TWI694962B - Automatic handling system - Google Patents
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- TWI694962B TWI694962B TW108133143A TW108133143A TWI694962B TW I694962 B TWI694962 B TW I694962B TW 108133143 A TW108133143 A TW 108133143A TW 108133143 A TW108133143 A TW 108133143A TW I694962 B TWI694962 B TW I694962B
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Abstract
Description
本發明是有關於一種自動搬運系統,且特別是有關於一種採用推抵方式移動物件的自動搬運系統。 The present invention relates to an automatic conveying system, and in particular to an automatic conveying system for moving objects by pushing and pushing.
為了提高生產力及降低生產成本,在生產過程中以自動化設備取代人力來執行原物料供給、成品製作、成品分配及成品包裝等工作,已成為現今發展趨勢。而生產過程中所使用的自動化設備攸關著生產效率,而成為相關業者致力改良的對象。 In order to increase productivity and reduce production costs, the use of automated equipment in the production process to replace manpower to perform raw material supply, finished product production, finished product distribution, and finished product packaging has become the current development trend. The automation equipment used in the production process is critical to the production efficiency, and has become the target of improvement for the relevant industry.
以日本專利申請公開號JP 1994-305551 A為例,其揭露一種物件整列裝置,物件整列裝置包含機械手臂,機械手臂末端設有四個真空吸盤,藉由連續吸取四個物件後一次放置至出料傳輸帶,可減少分次取放物件所耗費的時間,而可提高生產效率。然而,所述物件整列裝置需配合使用氣壓系統,而具有設備體積龐大的缺失,當物件本身含有細屑或粉末,例如餅乾,容易使氣壓系統發生堵塞而失效,因此,需定期停機清理,而具有較高的維護成本且不利於連續生產。 Taking Japanese Patent Application Publication No. JP 1994-305551 A as an example, it discloses a device for arranging objects. The device for arranging objects includes a robotic arm, and four vacuum suction cups are provided at the end of the robotic arm. The material conveyor belt can reduce the time it takes to pick and place objects in batches, and can improve production efficiency. However, the device for arranging objects in a row requires the use of a pneumatic system, and it has a lack of bulky equipment. When the object itself contains fine chips or powder, such as biscuits, it is easy to cause the pneumatic system to block and fail. It has high maintenance cost and is not conducive to continuous production.
日本專利申請公開號JP 2016-22472 A揭露一種長形蔬果選擇裝置, 其可針對長形蔬果進行分類且不易損傷蔬果,長形蔬果選擇裝置是利用設置於側邊之外輪廓撥動撥桿,進而使蔬果保持器傾斜,而將蔬果平穩地放置到出料輸送帶。然而,倘若蔬果種類變更,則機構需要大幅度修改,耗費成本高昂且泛用性低。 Japanese Patent Application Publication No. JP 2016-22472 A discloses a long vegetable and fruit selection device, It can classify long fruits and vegetables and is not easy to damage the fruits and vegetables. The long fruits and vegetables selection device utilizes the contour toggle lever located outside the sides to further tilt the vegetable and fruit holders and place the fruits and vegetables on the discharge conveyor belt smoothly . However, if the type of vegetables and fruits changes, the organization needs to be substantially revised, which is costly and versatile.
中國專利公告號CN 105689283 B揭露一種指撥式果蔬分選卸料裝置及卸料方法,其利用與輸送帶同步之鏈條所帶動的撥指進行撥料,可適應輸送帶速度變化帶來之影響。然而,當物件較小或外輪廓為弧形,可能會導致撥動路徑偏位而無法控制,而無法將物件精準傳送至指定位置,因而也具有泛用性低的缺點。 China Patent Announcement No. CN 105689283 B discloses a finger-type fruit and vegetable sorting and unloading device and method, which uses the finger driven by the chain synchronized with the conveyor belt to carry out the material, which can adapt to the impact of the speed change of the conveyor belt. However, when the object is small or the outer contour is curved, it may cause the toggle path to be uncontrollable, and the object cannot be accurately transferred to the specified position, which also has the disadvantage of low versatility.
本發明之目的在於提供一種自動搬運系統,以解決上述問題。 The purpose of the present invention is to provide an automatic handling system to solve the above problems.
