CN209312143U - A kind of robot based on machine vision stores up vending system automatically - Google Patents
A kind of robot based on machine vision stores up vending system automatically Download PDFInfo
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- CN209312143U CN209312143U CN201821965215.7U CN201821965215U CN209312143U CN 209312143 U CN209312143 U CN 209312143U CN 201821965215 U CN201821965215 U CN 201821965215U CN 209312143 U CN209312143 U CN 209312143U
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Abstract
The utility model discloses a kind of robots based on machine vision to store up vending system automatically, including shell, multiple cargo storage racks units in shell, multiple sorting machine people units, it is multiple to store up sell goods database management unit and storage picking robot, multiple cargo storage racks units are arranged along shell, and multiple cargo storage racks units constitute regular polygon structure, storage picking robot is located at the center of the regular polygon, and database management unit of selling goods is stored up at interval of a line one sorting machine people unit of arrangement and one, each periphery stored up database management unit of selling goods and be arranged in the cargo storage racks unit that corresponding sides are arranged, the number of edges of regular polygon is even number.The utility model is completed the storage of cargo and is taken in automatic field, and the layout of compact mechanical structure and rationalization maximally utilizes the working space of robot, realizes the access of greater number material, improves production efficiency, saves space.
Description
Technical field
The utility model relates to material field of automation technology, in particular to a kind of robot based on machine vision is automatic
Store up vending system.
Background technique
In some electronics industry and automation industry, it is often necessary to divide according to work order production material and correlated parts
It work, the different operating personnel such as picks, store and takes and need to carry out identification, the material of different work orders also needs to carry out identity
Mark, in favor of production control.This requires being sorted to material according to work order classification and quantity, and stored respectively,
It also needs to be taken according to work order classification and quantity simultaneously.If by manually carrying out large batch of material recognition, sorting, deposit
It stores up and takes, a large amount of manpowers can be consumed, speed is slow, low efficiency, is easy error.
There are many factories by robot application to sorting at present, has come into being there are also various sorting machine people, point
The main function for picking robot is material to be rapidly and accurately sent to designated place, such as patent CN204847270U " one
Kind SMT Material Sorting line ", it will by feeder, printer-labeler, scanning means, Material Sorting robot and material conveyor belt
Material neat uniform ground heap is put away, convenient for quickly taking for material；Such as patent CN205032395U " a kind of robot view again
Feel sorting device ", by the spider of vision camera, the crawl movements and postures of actors and corresponding tracking grabbing workpiece, vision system of arranging in pairs or groups
Carry out the flexible sorting work of high speed；Again such as patent CN205521414U " it is a kind of based on machine vision bulb lamp sorting and
Packaging system ", it is equally based on NI Vision Builder for Automated Inspection, bulb lamp is carried out using six-joint robot, mechanical paw and PLC control cabinet
Sorting and packaging system, wherein the vision software module in the patent includes that 2D camera, light source, industrial personal computer all-in-one machine and vision are soft
Part system, vision software system include In-Sight software, which uses FindPaterns algorithm, establish image and compare mould
Type corrects world coordinates using Calibrate Advanced algorithm, using Sort Patterns algorithm with establish before
Model comparison, is calculated the position of current bulb lamp, is converted to the pixel coordinate of workpiece using TransPixelToWorld algorithm
World coordinates after vision software system analytic operation, obtains the position coordinates of bulb lamp for the different postures of bulb lamp,
Guidance six-joint robot grabs bulb lamp, to complete the sorting and vanning of bulb lamp.
But major part is chiefly used in the sorting of material using the robot based on machine vision at present, in the storage of material
Upper application is less with taking, and occupies factory's larger space, and structure is not compact, higher cost.
Utility model content
The utility model provides a kind of robot based on machine vision and stores up vending system automatically, solves the prior art
Middle robot material storage and take using less, and occupy factory's larger space, structure is not compact, the skill of higher cost
Art problem.
