EP1213057A2 - Méthode de tri automatique d'objets et de composition d'assortiments - Google Patents

Méthode de tri automatique d'objets et de composition d'assortiments Download PDF

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Publication number
EP1213057A2
EP1213057A2 EP01128594A EP01128594A EP1213057A2 EP 1213057 A2 EP1213057 A2 EP 1213057A2 EP 01128594 A EP01128594 A EP 01128594A EP 01128594 A EP01128594 A EP 01128594A EP 1213057 A2 EP1213057 A2 EP 1213057A2
Authority
EP
European Patent Office
Prior art keywords
objects
sorting
belt conveyor
control unit
assortment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP01128594A
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German (de)
English (en)
Other versions
EP1213057A3 (fr
Inventor
Peter Nagler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ULIXES ROBOTERSYSTEME GMBH
Original Assignee
imt robot AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by imt robot AG filed Critical imt robot AG
Publication of EP1213057A2 publication Critical patent/EP1213057A2/fr
Publication of EP1213057A3 publication Critical patent/EP1213057A3/fr
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/38—Collecting or arranging articles in groups

Definitions

  • the invention relates to a method for automated Sort objects and assemble assortments of objects.
  • objects become controllable Handling devices gripped and in trays (Trays), which pass through on a belt conveyor. Every gripped object is handled by the handling device assigned to an assortment, the position of which Assortment of the control of the handling device is determined. Quantity are often used as sorting criteria the types of objects to be merged into the assortment specified or their individual weight or approximately the total weight of an assortment.
  • WO 99/28057 describes a method for automated Group known in which the objects are in random order abandoned to the belt conveyor in a constant flow and then by handling devices be brought into the intended assortment position.
  • the Assortment items are in this known method provided on the belt surface of the feeding belt conveyor, with an upstream detection device random position and orientation of the objects and one Control unit displays. Depending on the state of order found the control unit determines such sorting positions and controls the handling robots accordingly assumes that the robots have the greatest possible sorting performance work.
  • the present invention is based on the object Process for automated sorting of objects create which with variable specification different Sorting rules enables faster sorting.
  • Each trailer puts the objects taken from the supply in a position first on the belt conveyor z. B. near the insert tray.
  • the position is after the transport the objects in the work area of the inserts near the desired ones Sorting positions, which means the commute to work Depositors are short. This allows the inlay at high Driving speed additional work steps.
  • the Performance of the trailer is optimized when the objects are in an arrangement similar to the group status in the stock the belt conveyor are put on.
  • Remove the trailer the objects in groups in the supply; for example with an order of the objects in the store in shifts with each matrix arrangement can be arranged by rows of objects taken from the matrix or parts of the rows in the stock and placed on the belt conveyor.
  • the objects from the In this way stocks are separated when hanging up and can be stored in easily accessible position on the belt conveyor by the inlayers are quickly brought into the sorting positions.
  • the objects in tracks are advantageously the same Object types placed in the conveying direction of the belt conveyor.
  • the assortment items can be roughly parallel to the Objects can be provided on the belt conveyor.
  • the objects in containers will be sorted into any Positions continuously placed on the belt, whereby the objects of the sort with the largest to be sorted Number of pieces per container immediately adjacent to the container is launched.
  • the distances between the groups at the same time objects that have been removed and placed on stock advantageously evenly, according to the intended Quantity per assortment and the number at the same time placed objects a periodically recurring Lay-on pattern results.
  • the distances are determined by the control unit taking into account the number of simultaneously placed Objects, i.e. the original order the objects in the stock selected so that the depositors with maximum possible movement speed can work.
  • the control unit tunes all the trailers and the subordinate ones Depositors taking into account their respective Handling services depend on each other.
  • the method according to the invention enables the rigid chaining of several sorting robots in one production line and linking the depositor to a specific one Object type, which makes the overall efficiency of the Sorting process is increased and not by the individual Performance of the slowest working Handling device is limited.
  • the objects can be in a quick lay-on operation simply in the stock similar formation are placed on the belt conveyor, where the hanging up is determined by the group spacing Pattern a light coordination of work cycles the insert enables.
  • the overlay pattern is from the control unit of the sorting system depending on the given sorting rules taking into account the respective performance of the applicable handling devices determined and accordingly the optimal transport speed of the belt conveyor.
  • the depositors can and the hangers that are connected by the belt conveyor are connected, spatially separated. On this way a powerful sorting system can be found in every available space is modular become.