依據本發明之一實施方式是提供一種自動搬運系統,用於將一目標物件由一供料裝置移動至一出料裝置。供料裝置包含一載物表面,載物表面用以承載複數個物件。自動搬運系統包含一辨識裝置、一取料裝置以及一控制模組。辨識裝置定義一辨識區域,辨識區域對應載物表面。取料裝置包含一推抵部。控制模組與辨識裝置及取料裝置電性連接。當供料裝置將物件傳送至辨識區域內,控制模組配置以執行:控制辨識裝置對物件擷取一影像;分析影像以獲得各物件的一座標;依據各物件的座標由物件中選出目標物件;依據目標物件的座標決定一推抵起點及一推抵終點;以及控制推抵部推抵目標物件,將目標物件由推抵起點推抵至推抵終點,推抵部與目標物件保持接觸,且目標物件以接觸的方式於載物表面移動,以將目標物件由供料裝置移動至出料裝置。藉 此,本發明的自動搬運系統是採用推抵的方式將目標物件由供料裝置移動至出料裝置,相較於採用夾取或吸取的方式,有利於縮短目標物件的整體移動行程,可大幅提升生產效率。此外,本發明的自動搬運系統不需配合氣壓系統,可避免設備體積龐大、維護成本高、不利於連續生產的缺失。再者,本發明的取料裝置是以推抵部來移動物件,因此當物件種類變更,僅需相應更換推抵部,而具有較高的泛用性。 According to one embodiment of the present invention, an automatic handling system is provided for moving a target object from a feeding device to a discharging device. The feeding device includes an object carrying surface, and the object carrying surface is used to carry a plurality of objects. The automatic handling system includes an identification device, a reclaiming device and a control module. The recognition device defines a recognition area, which corresponds to the surface of the object. The reclaiming device includes a pushing part. The control module is electrically connected to the identification device and the retrieving device. When the feeding device sends the object to the recognition area, the control module is configured to execute: control the recognition device to capture an image of the object; analyze the image to obtain a coordinate of each object; select the target object from the objects according to the coordinates of each object ; Determine a push start point and a push end point according to the coordinates of the target object; and control the push push part to push the target object, push the target object from the push start point to the push end point, the push part keeps in contact with the target object, And the target object moves on the surface of the object in a contact manner, so as to move the target object from the feeding device to the discharging device. borrow Therefore, the automatic conveying system of the present invention uses the push-and-pull method to move the target object from the feeding device to the discharging device. Compared with the method of gripping or sucking, it is beneficial to shorten the overall moving stroke of the target object, which can greatly Improve production efficiency. In addition, the automatic handling system of the present invention does not need to cooperate with the air pressure system, which can avoid the lack of bulky equipment, high maintenance cost, and is not conducive to continuous production. Furthermore, the retrieving device of the present invention uses the pushing portion to move the object. Therefore, when the type of the object changes, it is only necessary to replace the pushing portion accordingly, which has a high versatility.
1~12:物件 1~12: Object
20:供料裝置 20: feeding device
W:側壁 W: sidewall
D1、D2:傳輸方向 D1, D2: transmission direction
20a:上游端 20a: upstream
20b:下游端 20b: downstream
21:載物表面 21: Loading surface
22:分隔片 22: Separator
23:供料通道 23: feeding channel
30:出料裝置 30: Discharging device
30a:上游端 30a: upstream
30b:下游端 30b: downstream
31:出料區域 31: Discharge area
110:辨識裝置 110: Identification device
111:辨識區域 111: Identify the area
120、220:取料裝置 120, 220: reclaiming device
121、221:推抵部 121, 221: Pushing Department
121a:圓柱體 121a: cylinder
121b:弧形承靠面 121b: Curved bearing surface
130:控制模組 130: control module
221a:彈性墊 221a: Elastic pad
221b:底面 221b: Underside
310、320、330、340、350:步驟 310, 320, 330, 340, 350: steps
510、520、530、540、550:步驟 510, 520, 530, 540, 550: steps
A:中心線 A: Centerline
B:平面 B: Flat
T:頂面 T: top surface
d1:第一距離 d1: first distance
d2:第二距離 d2: second distance
Fh:水平推力 Fh: horizontal thrust
Fp:下壓垂直力 Fp: downward vertical force
G1、H1:初始位置點 G1, H1: initial position point
G2、H2:第一上方位置點 G2, H2: the first upper position
G3、H3:推抵起點 G3, H3: push to the starting point
G4、H5:推抵終點 G4, H5: push to the end
G5、H6:第二上方位置點 G5, H6: second upper position point
H4:推抵中間點 H4: Push to the middle point
L1、L2、L3:群組 L1, L2, L3: Group
LD:下降路徑 LD: descending path
LM:推抵路徑 LM: Push the path
LM1:第一推抵路徑 LM1: The first push path
LM2:第二推抵路徑 LM2: the second push path
LI:上升路徑 LI: Ascending path
LH:平移路徑 LH: translation path
O1、P1:第一位置點 O1, P1: first position point
O2、P2:第二位置點 O2, P2: second position point
O3、P3:第三位置點 O3, P3: third position point
P4:第四位置點 P4: fourth position
X、Y、Z:座標軸 X, Y, Z: coordinate axis
第1圖是依據本發明一實施方式的自動搬運系統與複數個物件的示意圖。 FIG. 1 is a schematic diagram of an automatic handling system and a plurality of objects according to an embodiment of the present invention.