The technical solution that the utility model solves above-mentioned technical problem is as follows:
A kind of robot based on machine vision stores up vending system automatically, comprising: shell, be located in the shell it is multiple
Cargo storage racks unit, multiple sorting machine people units, it is multiple storage sell goods database management unit and storage picking robot, Duo Gesuo
It states cargo storage racks unit to be evenly arranged along the shell, and multiple cargo storage racks units constitute regular polygon knot
Structure, the storage picking robot is located at the center of the regular polygon, and arranges a sorting machine at interval of a line
People's unit and a storage are sold goods database management unit, and each storage database management unit of selling goods is arranged in correspondence
The periphery for the cargo storage racks unit that side is arranged, the number of edges of the regular polygon are even number；
Each cargo storage racks unit includes: shelf and multiple material box, multiple units is disposed in the shelf, often
The material box is arranged in a unit, and multiple objects with electronic tag are disposed in each material box
Material；
Each sorting machine people unit includes: machine vision equipment and the sorting machine people of interconnection；
Each database management unit of selling goods of storing up includes: that object window is sold in embedding storage on the housing, is mounted on institute
State the host computer that database software was sold on object window and was equipped in storage, and the touch screen and electricity that are electrically connected with the host computer
Subtab reader；
The storage picking robot includes: clamping jaw.
The beneficial effects of the utility model are: being based on machine vision technique, pass through machine vision equipment and sorting machine people
It realizes the identification and sorting to material, and the material after sorting is transported to by cargo storage racks unit by storing and taking machine device people and is deposited
Storage, or material is taken by storing and taking machine device people, then the material taken is transported to picking people by sorting machine people unit
On hand, the robot based on machine vision of the utility model stores up vending system automatically and completes various cargos in automatic field
Storage and take function, compact mechanical structure and the layout rationalized can maximally utilize the working space of robot,
It realizes the access of greater number material, improves production efficiency, it is compact-sized, save space and cost.
Based on the above technical solution, the utility model can also do following improvement:
The database management unit further, each storage is sold goods further include: the face identification system being connect with the host computer.
Above-mentioned further scheme the utility model has the advantages that by face identification system to the identity information of picking people and sender into
Row verifying, guarantees the user of picking people and the artificial system registry of delivery, and this system can be used and carry out picking and warehousing, improve this
The Prevention-Security of system.
Further, the storage picking robot and the sorting machine are six-joint robot per capita.
Above-mentioned further scheme the utility model has the advantages that since six-joint robot is multi-joint, multivariant robot, movement
More, flexibly, there are more freedom of action degree in six-joint robot two joints more than four axis robots, six-joint robot for variation
First joint of manipulator can be rotated freely as four axis robots in horizontal plane, latter two joint can be moved in vertical plane
It is dynamic, and six axis robot has one " arm ", two " wrist " joints, the ability with class anthropoid arm and wrist, it can be with
The component or material of any direction on horizontal plane are picked up, and is put into product or material box with special angle, therefore passes through six
Axis robot is identified and is sorted to material, and material is stored and taken, on the one hand instead of traditional turntable
Design, be effectively simplified device structure, on the other hand can it is more flexible, quick, accurate, stably accomplish automatic storage
It sells goods, improves working efficiency.
Further, the machine vision equipment includes at least industrial CCD camera, light source, image pick-up card and industrial personal computer, institute
State industrial CCD camera, the light source, described image capture card with the industry control mechatronics, the industrial CCD camera and institute
Image pick-up card electrical connection is stated, the industrial personal computer is electrically connected with the sorting machine people.
Above-mentioned further scheme the utility model has the advantages that using at least by industrial CCD camera, light source, image pick-up card and industry control
The machine vision equipment of machine composition can effectively improve the setting of positioning measurement precision, accurate positioning, and industrial personal computer, may customize individual character
Change operation interface, operational efficiency is high, and it is easy to operate, securely and reliably, by the combination of machine vision equipment and sorting machine people, have
Effect realizes the Material Sorting based on machine vision, and structure is simple, integrated level is high, easy for installation, sorting speed is fast, efficiency
High, at low cost and safety and stability is good.Wherein, it is the prior art that sorting machine people, which is based on realizing of Robot Vision Material Sorting, specifically
It repeats no more.
Further, multiple cargo storage racks units are evenly arranged along the regular polygon, and the regular polygon
Each edge arranges the cargo storage racks unit.
Above-mentioned further scheme the utility model has the advantages that multiple cargo storage racks units by being evenly arranged along regular polygon,
On the one hand the requirement for meeting industrial automation, on the other hand makes the robot of the utility model store up vending system automatically and more steps up
Gather, save space, convenient for material storage and take, improve production efficiency；And each edge arranges a cargo storage racks list
Member can be automatically stored or be taken by this automatic storage vending system from different directions convenient for sender and consignee,
Maximumlly improve production efficiency.
Further, multiple units in the shelf are evenly arranged, and multiple unit forming arrays.
