CN212558174U

CN212558174U - Bag supply system based on robot

Info

Publication number: CN212558174U
Application number: CN202020929103.7U
Authority: CN
Inventors: 丁丁; 王灿; 王磊; 王正
Original assignee: Hangzhou Lingxi Robot Intelligent Technology Co ltd
Current assignee: Hangzhou Lingxi Robot Intelligent Technology Co ltd
Priority date: 2020-05-27
Filing date: 2020-05-27
Publication date: 2021-02-19
Anticipated expiration: 2030-05-27

Abstract

The utility model discloses a confession package system based on robot relates to wisdom commodity circulation technical field for solve the artifical problem that supplies a package inefficiency. The bag supply system comprises image acquisition equipment, a cache platform, a robot and a transmission device; the image acquisition equipment is positioned above the cache platform and is used for acquiring the article placement condition of the cache platform; the robot is in communication connection with the image acquisition equipment and transfers the corresponding article of the cache platform to the conveying device based on the article placement condition; the conveying device is used for conveying the transferred articles to the next station. The utility model discloses an automatic confession package of robot not only has liberated the labour in order to replace artifical confession package, has still improved confession package efficiency.

Description

Bag supply system based on robot

Technical Field

The utility model relates to a wisdom commodity circulation technical field especially relates to a confession package system based on robot.

Background

In recent years, with the development of electronic commerce becoming faster and faster, the business of express companies is increasing day by day, and the quantity of express packages to be sorted is becoming larger and larger. With the rising cost of manpower, the demand for automation equipment is increasing day by day. Automatic sorting equipment such as a cross belt sorting machine and a sliding block sorting machine is increasingly applied due to high-efficiency sorting efficiency. The sorting equipment replaces manual operation to a great extent, but the packet supply link still needs manual operation, and the efficiency of manual packet supply is low, so that the sorting efficiency of automatic sorting equipment is greatly limited.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model aims to provide a supply package system based on robot supplies the package through the automatic package that supplies of robot in order to replace artifical confession package, has not only liberated the labour, has still improved and has supplied a package efficiency.

The purpose of the utility model is realized by adopting the following technical scheme: a bag supply system based on a robot comprises an image acquisition device, a cache platform, the robot and a transmission device; the image acquisition equipment is positioned above the cache platform and is used for acquiring the article placement condition of the cache platform; the robot is in communication connection with the image acquisition equipment and transfers the corresponding article of the cache platform to the conveying device based on the article placement condition; the conveying device is used for conveying the transferred articles to the next station.

Furthermore, a connection line between the cache platform and the robot is marked as a first connection line, a connection line between the conveying device and the robot is marked as a second connection line, and the first connection line is perpendicular to the second connection line.

Further, the buffer storage platform is provided with a working surface for placing articles, and the working surface is inclined towards the robot.

Furthermore, both sides of working face are provided with the baffle respectively, and two baffles orientation the robot is the flaring setting.

Further, still include support and adaptor, image acquisition equipment via the adaptor install in on the support and the field of vision covers the working face.

Further, conveyer includes the one-level conveying subassembly and the second grade conveying subassembly that distribute in proper order along direction of transfer, the one-level conveying subassembly adopts first conveyer belt, the second grade conveying subassembly adopts the conveying strip group.

Further, an intermediate conveying assembly is arranged between the primary conveying assembly and the secondary conveying assembly and used for adjusting the conveying direction of the articles.

Further, the primary conveying assembly further comprises a sensing device, and the sensing device is in communication connection with the robot; when the articles exist in the sensing space of the first conveyor belt, the sensing equipment outputs sensing signals, and the robot responds to the sensing signals and stops transferring the articles to the first conveyor belt.

Further, the sensing device adopts a grating sensor.

Further, the sensing part of the grating sensor is parallel to the conveying direction of the first conveyor belt, and the sensing part extends to the inlet of the primary conveying assembly towards one end of the robot.

Compared with the prior art, the beneficial effects of the utility model reside in that: automatic bag supply can be realized through the image acquisition equipment, the cache platform, the robot and the transmission device; the article to be transferred is determined according to the article placement condition acquired by the image acquisition equipment, so that the article transferring accuracy of the robot can be improved, and omission can be avoided; automatic supply package compares with artifical supply package, has not only liberated the labour, has still improved and has supplied a package efficiency to be favorable to reducing the restriction to the letter sorting efficiency of automatic sorting equipment.