第2圖是第1圖中推抵部的仰視示意圖。 FIG. 2 is a schematic bottom view of the pushing portion in FIG. 1.
第3圖是第1圖中控制模組配置以執行移動目標物件的步驟流程圖。 FIG. 3 is a flow chart of the steps of the control module in FIG. 1 configured to execute the movement of the target object.
第4圖是第1圖中推抵部依據工作路徑推抵目標物件的作動示意圖。 FIG. 4 is a schematic diagram of the operation of the pushing part pushing the target object according to the working path in FIG. 1.
第5圖是第4圖中推抵部的工作路徑示意圖。 FIG. 5 is a schematic diagram of the working path of the pushing portion in FIG. 4.
第6圖是第4圖中目標物件的移動路徑示意圖。 Figure 6 is a schematic diagram of the moving path of the target object in Figure 4.
第7圖是依據本發明另一實施方式的取料裝置的示意圖。 Fig. 7 is a schematic diagram of a reclaiming device according to another embodiment of the present invention.
第8圖是依據本發明另一實施方式的供料裝置與出料裝置的配置示意圖。 FIG. 8 is a schematic diagram of the configuration of a feeding device and a discharging device according to another embodiment of the present invention.
第9圖是依據本發明另一實施方式推抵部依據工作路徑推抵目標物件的作動示意圖。 FIG. 9 is a schematic diagram of the operation of the pushing part pushing the target object according to the working path according to another embodiment of the present invention.
第10圖是第9圖中推抵部的工作路徑示意圖。 FIG. 10 is a schematic diagram of the working path of the pushing portion in FIG. 9.
第11圖是第9圖中目標物件的移動路徑示意圖。 Figure 11 is a schematic diagram of the moving path of the target object in Figure 9.
第12圖是依據本發明另一實施方式由物件中選出目標物件的步驟流程圖。 FIG. 12 is a flowchart of steps for selecting a target object from objects according to another embodiment of the present invention.
第13圖是第12圖中的步驟示意圖。 Figure 13 is a schematic diagram of the steps in Figure 12.
第1圖是依據本發明一實施方式的自動搬運系統(未另標號)與複數個物件1~12的示意圖。本發明提供一種自動搬運系統,其可用於將一目標物件由一供料裝置20移動至一出料裝置30。
FIG. 1 is a schematic diagram of an automatic transport system (not otherwise labeled) and a plurality of objects 1-12 according to an embodiment of the present invention. The present invention provides an automatic handling system, which can be used to move a target object from a
供料裝置20包含載物表面21,載物表面21用以承載複數個物件1~12。在本實施方式中,各物件1~12包含一平面B(參見第4圖),各1~12物件以平面B設置於載物表面21,藉此物件1~12於載物表面21移動時具有較高的穩定性,但本發明不以此為限,在其他實施方式中,物件也可以其他形狀設置於載物表面21,例如物件可為圓柱體,而以線接觸的方式設置於載物表面21。在本實施方式中,供料裝置20為一傳輸帶,並依據其傳輸方向D1定義一上游端20a及一下游端20b,上游端20a可與一產線上游裝置(圖未示)連接,供料裝置20用以將產線上游裝置提供的物件1~12由上游端20a傳送至下游端20b。
