CN206305054U - Logistics distribution intelligence hand is grabbed and sorting system - Google Patents

Abstract

Grabbed the utility model discloses a kind of logistics distribution intelligence hand, including hand grabs component, hand gripping arm, range sensor, identification sensor, torque adjustment component；Hand is grabbed component and is connected with hand gripping arm, and hand grabs component with two gripper jaws, and gripper jaw is provided with pressure sensor, torque adjustment component；Range sensor, identification sensor are arranged on the hand and grab on component.Intelligent hand is installed the invention also discloses logistics distribution sorting system, including robot, in robot to grab, visual response system is also included in robot；Also include material tray, dispatching station.The technical solution of the utility model can be applied in multiple types, small lot industry, can be competent at more numerous and diverse material stacking crawl, and more intelligent, flexibility is widely applicable.

Description

Logistics distribution intelligence hand is grabbed and sorting system

Technical field

The invention belongs to logistics express delivery technical field, more particularly in a kind of intelligence manufacture, logistics distribution intelligence hand is grabbed and divided Pick system.

Background technology

Initial sorting system is based entirely on the operating system of manpower, and by manual search, transporting goods completes goods The extraction of thing.In such systems, making and lookup, a dead lift of written document etc. waste huge manpower and materials, make Industry inefficiency, it is clear that Modern Materials Circulation dispatching cannot be met to speed and the high request of accuracy.

With developing rapidly for science and technology, start in sorting system with various automated machine equipment, meter Calculation machine control technology and information technology turn into the important means of information transmission and treatment.Although in most sorting systems, certain A little cargo handling operations also need to artificial participation, but operation intensity is less and less, complete oneself of sorting operation by machinery completely Dynamic sorting system also arises at the historic moment.Mechanization, automation, the intelligent main feature for turning into modern sorting system become with development Gesture.

The applicable cases of domestic and international sorting system are made a general survey of it can be found that the logistics distribution center of foreign countries is tended to using automatic Change degree sorting system very high.And in China, because logistics starts to walk evening, in sorting system the ratio of manual work also compared with It is high.

For external industry or the enterprise for carrying out dispatching business, automatic radio frequency has been widely used in medical row The industries such as industry, cosmetics manufacture, such as Japanese Shiseido, flower king, great Mu Deng Co., Ltd.；Automatic letter sorting machine is used as automatic sorting system Key equipment in system, because it is per hour up to 6,000-12, the sort efficiency high of 000 case also obtains wide in Japan and Europe General application：The chain commercial (such as west friend, day life association, Takashimaya) and residence of Japan it is anxious just (it is big with, it is western it is dense, help river etc.) it is universal Use automatic letter sorting machine；At Japanese disc center, the new publication of CD and video-tape also utilizes high-end robot automatic sorting Machine picking.

Overall situation to whole logistics is similar, and China also compares to fall in sorting system and technical elements with respect to developed country Afterwards, the situation of manual work is still commonplace, and the production and use of the auxiliary sorting system such as electronic tag, RF technologies are also few, Automatic radio frequency is even more very few.Generally speaking, the application of China's sorting system show intensive degree it is low, automation The characteristics of system and not extensive equipment application scope.

Although Automated Sorting System have the advantages that it is very many, because it requires that user must possess certain Technological Economy Condition, in developed country, logistics center, home-delivery center or Transfer center are also very universal without the situation of Automated Sorting System.Its Main cause has at 2 points：

1st, one-time investment is huge, and input reclaims slow in advance.The equipment of system is complicated, and investment and operation cost are at a relatively high, The reliable source of goods is needed to make to ensure, perhaps only large-scale manufacturing enterprise or professional logistics company just have the ability to invest, and small enterprise is then It is helpless.

2nd, system is high to commodity outsourcing reload request.To make most of commodity to carry out automatic sorting with machinery, it is necessary to adopt Take promoting standardsization packaging, the secondary measures such as sorter are customized according to the unified packing character of sorting commodity.But allow institute The packaging standard that the supplier for having commodity is carried out country is highly difficult, and customization sorter can rise again hardware cost, and Special versatility is poorer.