  • the overlay pattern is dependent on the given Sorting rules determined so that the movements of the insert can be optimized. It is found that the capacity of a depositor is not sufficient in order to cover all relevant items in high quantities per assortment Sorting objects of that sort becomes less busy Inserted to fill the gap. everyone Depositor can handle any of the objects to be sorted.
  • the pattern and control of the Handling devices matched so that the insert as evenly as possible for sorting processes that are higher Sorting performance and those that require less sorting performance need to be used.
  • a Recognition device between the feeder and the feeder for example a camera arrangement, the actual one Location of the objects on the belt conveyor detected and the Gripping movements of the inserts for the individual objects corrected.
  • a Recognition device between the feeder and the feeder, for example a camera arrangement, the actual one Location of the objects on the belt conveyor detected and the Gripping movements of the inserts for the individual objects corrected.
  • individual slipping Objects are considered when hanging up, and these objects can be sorted into the provided assortments are brought. You can also defective products recognized and from sorting be excluded, for example in the case of Sorting broken pastry baked goods.
  • a further optimization of the sorting performance is achieved if the group distances of the object groups are one for the Operation of the insert pattern determined on the closest, achievable with the performance of the trailer Value can be set and based on the corrected Group spacing an adapted layout pattern is determined.
  • This adjustment of the overlay pattern can be based on the above calculation based on the common Multiples of the factors involved take place.
  • the inserts can be placed in groups be summarized, the feeder station a corresponding overlay pattern of the ones to be sorted Objects on the belt conveyor, which all groups of inserts justice.
  • Sorting performance in coordination with the determined as optimal Lay-on samples can be made using a sorting system has several inserts and several inserts which each specified sorting rule, if necessary just a few of the handling devices available be carried out, each for themselves by operation with the inventive method optimal are busy.
  • the sorting system is the inventive Process for a wide variety of sorting tasks can be used variably, only the robots accordingly are to be programmed by the control unit and complex structural changes are not required.
  • the sorting system 1 shown in FIG. 1 comprises a plurality of handling devices A 1 , A 2 , E 1 , E 2 , E 3 , E 4 for the automated assembly of objects of different types into individual, predefinable ranges.
  • the sorting system 1 further comprises a belt conveyor 2, the objects 3 to be sorted being placed on the belt by supports A 1 , A 2 and conveyed in the direction of movement 5 by the belt conveyor 2 to second handling devices E 1 , E 2 , E 3 , E 4 become.
  • the second handling devices are used as inlays E 1 , E 2 , E 3 , E 4 , which grip the objects 3 on the belt conveyor 2 and sort them into trays or containers 4 according to the specified sorting instructions.
  • the inserts E 1 , E 2 , E 3 , E 4 essentially consist of a gripping robot 6, which is held in a support frame 7 and can move to any position in the width of the belt conveyor 2 in its working area.
  • the sorting system 1 can also have further handling devices, as is indicated by the additional layer shown in dashed lines.
  • the objects are removed from the supplies 12 by the supports A 1 , A 2 by means of gripping arms 9 and placed on the belt conveyor 2.
  • the feeder A 1 , A 2 and the feeder E 1 , E 2 , E 3 , E 4 are controlled by a control unit 10 and coordinated according to the specified sorting instructions.
  • the control unit 10 puts the appropriate number of handling devices into operation in accordance with the required sorting performance and the sorting task and taking into account the sorting method according to the invention.
  • the objects 3 are sorted into trays 4 by the inlays E 1 , E 2 , E 3 , E 4 , which are placed on the belt conveyor 2 at the predetermined sorting positions and at preselected intervals and are fed to the inserts with the objects 3.
  • the objects 3 are placed on the belt in the vicinity of the sorting positions, that is to say adjacent to the trays 4, which results in short work paths for the inlays E 1 , E 2 , E 3 , E 4 and rapid sorting is possible.
  • the position and the orientation of the objects on the belt conveyor 2 is detected by an optical detection device 11.
  • the control unit corrects the activation of the inserts E 1 , E 2 , E 3 , E 4 , defects of individual objects also being detected. These defective goods are not gripped by the inserts and, after passing through the inserts, fall into a reject basket, for example at the end of the belt conveyor 2.
  • the objects 3 of the respective type are in large numbers in an orderly state, which, for. B. is convenient for storage or shipping.
  • the objects 3 can be provided in several layers in rows lying side by side in a matrix.
  • the objects 3 are placed on the belt by the layers A 1 , A 2 in a formation similar to the order state in the supply 12, several objects 3 being removed in each case and simultaneously being placed on the belt conveyor 2.
  • the associated handling process is quick and easy.
  • the sorting method according to the invention is explained in more detail below with reference to FIGS. 2 to 4.
  • the objects to be sorted, baked goods of different types in the present exemplary embodiment are placed on the belt in the conveying direction in tracks Sp by the same types of baked goods I, II, III, parallel to the trays S.