Above-mentioned further scheme the utility model has the advantages that the multiple units being evenly arranged by array format, can make shelf
Space is maximally utilized, rational deployment is more saved empty so that the mechanical structure of entire automatic storage vending system is more compact
Between.
Further, multiple materials in each material box are evenly arranged, and multiple material forming arrays.
Above-mentioned further scheme the utility model has the advantages that the material box being made up of array format, on the one hand can be further maximum
Change and utilize space, and integral layout more reasonable standard, convenient for sorting, stores and take, another aspect material box and material can
Optionally disassembly and assembly, practicability are higher.
Further, the multiple materials being evenly arranged in each material box constitute 3*3 array.
Above-mentioned further scheme the utility model has the advantages that the material box being evenly arranged by 3*3 array format, can make entirety
Layout more reasonable standard is beautiful, maximizes and saves space, convenient for sorting, stores and take, and improves working efficiency.
Detailed description of the invention
Fig. 1 is the structure chart that a kind of robot provided by the embodiment of the utility model stores up vending system automatically；
Fig. 2 is the structure chart of sorting machine people's unit in the utility model embodiment；
Fig. 3 is the structure chart for the material box that another embodiment of the utility model provides.
In attached drawing, parts list represented by the reference numerals are as follows:
1, shell, 2, cargo storage racks unit, 3, sorting machine people's unit, 4, storage sell goods database management unit, 5, storage takes
Goods robot, 21, shelf, 22, material box, 32, sorting machine people, 51, clamping jaw, 311, industrial CCD camera, 312, light source,
313, industrial personal computer, 314, area of taking pictures.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.
As shown in Figure 1-3, a kind of robot stores up vending system automatically, comprising: shell 1, multiple in the shell 1
Cargo storage racks unit 2, multiple sorting machine people units 3, multiple store up sell goods database management unit 4 and store up picking robot 5, more
A cargo storage racks unit 2 is arranged along the shell, and multiple cargo storage racks units 2 constitute regular polygon structure,
The storage picking robot 5 is located at the center of the regular polygon, and arranges a sorting machine people at interval of a line
Unit 3 and a storage are sold goods database management unit 4, and each storage database management unit 4 of selling goods is arranged in pair
The periphery for the cargo storage racks unit 2 for answering side to be arranged, the number of edges of the regular polygon are even number；
Each cargo storage racks unit 2 includes: shelf 21 and multiple material box 22, is disposed in the shelf 21 multiple
Unit arranges a material box 22 in each unit, and being disposed in each material box 22 multiple has electronic tag
Material；
As shown in Fig. 2, each sorting machine people unit 3 includes: the machine vision equipment and sorter of interconnection
Device people 32；
Each database management unit 4 of selling goods of storing up includes: that object window is sold in the storage on the shell 1, is mounted on
The host computer for being equipped with database software on object window is sold in the storage, and the touch screen that is electrically connected with the host computer and
Electronic label reader；
The storage picking robot 5 includes: clamping jaw 51.
The automatic storage vending system of the present embodiment is based on machine vision technique, passes through machine vision equipment and sorting machine
People realizes the identification and sorting to material, and the material after sorting is transported to cargo storage racks unit by storing and taking machine device people and is carried out
Storage, or material is taken by storing and taking machine device people, then the material taken is transported to picking by sorting machine people unit
On manpower, the robot based on machine vision of the utility model stores up vending system automatically and completes various goods in automatic field
The storage of object and function is taken, compact mechanical structure and the layout rationalized can maximally utilize the work sky of robot
Between, it realizes the access of greater number material, improves production efficiency, it is compact-sized, save space and cost；
Wherein, multiple cargo storage racks units of the present embodiment are arranged along the inscribed regular polygon of shell, can further most
Bigization ground utilizes the working space of robot, realizes the access of greater number material, improves production efficiency.
Wherein, the course of work of the automatic storage vending system of the present embodiment is as follows:
Storage material process: sender by material storage sell goods database management unit 4 by electronic label reader into
The scanning of row electronic tag, database software will record the material information in electronic tag, and then sender is sent to storage and sells goods
Object window (wherein, database software is the prior art, such as Erp material management system, is specifically repeated no more)；It is regarded based on machine
Feel technology, sorting machine people 32, by Material Sorting to designated position, are then stored up picking robot 5 and passed through by machine vision equipment
Clamping jaw 51 carries out acquisition crawl, is sent in the empty material box 22 on shelf 21；Wherein, sorting machine people 32 passes through machine
Material Sorting to designated position is the prior art by visual apparatus, such as material is grabbed machine vision and set by sorting machine people 32
Standby area 314 of taking pictures carries out positioning to material and takes pictures, and after the test analysis of machine vision equipment, determines that the position of material is sat
Mark, then material is transported at determining position coordinates by sorting machine people 32, the test analysis of machine vision equipment is existing
There is technology, specifically repeat no more (such as the test analysis software of the record in background technique includes In-Sight software, the software
Using FindPaterns algorithm, image comparison model is established, reuses Calibrate Advanced algorithm, the correction world is sat
Then mark is compared with the model established before using Sort Patterns algorithm, calculates the position of current material, use
The pixel coordinate of material is converted to world coordinates by TransPixelToWorld algorithm, obtains the position coordinates that material determines).