The
出料裝置30包含複數個出料區域31,藉由自動搬運系統,可將物件1~12依序指定為目標物件並移動至其中一個出料區域31中,藉此,可將物件1~12分配至不同的出料區域31中。在本實施方式中,出料裝置30為一傳輸帶,並依據其傳輸方向D2定義一上游端30a及一下游端30b,出料裝置30可將物件1~12運送至下游端30b以進行後續生產流程,出料裝置30的傳輸方向D2配置為與供料裝置20的傳輸方向D1垂直。
The discharging
舉例來說,本發明的自動搬運系統可應用於食品產業,例如物件1~12可為餅乾,供料裝置20可用於將烘烤好的餅乾分配至出料裝置30的出料區域31
中,再由出料裝置30將餅乾傳送至包裝裝置(圖未示),各個出料區域31可對應一個包裝單元(如包裝袋)。
For example, the automatic handling system of the present invention can be applied to the food industry, for example, items 1-12 can be biscuits, and the
自動搬運系統包含一辨識裝置110、一取料裝置120以及一控制模組130。控制模組130與辨識裝置110及取料裝置120電性連接。控制模組130與辨識裝置110及取料裝置120的連接可為有線連接或無線連接,藉此,控制模組130、辨識裝置110及取料裝置120間可傳遞訊息。
The automatic handling system includes an
辨識裝置110定義一辨識區域111,辨識區域111對應載物表面21。辨識裝置110可為攝像裝置,辨識區域111可為攝像裝置的攝像範圍。辨識區域111對應載物表面21是指辨識區域111涵蓋載物表面21的一部分,在本實施方式中,辨識裝置110設置於載物表面21的上方且鄰近下游端20b,然而,本發明不以此為限,辨識裝置110也可設置於供料裝置20的中游段(未另標號)或上游端20a。
The
取料裝置120包含一推抵部121,用以推抵目標物件。在本實施方式,取料裝置120為垂直多關節機械手臂,例如六軸機械手臂,推抵部121設置於取料裝置120的末端。配合參照第2圖,其是第1圖中推抵部121的仰視示意圖,推抵部121的末端為圓柱體121a,圓柱體121a的側面為弧形承靠面121b,推抵部121以弧形承靠面121b推抵目標物件的側壁W(參見第4圖)而使目標物件移動。
The retrieving
控制模組130用以控制辨識裝置110以及取料裝置120並具有分析及計算能力,控制模組130可為但不限於中央處理單元(Central Processing Unit,CPU)。在本實施方式中,控制模組130為單一控制單元,其同時控制辨識裝置110及取料裝置120,但在其他實施方式中,控制模組130可包含二控制單元,分別
控制辨識裝置110及取料裝置120,二控制單元以有線方式或無線方式連接而可彼此傳遞訊息。
The
配合參照第1圖及第3圖,第3圖是第1圖中控制模組130配置以執行移動目標物件的步驟流程圖。當供料裝置20將物件1~6傳送至辨識區域111內,控制模組130配置以執行步驟310~350。步驟310是控制辨識裝置110對物件1~6擷取一影像。步驟320是分析影像以獲得各物件1~6的座標。步驟330是依據各物件1~6的座標由物件1~6中選出目標物件,例如,以第1圖為例,可選擇最接近供料裝置20之下游端20b的物件(在此為物件4)作為目標物件或選擇最接近出料裝置30的物件(在此為物件4)作為目標物件,藉此,有利於避免目標物件由供料裝置20移動至出料裝置30的過程中與其他物件產生干涉,然而,本發明不以為限,可依實際需求選擇目標物件,以下將以物件4作為目標物件進行說明。
With reference to FIG. 1 and FIG. 3 together, FIG. 3 is a flow chart of the steps of the
步驟340是依據目標物件的座標決定推抵起點G3及推抵終點G4,推抵起點G3為推抵部121推抵目標物件移動的起點,推抵終點G4為推抵部121推抵目標物件移動的終點,可依據推抵部121推抵目標物件的方式決定推抵起點G3,並依據推抵起點G3決定推抵終點G4。以本實施方式為例,推抵部121是以弧形承靠面121b推抵目標物件的側壁W,因此,推抵起點G3的座標位於目標物件的側壁W,並以推抵起點G3投影至出料裝置30的中心線A的投影點作為推抵終點G4,藉此,推抵起點G3與推抵終點G4之間的距離較短,有利於提升移動目標物件的效率,且有利於目標物件經推抵後會位移至出料區域31內,然而,前述決定推抵終點G4的方式僅為例示,可依實際需求選擇推抵終點G4,只要使目標物件經推抵後可位移至出料區域31內即可。
Step 340 is to determine the push start point G3 and the push end point G4 according to the coordinates of the target object. The push start point G3 is the start point for the