  • the lay-up pattern shown in FIG. 3 is an example of a sorting of three types of pastry into assortments, seven types of pastry type I, five types of pastry type II and three types of pastry type III each having to be sorted into the trays S.
  • a complete lay-up pattern is shown, which is repeated periodically by joining the respective strip sections X W for the lay-up pattern.
  • trays S with pastries are to be sorted per period of the pattern; the shells are provided with the reference numerals 1 to 4.
  • the trays S are set up by the overlayers at the assortment positions that are specified for the inlays for storing the gripped objects O for the respective assortments.
  • the control unit determines such a hanging pattern, which, depending on the specified sorting rule Efficiency of the insert and insert that can be used optimally exhausted and the usable handling devices coordinates and coordinates their movements.
  • the handling devices used, especially the inserts, as evenly as possible for sorting processes that require high sorting performance and those that require less sorting performance become.
  • each type of biscuit group G with four pieces is placed on the belt conveyor, the sorting instructions result in seven pieces, five pieces, three pieces, the smallest common multiples 28, 20 and 12. These values referring to the types of biscuits become again
  • the smallest common multiple is calculated as the number of assortments that corresponds to the number of containers that have to be placed on the belt conveyor for each lay-up pattern. In the present exemplary embodiment, this results in a number of four shells S per lay-on pattern.
  • the band length X W results from the condition that seven groups, i.e. 28 pieces of pastries I are to be placed in a sample period, as an approximate value when determining the lay-up pattern.
  • the biscuits of the biscuit types II, III to be sorted in a smaller number are placed evenly spaced apart from one another on the intended belt length X W.
  • the control unit determines the available work area of the inserts and, taking into account the possible sorting speed and sorting performance, determines whether the inserts with the so initially determined Intervals of the pastry groups can work in the lay-up pattern.
  • the belt section is adjusted if necessary by placing the biscuits in several rows per track and the trays S are placed closer to the belt conveyor according to the shortened belt section X W , which is indicated in FIG. 2 by the designation S +.
  • the calculation loop of the distances is carried out until suitable values are found for the operation of the inserts E, symbolized by the designation E corresponds to X.
  • the distances X [i] are basically to be kept smaller than the one known in advance Work area of a depositor.
  • the control unit adjusts the belt speed V B of the belt conveyor in accordance with the intended lay-on pattern.
  • the control unit determines the suitable number of inserts from the intended lay-up pattern to ensure an optimal overall sorting process.
  • the lay-on pattern determined as optimal for the depositors is checked and the group spacings of the items of luggage previously provided in the lay-up pattern are set to the value achievable with the available performance of the lay-ons.
  • Possible variants of the lay-on pattern M are checked for their functionality in connection with the lay-ons, in particular the variant with multi-row lay-on of the biscuits or the groups being arranged in several storage positions on the belt conveyor.
  • a new variant ie new distances between the pastries.
  • the determined group distance X opt can be approximately determined using the following equation: AR ⁇ X opt + X RL + [( task number -1) x 2 S ⁇ V B ] the reaction time of the trailer is assumed to be 2 seconds. If the placement of the biscuits with the optimal group distances X 1 , X 2 , X 3 cannot be carried out satisfactorily, the maximum possible distance from the control unit is calculated. If one of the toppers takes on two tasks, ie two types of biscuits are handled by this topper, only the task that has two storage positions is considered.
  • X max1 X OPT (X OPT + X RL + [( generaliere- 1) ⁇ (2nd S ⁇ V B ) AR )
  • X max2 2 ⁇ X OPT -X max1
  • the group distances X OPT are now used to distribute the sorting tasks to the available depositors, taking into account the required insertion movements of the handling devices, which are the quotient of the total number of pastries to be sorted per assortment and the Results in the number of inserts available for sorting, the lay-up pattern and the assignment of the sorting tasks to the inserts can be coordinated.
  • FIG. 4 An advantageous lay-up pattern is shown in FIG. 4, an optimal utilization of the handling devices used as inserts being achieved with a two-row rest of the biscuits in the respective tracks and the even distribution of four robot movements R 1 to R 4 shown.
  • objects can be different Sorted and sorted into assortments can be automated, for example Pastry types in a given number in one Containers or a bowl are sorted in which the Pastries are distributed. Toys can also be used or handicraft sets in the appropriate assortments or other food products that consist of individual components. For example, with the method according to the invention the various side dishes in a mechanical food production, z. B. grouped hamburgers and ready to manufacture Product can be put together.
  • Another advantage is that additional detection devices 11a can be arranged between the inserts, which monitor the insertion result. Is z. B. recognized in front of the insert E 4 that z. B. an object is missing in the assortment, the object can be topped up by insert E 4 . The scrap of assortment trays can thus be significantly reduced.