Particularly second point, is not that every enterprise is all to be engaged in single product or multiple product high-volume manufacture, if needed Realize that sorting system is just faced with and configure different sorting arrangements for different product, and every suit sorting sets under big situation Standby has been costly input, if general i.e. flexibility can not be accomplished, sorting arrangement excessive cost input is too big, and this is even more One sky-high price, so that intelligent sorting cannot be popularized, automation is used cannot be in full flourish, therefore sorting system office occurs It is limited to the unified industries of equal-specification shape such as automobile making, milk production, chip, cigarette.

The content of the invention

Automatically crawl is to be identified crawl to single component or multiple part individual layers to existing physical-distribution intelligent, either Visual response system or robot gripper are relatively simple inflexible and change the workload of beat greatly, and flexibility is not enough.

To reach above-mentioned purpose, the technical solution adopted by the present invention is：Overall fetching is devised, can be realized various Material is arbitrarily captured, and handgrip uses electric gripper, realizes many material crawls, can more place quick change frock on one side, is significantly greatly increased Crawl species, realizes the flexibility of material crawl, and material rambling can put, in material not self-locking and handgrip has any one Under conditions of kind attitude can be captured, no matter how material deflects and can be realized under the angle of inclination of three dimensions optimal Identification crawl, and with anti-collision.

Grabbed the invention discloses a kind of logistics distribution intelligence hand, including hand grabs component, hand gripping arm, range sensor, identification Sensor, torque adjustment component；Hand is grabbed component and is connected with hand gripping arm, and hand grabs component with two gripper jaws, and gripper jaw is provided with Pressure sensor, torque adjustment component；Range sensor, identification sensor are arranged on hand and grab on component.

The height and hand that range sensor real-time detection hand grabs decentralization are grabbed and the distance for being grabbed object；Identification sensor is recognized Grabbed the border of object.

Torque adjustment component operation scope is less than or equal to 1.5 times of maximum moment.Gripper jaw is provided with moving parts, control Gripper jaw processed slides detection to the displacement for being grabbed object.

Logistics distribution sorting system, including robot, it is characterised in that：The intelligent hand of claim 1 is installed in robot Grab, visual response system is also included in robot；Also include material tray, dispatching station.

Above-mentioned logistics distribution sorting system also includes quick change frock, and opponent grabs and changed, and increases crawl species, realizes The flexibility of material crawl.

Further, intelligent hand is grabbed also includes electric interfaces, reserves RS485 communication interfaces and robot communication；Also include Mechanical interface, meets robot and connects quick change hand soon and grab requirement.

Further, also including cache shelf, the material on material tray is grabbed to delaying when material tray be connected with dispatching frame Deposit frame.

The invention has the advantages that：Technical scheme can be applied in multiple types, small lot industry, energy Enough competent more numerous and diverse material stacking crawls, more intelligent, flexibility is widely applicable.

Simple to operate, former technology need to carry out teaching to product, teaching cumbersome and be influenceed larger by light, often occur Again teaching problem, this scheme need to only import product drawing, and teaching is simple, and is influenceed small by working environment.

Then early stage will place such material by the material three-dimensional drawing import system of required operation in material tray, Product is arbitrarily put also stackable；Visual response system in system starting process according to handgrip appearance and size and material gap from Dynamic handgrip of evading may with the collision of unclassified stores during crawl.

When next material tray comes (material B), that is, start second host computer order, if according to the profile of this material Can capture, be not required to change handgrip, handgrip replacing is carried out in quick change frock automatically if it need to change handgrip.

When material closes to an end in pallet, and dispense frame and do not arrive scene also, then the material on material tray can be grabbed to slow Deposit on frame, to withdraw from material tray, that is, accomplish that robot does not rest, it is ensured that yield.

Brief description of the drawings

Fig. 1 is the logistics distribution sorting system schematic diagram of the embodiment of the present invention.

Fig. 2 grabs front view for the intelligent hand of the embodiment of the present invention.