Take material process: consignee according to work order, choose by the database software by storing up database management unit 4 of selling goods
Material, and the material of work order is determined one by one by touch screen and is selected, object can be chosen on shelf 21 by then storing up picking robot 5
Corresponding material in magazine 22 is sent to storage and sells goods window, and sorting machine people 32 can be by material submitting that consignee needs.
Preferably, each storage is sold goods database management unit 4 further include: the recognition of face system connecting with host computer
System.Face identification system is used to verify the identity information of picking people and sender, improves the Prevention-Security of this system.
Specifically, picking people station sold before object window in storage, by face identification system verify picking person part, verifying at
After function, the material to be taken is selected using host computer and touch screen.
Preferably, the storage picking robot 5 and the sorting machine people 32 are six-joint robot.
Six-joint robot integrated level is high, freedom degree is high, it is flexible, quick to move, stablizes, and the manipulator of six-joint robot has one
A " arm ", two " wrist " joints, the ability with class anthropoid arm and wrist can pick up any direction on horizontal plane
Component or material, and be put into product or material box with special angle, therefore material is known by six-joint robot
And sorting, and material is not stored and is taken, on the one hand instead of traditional turret design, be effectively simplified equipment or
Apparatus structure, on the other hand can it is more flexible, quick, accurate, stably accomplish automatic storage and sell goods, improve working efficiency.
Preferably, as shown in Fig. 2, the machine vision equipment includes at least industrial CCD camera 311, light source 312, image
Capture card (being not drawn into figure) and industrial personal computer 313, the industrial CCD camera 311, the light source 312, described image capture card are equal
It is electrically connected with the industrial personal computer 313, the industrial CCD camera 311 is electrically connected with described image capture card, the industrial personal computer 313
It is electrically connected with the sorting machine people 32.
Using at least can be effective by the machine vision equipment that industrial CCD camera, light source, image pick-up card and industrial personal computer form
Positioning measurement precision, accurate positioning, and the setting of industrial personal computer are improved, may customize individual operation interface, operational efficiency is high, operation
Simply, securely and reliably, by the combination of machine vision equipment and sorting machine people, the material based on machine vision is effectively realized
Sorting, structure is simple, integrated level is high, easy for installation, sorting speed is fast, high-efficient, at low cost and safety and stability is good.
The machine vision equipment of the present embodiment can also increase laser scanner, can be further improved by laser scanner
The accuracy of identification of material improves the accuracy of sorting.
Preferably, multiple cargo storage racks units 2 are evenly arranged along the regular polygon, and the regular polygon
Each edge arranges the cargo storage racks unit 2.
On the one hand the present embodiment is met industrial automatic by the multiple cargo storage racks units being evenly arranged along regular polygon
The requirement of change, storing up the robot of the utility model automatically, vending system is more compact, and object is convenient in saving space
It the storage of material and takes, improves production efficiency；And each edge arranges a cargo storage racks unit, convenient for sender and receives
People can be automatically stored or be taken by this automatic storage vending system from different directions, maximumlly improve production effect
Rate.
Preferably, multiple units in the shelf 21 are evenly arranged, and multiple unit forming arrays.
The multiple units being evenly arranged by array format can make shelf maximally utilize space, rational deployment, with
Keep the mechanical structure of entire automatic storage vending system more compact, more saving space.Wherein, the present embodiment can be according to practical feelings
Condition is arranged each unit on shelf and stores same class material.
Preferably, as shown in figure 3, multiple materials in each material box 22 are evenly arranged, and it is multiple described
221 forming array of material.
The material box being made up of array format, on the one hand can further maximally utilize space, and integral layout is more
Reasonable standard convenient for sorting, is stored and is taken, another aspect material box and material can optionally disassembly and assembly, practicability is more
It is high.