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  • Control Of Conveyors (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Sorting Of Articles (AREA)
  • Specific Conveyance Elements (AREA)
EP01128594A 2000-12-04 2001-11-30 Méthode de tri automatique d'objets et de composition d'assortiments Withdrawn EP1213057A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10060348 2000-12-04
DE10060348A DE10060348A1 (de) 2000-12-04 2000-12-04 Verfahren zum automatisierten Sortieren von Objekten und Zusammenstellen von Sortimenten

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EP1213057A2 true EP1213057A2 (fr) 2002-06-12
EP1213057A3 EP1213057A3 (fr) 2007-10-10

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EP01128594A Withdrawn EP1213057A3 (fr) 2000-12-04 2001-11-30 Méthode de tri automatique d'objets et de composition d'assortiments

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US (1) US6779668B2 (fr)
EP (1) EP1213057A3 (fr)
DE (1) DE10060348A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111268394A (zh) * 2020-03-06 2020-06-12 协创云科技(深圳)有限公司 一种工业领域物品回收放置的ai识别系统及方法

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004279583A (ja) * 2003-03-13 2004-10-07 Seiko Epson Corp ユニットの分別判定装置および分別判定方法
US20050038556A1 (en) * 2003-08-12 2005-02-17 Steris Inc. Automated instrument sorting system
US7677395B2 (en) * 2004-09-17 2010-03-16 Clearmedical, Inc. Recovery of reprocessable medical devices in a sharps container
US7591380B2 (en) * 2004-09-17 2009-09-22 Clearmedical, Inc. Recovery of reprocessable medical devices in a sharps container
US8612050B2 (en) * 2008-07-29 2013-12-17 Palo Alto Research Center Incorporated Intelligent product feed system and method
US8930015B2 (en) * 2012-11-20 2015-01-06 Bratney Companies Sorting system for damaged product
US9035210B1 (en) 2010-08-17 2015-05-19 Bratney Companies Optical robotic sorting method and apparatus
JP6387760B2 (ja) * 2014-09-18 2018-09-12 株式会社安川電機 ロボットシステム、ロボット装置およびワークピッキング方法
JP6599827B2 (ja) * 2016-08-29 2019-10-30 ファナック株式会社 ワーク取出システム
CN114341024B (zh) * 2020-03-13 2023-10-03 株式会社日立制作所 工件装载系统及工件装载方法

Citations (2)

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Publication number Priority date Publication date Assignee Title
WO1998028091A1 (fr) 1996-12-21 1998-07-02 Mci Computer Gmbh Procede de triage de composants de circuits integres
WO1999028057A1 (fr) 1997-11-28 1999-06-10 Peter Nagler Procede de groupement automatise d'objets

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US3719020A (en) * 1971-08-20 1973-03-06 Peters Mach Co Apparatus for supplying slugs of cookies in preselected side-by-side groups for bagging
CH663185A5 (de) * 1984-05-09 1987-11-30 Sig Schweiz Industrieges Vorrichtung zum selbsttaetigen einfuellen von gestapelten, scheibenfoermigen gegenstaenden in einseitig offene verpackungsbehaelter.
US5761883A (en) * 1995-11-28 1998-06-09 Food Machinery Sales, Inc. Cookie tray loading machine

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998028091A1 (fr) 1996-12-21 1998-07-02 Mci Computer Gmbh Procede de triage de composants de circuits integres
WO1999028057A1 (fr) 1997-11-28 1999-06-10 Peter Nagler Procede de groupement automatise d'objets

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111268394A (zh) * 2020-03-06 2020-06-12 协创云科技(深圳)有限公司 一种工业领域物品回收放置的ai识别系统及方法

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Publication number Publication date
DE10060348A1 (de) 2002-06-06
US6779668B2 (en) 2004-08-24
US20020134710A1 (en) 2002-09-26
EP1213057A3 (fr) 2007-10-10

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