Fig. 3 grabs side view for the intelligent hand of the embodiment of the present invention.

Fig. 4 grabs top view for the intelligent hand of the embodiment of the present invention.

Fig. 5 grabs stereogram for the intelligent hand of the embodiment of the present invention.

Specific embodiment

For the ease of the understanding of those skilled in the art, the present invention is made further with reference to embodiment and accompanying drawing It is bright.

The basic accessory introduction of the present embodiment：

1.1 material tray shapes are any, it is desirable to not high, according to the adjustable visual response system scanning times of size, it is illustrated that For the time being by taking traditional customization material tray as an example.

1.2 dispatching station manufactures, it is customizable also to require not influenceing the operation of this sorting system, depend primarily on and match somebody with somebody Sending station needs.

1.3 domains are installed in the arbitrary working range of robot for not influenceing dispatching.

1.4 is 160kg robots, and its size depends on workpiece weight size.

1.5 visual response systems have two dimension and three-dimensional induction system, are illustrated with three-dimensional here.

It is that a kind of new electric hand is grabbed that 1.6 intelligent hands are grabbed, and as shown in Figure 2-5, hand is grabbed major function and carries out part Pick-and-place is acted, including hand grabs component, hand gripping arm, range sensor, identification sensor, torque adjustment component；Hand grabs component and hand Gripping arm is connected, and hand grabs component with two gripper jaws, and gripper jaw is provided with moving parts, controls gripper jaw to being grabbed the position of object Move and slide detection；Pressure sensor, part is captured using appropriate clamping force；Torque adjusts component, torque adjustment component operation model Enclose is less than or equal to 1.5 times of maximum moment.Range sensor, identification sensor are arranged on hand and grab on component.Range sensor The height and hand that real-time detection hand grabs decentralization are grabbed and the distance for being grabbed object；The border of object is grabbed in identification sensor identification.

After with Intelligent Measurement and movement control technology, the type hand grabs peculiar function：

1) hand grabs decentralization process obstacle detection；

After intelligent electric hand with the function grips in the part top that robot arrival needs are grabbed folder, intelligence is can interpolate that Expert grabs lower section with the presence or absence of barrier, or the part position skew for causing of materials vehicle transportation, the object for inadvertently falling off, After finding that grabbing folder lower section has barrier, intelligent hand grabs the folding position that adjust automatically hand grabs folder, actively carries out barrier avoiding function, Such as grab in the range of folder folding all cannot avoiding obstacles, then notify robot, grab and can prevent hand with this function intelligence hand Grab the risk that collides in decentralization process.

In robot band starts to grab decentralization process, can real-time detection hand grab decentralization height and hand grab with part away from From preventing hand from grabbing shock material disc, barrier and part.

2) External Shape identification；

Intelligent hand grab start gripping part during, can differentiate to sell by sensor and grab and be crawled part Position, for putting position skew Zhua Jia centers, intelligent hand can adjust two speeds of service for grabbing folder during gripping in crawl, Ensure that part is between two gripper jaws；Band hand is grabbed folder operation and simultaneously clamps on zero apart from equal rear both sides gripper jaw with part Part, prevents part dragged during crawl, and it allows the not small 5cm of placing part error.

3) clamping torque self-adaptative adjustment function,

During different parts are captured, the Intelligent adjustment of chucking power can be carried out to part, by being grabbed object Detection and force feedback detection are slided in displacement, part is captured using appropriate clamping force, maximum allowable beyond specified maximum moment 1.5 times of completion part crawl work, it is ensured that grabbed part and do not inadvertently fallen off.

The key technical indexes

Environmental suitability：

Operating ambient temperature：- 0 DEG C~40 DEG C；Storage condition temperature：- 20 DEG C~55 DEG C；Relative humidity：2 ℅~98 ℅ (at 25 DEG C)；Equipment is not suitable for being operated in rainwater and directly sprays occasion.

Reliability：

MTBCF：Not less than 10000 hours.