Preferably, the multiple materials being evenly arranged in each material box 22 constitute 3*3 array.
The material box being evenly arranged by 3*3 array format can make integral layout more reasonable standard beautiful, maximum
Change and save space, convenient for sorting, store and take, improves working efficiency.
The utility model is intended to protect shell, is located in the shell multiple cargo storage racks units, multiple sorting machines
The physical couplings that people's unit, multiple storages are sold goods between database management unit and storage picking robot, are not related to meter
The improvement of calculation machine program.The utility model passes through shell, the multiple cargo storage racks units, the multiple sorters that are located in the shell
Device people unit, multiple layout energy for storing up sell goods mechanical structure and rationalization between database management unit and storage picking robot
The working space of robot is enough maximally utilized, realizes the access of greater number material, improves production efficiency, compact-sized, section
Save space and cost.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (8)
1. a kind of robot based on machine vision stores up vending system automatically characterized by comprising shell is located at outside described
Multiple cargo storage racks units, multiple sorting machine people units in shell, multiple storages are sold goods database management unit and storage picking machine
Device people, multiple cargo storage racks units are arranged along the shell, and multiple cargo storage racks units constitute regular polygon
Structure, the storage picking robot is located at the center of the regular polygon, and arranges a sorter at interval of a line
Device people unit and a storage are sold goods database management unit, and each storage database management unit of selling goods is arranged in pair
The periphery for the cargo storage racks unit for answering side to be arranged, the number of edges of the regular polygon are even number；
Each cargo storage racks unit includes: shelf and multiple material box, and multiple units, Mei Gesuo are disposed in the shelf
It states and arranges the material box in unit, multiple materials with electronic tag are disposed in each material box；
Each sorting machine people unit includes: machine vision equipment and the sorting machine people of interconnection；
Each database management unit of selling goods of storing up includes: that object window is sold in embedding storage on the housing, is mounted on the storage
Sell on object window and be equipped with the host computer of database software, and the touch screen and electronics mark that are electrically connected with the host computer
Sign reader；
The storage picking robot includes: clamping jaw.
2. a kind of robot based on machine vision according to claim 1 stores up vending system automatically, which is characterized in that every
It is a to store up database management unit of selling goods further include: the face identification system being connect with the host computer.
3. a kind of robot based on machine vision according to claim 1 stores up vending system automatically, which is characterized in that institute
Shu Chu picking robot and the sorting machine are six-joint robot per capita.
4. a kind of robot based on machine vision according to claim 1 stores up vending system automatically, which is characterized in that institute
Machine vision equipment is stated including at least industrial CCD camera, light source, image pick-up card and industrial personal computer, the industrial CCD camera, institute
Light source, described image capture card are stated with the industry control mechatronics, and the industrial CCD camera is electrically connected with described image capture card
It connects, the industrial personal computer is electrically connected with the sorting machine people.
5. a kind of robot based on machine vision according to claim 1 stores up vending system automatically, which is characterized in that more
A cargo storage racks unit is evenly arranged along the regular polygon, and each edge of the regular polygon arranges an institute
State cargo storage racks unit.
6. a kind of robot based on machine vision according to claim 1-5 stores up vending system automatically, special
Sign is that multiple units in the shelf are evenly arranged, and multiple unit forming arrays.
7. a kind of robot based on machine vision according to claim 1-5 stores up vending system automatically, special
Sign is that multiple materials in each material box are evenly arranged, and multiple material forming arrays.
8. a kind of robot based on machine vision according to claim 7 stores up vending system automatically, which is characterized in that every
The multiple materials being evenly arranged in a material box constitute 3*3 array.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2018201296162 | 2018-01-24 | ||
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| CN209312143U true CN209312143U (en) | 2019-08-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116873445A (en) * | 2023-09-07 | 2023-10-13 | 山东顺和商贸集团有限公司 | Intelligent warehouse device for automatically sorting, loading and unloading bulk cargoes of commercial and trade logistics |
-
2018
- 2018-11-27 CN CN201821965215.7U patent/CN209312143U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116873445A (en) * | 2023-09-07 | 2023-10-13 | 山东顺和商贸集团有限公司 | Intelligent warehouse device for automatically sorting, loading and unloading bulk cargoes of commercial and trade logistics |
| CN116873445B (en) * | 2023-09-07 | 2024-01-23 | 山东顺和商贸集团有限公司 | Intelligent warehouse device for automatically sorting, loading and unloading bulk cargoes of commercial and trade logistics |
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