Drawings

Fig. 1 is a schematic structural diagram of the packet supply system in this embodiment.

In the figure: 1. an image acquisition device; 2. a caching platform; 21. a working surface; 22. a baffle plate; 23. a guide-in plate; 3. a robot; 4. a conveying device; 41. a first conveyor belt; 42. a transfer bar; 43. an intermediate conveyor belt; 44. a grating sensor; 5. a support; 6. an adapter.

Detailed Description

The present invention will now be described in more detail with reference to the accompanying drawings, and it is to be understood that the following description of the present invention is made only by way of illustration and not by way of limitation with reference to the accompanying drawings. The various embodiments may be combined with each other to form other embodiments not shown in the following description.

The embodiment provides a bag supply system based on a robot, and aims to solve the problem of low manual bag supply efficiency. Specifically, referring to fig. 1, the package supply system includes an image capture device 1, a cache platform 2, a robot 3, and a transport apparatus 4.

The buffer storage platform 2 is used for placing articles. It should be noted that, before the packing, a corresponding item needs to be placed on the buffer platform 2 manually or by machine, and it is understood that the manual placement can be performed in batch, which does not affect the packing efficiency.

The image acquisition device 1 is located above the cache platform 2, and the image acquisition device can acquire the article placement condition on the cache platform 2. It is understood that the field of view corresponding to the image acquisition device 1 may be the entirety of the cache platform 2; the visual field corresponding to the image capturing device 1 may also be a part of the cache platform 2, but the image capturing device 1 should be movable, and in the process of the activity, the set of the collected placement conditions of the items needs to cover all the items, so that omission can be avoided to some extent. However, in view of the structural simplicity, the field of view corresponding to the image capturing device 1 is preferably the entirety of the buffer platform 2.

The input end of the robot 3 is in communication connection with the image acquisition device 1 so as to receive the article placement condition, then the robot 3 determines the selected article and the transfer rule according to the article placement condition, then the robot 3 establishes a connection relation with the selected article according to the transfer rule, and then drives the selected article to move to the conveying device 4, so that the transfer of the selected article is realized. It should be noted that the connection relationship may be grabbing, and the execution end of the robot 3 corresponds to a manipulator; when the connection relation can be suction, the execution end of the robot 3 corresponds to a suction cup. Of course, the connection relationship is not limited to the above type, as long as the connection with the selected article can be temporarily established, and the execution end of the robot 3 preferably adopts a suction cup in consideration of damage to the article.

When the robot 3 places the selected article on the conveyor 4, the conveyor 4 conveys it to the next station. The next station is preferably a sorting apparatus.

In summary, the image acquisition device 1 acquires the article placement condition on the cache platform 2, and then uploads the article placement condition to the robot 3, the robot 3 determines the selected article according to the article placement condition, and then transfers the selected article from the cache platform 2 to the conveying device 4 in sequence, and the conveying device 4 conveys the selected article to the next station, so that automatic bag supply can be realized, labor force is liberated, and bag supply efficiency is improved, thereby being beneficial to reducing the limitation on the sorting efficiency of the automatic sorting device.

As an optional technical solution, a connection line between the buffer platform 2 and the robot 3 is denoted as a first connection line, a connection line between the conveyer 4 and the robot 3 is denoted as a second connection line, and the first connection line is perpendicular to the second connection line, so that a transfer angle of the robot 3 is approximately equal to 90 degrees. Through the technical scheme, on one hand, the buffer storage platform 2 and the conveying device 4 can be attached to the arrangement condition in a factory, and on the other hand, the balance between the space between the buffer storage platform 2 and the conveying device 4 and the transfer angle is adjusted.

As an optional technical solution, the buffer storage platform 2 has a working surface 21, and when the articles are placed on the buffer storage platform 2, the articles are all located on the working surface 21. The side of the working surface 21 facing the robot 3 is denoted as an end a, the side facing away from the robot 3 is denoted as an end b, and the end b is inclined toward the end a. It will be appreciated that the robot 3 preferably first picks up the article at the a-end and then the article at the b-end will move in an oblique direction towards the a-end, thereby engaging the robot 3 for transfer. According to the technical scheme, the software deficiency can be made up by using hardware, the complexity of the control program of the robot 3 can be reduced, and the probability of error occurrence is reduced.

