workpiece, the first blocking cylinder 2061 is put down to block the workpiece upstream of the input conveyor 201 from entering the input conveyor 201, and simultaneously the second blocking cylinder 2062 is put down, when all the 9 second sensors detect a workpiece, and when all the 9 workpiece bearing grooves of the carrier plate at the preset position are judged to be empty from the acquired image data of the carrier plate at the preset position, the grabbing device grabs the workpiece from the second fixed pickup position area, and then places the grabbed 9 workpieces into the 9 workpiece bearing grooves of the carrier plate at the preset position.
In other embodiments of the present invention, the workpiece carrying grooves on the carrying tray may also be other numbers, for example, 4, 8, 12 or more, the arrangement sequence of these workpiece carrying grooves may also be adaptively changed, for example, 4 rows or more, at this time, the guide rail also adaptively includes the first portion, the second portion, the third portion and more portions, so that the number of rows arranged after the workpiece enters the input conveying device is the same as the number of rows of the workpiece carrying grooves on the carrying tray. Meanwhile, the number and the arrangement sequence of the first workpiece picking positions and the second workpiece picking positions are the same as those of the workpiece bearing grooves on the bearing plate.
To sum up, in the embodiment of the utility model provides an in picking up and placing system, the guide rail that input conveyor's work piece entering end set up makes the orderly range of work piece of randomly arranged, the orderly work piece of arranging is along with input conveyor enters into extremely the last fixed position district that picks up that sets up of input conveyor works as when all having placed the work piece on the fixed position district that picks up, grabbing device snatchs work piece on the fixed position district that picks up extremely on the input conveyor. The corresponding picking time and placing time do not need to be calculated according to the available picking position and the available placing position, the calculation requirement and cost are reduced, and the working efficiency is improved.
The above description is only for the preferred embodiment of the present invention, and does not limit the present invention. Any technical personnel who belongs to the technical field, in the scope that does not deviate from the technical scheme of the utility model, to the technical scheme and the technical content that the utility model discloses expose do the change such as the equivalent replacement of any form or modification, all belong to the content that does not break away from the technical scheme of the utility model, still belong to within the scope of protection of the utility model.
Claims (10)
1. A pick and place system comprising at least one input conveyor, at least one output conveyor, and at least one grasping device; wherein,
the workpiece inlet end of the input conveying device is provided with a guide rail, so that the workpieces entering the input conveying device are orderly arranged;
the input conveying device is provided with a fixed picking position area, the workpieces which are orderly arranged enter the fixed picking position area, and when a preset number of workpieces are placed on the fixed picking position area, the gripping device grips the workpieces on the fixed picking position area onto the output conveying device.
2. The pick and place system of claim 1, wherein the input conveyor is provided with a blocking member that straddles the input conveyor.
3. The pick and place system of claim 2, wherein the blocking member includes a first blocking cylinder and a second blocking cylinder, a first fixed pick-up location area being provided on a side of the first blocking cylinder adjacent the workpiece entrance end of the input conveyor, and a second fixed pick-up location area being provided on a side of the second blocking cylinder adjacent the workpiece entrance end of the input conveyor, the gripping device gripping the workpiece from the second fixed pick-up location area.
4. A pick and place system as recited in claim 3, wherein said first fixed pick location area is provided with a plurality of first workpiece pick locations, each of said first workpiece pick locations being provided with a first sensor, said first blocking cylinder being open when all of said first sensors detect a workpiece.
5. The pick and place system of claim 4 wherein the second fixed pick location area is provided with a plurality of second workpiece pick locations, each of the second workpiece pick locations being provided with a second sensor, the grasping means grasping a workpiece from the second fixed pick location area when all of the second sensors detect a workpiece.
6. The pick and place system of claim 5, wherein the first sensor and the second sensor are both infrared reflective sensors.
7. The pick and place system of claim 1, wherein the output conveyor is provided with a plurality of carrier trays, each carrier tray having a plurality of workpiece carriers disposed thereon.
8. The pick and place system of claim 7, wherein the fixed pick location area is provided with a plurality of workpiece pick locations, the distribution of the workpiece pick locations on the fixed pick location area being the same as the distribution of the workpiece carrier slots on the carrier platter.
9. The pick and place system of claim 7, wherein the gripping end of the gripping device is provided with a plurality of jaws having the same distribution as the distribution of the workpiece-carrying pockets on the carrier tray, each of the jaws gripping a workpiece.
10. The pick and place system of claim 7, further comprising an image pickup device positioned at a side of the output conveyor for acquiring image data of the carrier tray positioned at a predetermined position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620389744.1U CN205575020U (en) | 2016-04-29 | 2016-04-29 | Picking and placing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620389744.1U CN205575020U (en) | 2016-04-29 | 2016-04-29 | Picking and placing system |
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| Publication Number | Publication Date |
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| CN205575020U true CN205575020U (en) | 2016-09-14 |
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| CN201620389744.1U Expired - Fee Related CN205575020U (en) | 2016-04-29 | 2016-04-29 | Picking and placing system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111164032A (en) * | 2017-09-01 | 2020-05-15 | Ats自动化加工系统公司 | Method and apparatus for component transfer and transport in an assembly line |
| CN111645964A (en) * | 2020-06-06 | 2020-09-11 | 钟乃聪 | Mechanical automation food production intelligence packing of weighing spouts a yard equipment |
| CN111846886A (en) * | 2020-06-10 | 2020-10-30 | 宁波开浦智能科技有限公司 | Conveying machine |
-
2016
- 2016-04-29 CN CN201620389744.1U patent/CN205575020U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111164032A (en) * | 2017-09-01 | 2020-05-15 | Ats自动化加工系统公司 | Method and apparatus for component transfer and transport in an assembly line |
| CN111164032B (en) * | 2017-09-01 | 2022-09-27 | Ats自动化加工系统公司 | Method and apparatus for component transfer and transport in an assembly line |
| CN111645964A (en) * | 2020-06-06 | 2020-09-11 | 钟乃聪 | Mechanical automation food production intelligence packing of weighing spouts a yard equipment |
| CN111846886A (en) * | 2020-06-10 | 2020-10-30 | 宁波开浦智能科技有限公司 | Conveying machine |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160914 Termination date: 20200429 |