Grab folder part：

Pts wt≤60KG, can require to be grabbed sandwiched meter accordingly according to user, meet different shape part need Ask.

Weight and profile：

Intelligent hand grabs weight no more than 40Kg.

Appearance and size：180*450*450mm

Electric interfaces：

220VAC 3A

+24VDC 1A

Reserved RS485 communication interfaces and robot communication.

Mechanical interface：

Fast connection interface design is carried out according to system requirements, robot is met and is connect quick change hand soon and grab requirement.

Logistics distribution sorting system, including robot, it is characterised in that：The intelligent hand of claim 1 is installed in robot Grab, visual response system is also included in robot；Also include material tray, dispatching station.Quick change frock, opponent grabs to be carried out more Change, increase crawl species, realize the flexibility of material crawl.Also include electric interfaces, reserve RS485 communication interfaces and robot Communication；Mechanical interface, meets robot and connects quick change hand soon and grab requirement.Also include cache shelf, when material tray is connected with dispatching frame Material on material tray is grabbed to cache shelf.

The operation process parsing of the present embodiment, is shown in Fig. 1：

1st, then early stage will place such thing by the material three-dimensional drawing import system of required operation in material tray Material, product is arbitrarily put also stackable

2nd, visual response system can first be scanned material in system starting process, calculate quantity, the work that can be captured Make the parameters such as time, crawl position angle and handgrip is evaded during crawl according to handgrip appearance and size and material gap automatically Collision with unclassified stores may.

3rd, robot then carries out material crawl

4th, when next material tray comes (material B), that is, second host computer order is started, according to the profile of this material It is not required to change handgrip if it can capture, handgrip replacing is carried out in quick change frock automatically if it need to change handgrip.

6th, when in pallet material close to an end, and dispense frame and do not arrive scene also, then can by the material on material tray grab to In cache shelf, to withdraw from material tray, that is, accomplish that robot does not rest, it is ensured that yield.

Embodiment above is only explanation technological thought of the invention, it is impossible to limit protection scope of the present invention with this, all It is any change done on the basis of technical scheme according to technological thought proposed by the present invention, each falls within present invention protection model Within enclosing.The technology that the present invention is not directed to can be realized by existing technology.

Claims (8)

1. logistics distribution intelligence hand is grabbed, it is characterised in that：Including hand grab component, hand gripping arm, range sensor, identification sensor, Torque adjusts component；

The hand is grabbed component and is connected with hand gripping arm, and the hand grabs component with two gripper jaws, and the gripper jaw is provided with pressure Sensor, torque adjustment component；The range sensor, the identification sensor are arranged on the hand and grab on component.

2. logistics distribution intelligence hand according to claim 1 is grabbed, it is characterised in that：The range sensor real-time detection hand The height and hand for grabbing decentralization are grabbed and the distance for being grabbed object；The border of object is grabbed in the identification sensor identification.

3. logistics distribution intelligence hand according to claim 1 is grabbed, it is characterised in that：The torque adjusts component operation scope It is less than or equal to 1.5 times of maximum moment.

4. grabbed according to the described logistics distribution intelligence hand of one of claims 1 to 3, it is characterised in that：Also set on the gripper jaw There are moving parts, control the gripper jaw to slide detection to the displacement for being grabbed object.

5. logistics distribution sorting system, including robot, it is characterised in that：Intelligence described in claim 1 is installed in robot Hand is grabbed, and visual response system is also included in robot；Also include material tray, dispatching station.

6. logistics distribution sorting system according to claim 5, it is characterised in that：Also include quick change frock, opponent grab into Row is changed, and increases crawl species, realizes the flexibility of material crawl.

7. the logistics distribution sorting system according to claim 5 or 6, it is characterised in that：Intelligent hand is grabbed and also include electric Interface, reserves RS485 communication interfaces and robot communication；Also include mechanical interface, meet robot and connect quick change hand soon and grab requirement.

8. logistics distribution sorting system according to claim 5, it is characterised in that：Also include cache shelf, material tray with Dispatching frame is grabbed to cache shelf the material on material tray when being connected.