The inclination angle between the working surface 21 and the horizontal plane may be 5-15 deg. to provide power for the articles moving along the working surface 21, and on the other hand, to avoid that the power is too high to cause the articles to be separated from the working surface 21, the inclination angle is preferably 8 deg..

Further, the two sides of the working surface 21 are respectively fixed with a baffle 22, and the baffles 22 extend along the corresponding edges of the working surface 21, so that articles on the working surface 21 can be prevented from falling from the two sides of the working surface 21, and the stability of the whole bag supply system is improved.

The center line of the working surface 21 along the inclination angle is taken as a third connecting line, one end of the baffle 22 facing the robot 3 is far away from the third connecting line of the center line, and the other end of the baffle 22 is close to the third connecting line of the center line, so that the two baffles 22 are arranged in a flaring manner towards the robot 3. It will be appreciated that the baffle 22, being flared, provides a guide for the articles on the work surface 21 to converge towards the third line of the centre line, facilitating their transfer by the robot 3.

The baffles 22 are preferably symmetrically arranged along a third line of the center line, so that the working surface 21 is arranged in an isosceles trapezoid, and the consistency of the cache platform 2 can be improved on the basis of guiding. The buffer platform 2 further comprises a guiding plate 23, wherein the guiding plate 23 is arranged at the end b of the working surface 21, and the inclination angle can be 50-75 degrees, so that the corresponding article can be conveniently guided onto the working surface 21.

As an optional technical solution, the bag supply system may further include a support 5 and an adaptor 6, the support 5 may include a cross rod and a vertical rod perpendicular to each other, one end of the vertical rod is fixed on the ground, the other end of the vertical rod is higher than the working surface 21, one end of the cross rod is fixed on the top of the vertical rod, and the other end of the cross rod extends to a position right above the working surface 21. The adaptor 6 is a matching mounting component of the image capturing device 1, and is fixed on one end of the cross bar away from the vertical bar, so that the image capturing device 1 can be mounted on the bracket 5 through the adaptor 6. The image acquisition equipment 1 is static relative to the cache platform 2, and the working surface 21 is covered in the visual field of the image acquisition equipment 1, so that objects distributed on the working surface 21 can be quickly confirmed, corresponding transfer operation can be conveniently adopted, and the bag supply efficiency is improved. The image acquisition device 1 may, but is not limited to, employ a 3D camera.

Further, the cross bar is arranged along the width direction of the working surface 21, and the support 5 and the conveying device 4 are respectively positioned at two sides of the robot 3, so that the bag supply system is reasonable in distribution and convenient to maintain.

As an optional technical solution, the conveying device 4 includes a primary conveying component and a secondary conveying component, and the articles are sequentially conveyed to the next station through the primary conveying component and the secondary conveying component.

The primary transport assembly includes a first housing, a first conveyor belt 41, and a first drive member. The first conveyor belt 41 is mounted on the first housing via two circular rods, and the first driving member is configured to drive any circular rod to rotate, so as to drive the first conveyor belt 41 to rotate, and a conveying direction of the first conveyor belt 41 is perpendicular to an inclined direction of the working surface 21.

The secondary transport assembly includes a second housing, a transport bar set, and a second drive member. The conveying strip group is provided with a plurality of conveying strips 42, the conveying strips 42 are arranged on the second shell through the circular rods, the conveying strips 42 are distributed along the axial direction of the circular rods, and the second driving piece is used for driving any circular rod to rotate so as to drive the conveying strips 42 to rotate.

Through the technical scheme, after the robot 3 transfers the articles to the first conveyor belt 41, the articles are conveyed to the conveying strip 42 along the conveying direction of the first conveyor belt 41, so that stable landing can be ensured, and the cost is saved to a certain extent.

Preferably, the distance between the conveyor belts 42 on both sides is the same as the width of the first conveyor belt 41, so that during the transfer of the articles from the first conveyor belt 41 to the conveyor belts 42, jamming can be effectively avoided and costs can be saved.

Preferably, an intermediate conveying assembly is further disposed between the primary conveying assembly and the secondary conveying assembly, and the intermediate assembly includes an intermediate housing, an intermediate conveying strip 42, and an intermediate driving member, and the setting of the intermediate assembly may refer to the setting of the primary conveying assembly and the secondary conveying assembly, which is not described herein again.

The intermediate transfer assembly is used to adjust the transfer direction of the articles, i.e. the transfer direction of the intermediate transfer belt 43 may be different from the transfer direction of the first transfer belt 41, but the transfer direction of the intermediate transfer belt 43 should be the same as the transfer direction of the group of transfer bars 42, so as to facilitate the articles from the group of intermediate transfer belts 43 to enter the transfer range of the transfer bars 42 and avoid the articles from being stuck between the transfer bars 42.

As an optional technical solution, the primary conveying assembly includes a sensing device disposed on the first housing, and the sensing device is connected in communication with the input end of the robot 3 and is used for sensing the article on the first conveyor belt 41, for example: when there is article in the induction space of first conveyer belt 41, sensing equipment output sensing signal, robot 3 responds to sensing signal and stops to shift article to first conveyer belt 41 on to article pile up on can effectively avoiding first conveyer belt 41, convey in order to guarantee.

The sensing device may be a laser sensor, a pressure sensor, a camera or a grating sensor 44, etc., and the type thereof is not limited herein. However, in consideration of simple determination and wide sensing range, the sensing device preferably employs the grating sensor 44.

The grating sensor 44 has a sensing portion and a processing portion, the processing portion is in communication connection with the sensing portion and the robot 3, the sensing portion may be in a rod-shaped configuration, the sensing portion may be parallel to the transfer direction of the first transfer belt 41, one end of the sensing portion may extend to the inlet of the first-stage transfer assembly, and the other end may extend to the outlet of the first-stage transfer assembly, so that the sensing space effectively covers the first transfer belt 41.

During the process of feeding, the robot 3 transfers the selected article from the working surface 21 to the first conveyor belt 41, so as to trigger the sensing portion of the raster sensor 44, then the article is sent to the next station through the first conveyor belt 41-the middle conveyor belt 43-the conveyor belt 42, and during the time period when the sensing portion of the raster sensor 44 is triggered, the robot 3 can still transfer the article but cannot place it on the first conveyor belt 41, so that the developer can adjust the length of the sensing portion to increase the feeding rate.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.

Claims

1. A bag supply system based on a robot is characterized by comprising an image acquisition device, a cache platform, the robot and a transmission device; the image acquisition equipment is positioned above the cache platform and is used for acquiring the article placement condition of the cache platform; the robot is in communication connection with the image acquisition equipment and transfers the corresponding article of the cache platform to the conveying device based on the article placement condition; the conveying device is used for conveying the transferred articles to the next station.

2. The robot-based bag supply system according to claim 1, wherein a connection line between the buffer platform and the robot is a first connection line, a connection line between the conveyor and the robot is a second connection line, and the first connection line is perpendicular to the second connection line.

3. A robot-based tote system in accordance with claim 1, wherein said buffer platform has a work surface for placing items, said work surface being inclined toward said robot.

4. The robot-based bag supply system according to claim 3, wherein two sides of the working surface are respectively provided with a baffle plate, and the two baffle plates are arranged in a flaring manner towards the robot.

5. A robot-based bag supply system according to claim 3, further comprising a support and an adapter, wherein the image capture device is mounted on the support via the adapter and covers the work surface in view.

6. The robot-based bag supply system according to any one of claims 1 to 5, wherein the conveying device comprises a primary conveying assembly and a secondary conveying assembly which are sequentially distributed along the conveying direction, the primary conveying assembly adopts a first conveying belt, and the secondary conveying assembly adopts a conveying strip group.

7. The robot-based bag supply system of claim 6, wherein an intermediate transfer assembly is further disposed between the primary transfer assembly and the secondary transfer assembly, the intermediate transfer assembly being configured to adjust a transfer direction of the articles.

8. The robot-based bag supply system of claim 6, wherein the primary transport assembly further comprises a sensing device, the sensing device being communicatively coupled to the robot; when the articles exist in the sensing space of the first conveyor belt, the sensing equipment outputs sensing signals, and the robot responds to the sensing signals and stops transferring the articles to the first conveyor belt.

9. A robot-based bag supply system according to claim 8, wherein the sensing device employs a grating sensor.

10. The robot-based bag supply system according to claim 9, wherein the sensing portion of the raster sensor is parallel to the conveying direction of the first conveyor belt, and extends toward one end of the robot to the entrance of the primary conveyor assembly.