步驟350是控制推抵部121推抵目標物件,將目標物件由推抵起點G3推抵至推抵終點G4,推抵部121與目標物件保持接觸,且目標物件以接觸的方式於載物表面21移動,以將目標物件由供料裝置20移動至出料裝置30。藉此,本發明採用推抵的方式將目標物件由供料裝置20移動至出料裝置30,有利於縮短目標物件的整體移動行程,可大幅提升生產效率。此外,藉由推抵過程中,推抵部121與目標物件保持接觸,且目標物件以接觸的方式於載物表面21移動,有利於維持目標物件於載物表面21移動的穩定性。
Step 350 is to control the pushing
以下配合第4圖至第5圖說明如何控制推抵部121推抵目標物件,其中第4圖是第1圖中推抵部121依據工作路徑推抵目標物件的作動示意圖。第5圖是第4圖中推抵部121的工作路徑示意圖。詳細來說,在進行步驟350前,可先依據推抵起點G3及推抵終點G4規劃一工作路徑,如第5圖所示,工作路徑可依序包含一下降路徑LD、一推抵路徑LM及一上升路徑LI,且在下降路徑LD之前可選擇地包含一平移路徑LH,其中推抵起點G3及推抵終點G4定義推抵路徑LM。同時參照第4圖及第5圖,推抵部121於平移路徑LH由初始位置點G1水平位移至位於目標物件上方的第一上方位置點G2,推抵部121於下降路徑LD由第一上方位置點G2往下位移至推抵起點G3,此時推抵部121的弧形承靠面121b接觸目標物件的側壁W,推抵部121於推抵路徑LM將目標物件由推抵起點G3推抵至推抵終點G4,此時推抵部121提供目標物件一水平推力Fh,以使該目標物件沿著水平推力Fh的方向於載物表面21位移,在推抵的過程中,推抵部121與目標物件保持接觸,且目標物件是以接觸的方式於載物表面21移動。推抵部121於上升路徑LI由推抵終點G4往上位移至位於目標物件上方的第二上方位置點G5並脫離接觸目標物件。關於上述各點(G1~G5)可為推抵部121的底面的中心點,且各點座標關係可參考表一。
The following describes how to control the pushing
表一中,第一上方位置點G2的高度與第二上方位置點G5的高度相同(Z座標皆為Z0),但本發明不以此為限,第一上方位置點G2的高度與第二上方位置點G5的高度以使推抵部121不與工作場所中的其他裝置產生干涉為原則。另外,當推抵部121的初始位置點G1位於推抵起點G3的正上方時,工作路徑可省略平移路徑LH。在本實施方式中,推抵部121於每一次移動皆為單維度位移(即只沿X軸、Y軸、Z軸其中一軸移動),其僅為例示,在實施上並不侷限。
In Table 1, the height of the first upper position G2 is the same as the height of the second upper position G5 (all Z coordinates are Z0), but the invention is not limited to this. The height of the first upper position G2 is the same as the second The height of the upper position G5 is based on the principle that the pushing
配合參照第6圖,其是第4圖中目標物件的移動路徑示意圖。目標物件受推抵部121推抵,由第一位置點O1被推抵至第二位置點O2,目標物件再依據慣性位移至第三位置點O3,第三位置點O3位於出料區域31內。關於上述各點(O1~O3)可為目標物件底部平面B的中心點,且各點座標關係可參考表二。
With reference to FIG. 6, it is a schematic diagram of the moving path of the target object in FIG. 4. The target object is pushed by the pushing
第7圖是依據本發明另一實施方式的取料裝置220的示意圖。取料裝置220包含推抵部221,用以推抵目標物件。在本實施方式,取料裝置220為並聯式機器手臂(Delta Robot),推抵部221設置於取料裝置220的末端並具有底面221b。推抵部221包含一彈性墊221a,底面221b設置於彈性墊221a,推抵部221
以底面221b推抵目標物件的頂面T(參見第9圖)而使目標物件移動。彈性墊221a的材質可為但不限於ABS(Acrylonitrile-Butadiene-Styrene)塑膠。
FIG. 7 is a schematic diagram of a
第8圖是依據本發明另一實施方式的供料裝置20與出料裝置30的配置示意圖。在本實施方式中,出料裝置30的傳輸方向D2配置為與供料裝置20的傳輸方向D1平行。供料裝置20包含複數個分隔片22,在此以三個分隔片22為例示,分隔片22間隔設置於載物表面21上以劃分出複數個供料通道23,在此以四個供料通道23為例示,物件1~8分配於四個供料通道23中且皆位於辨識區域(圖未示)內。在第8圖中,是依據各物件1~8的座標選擇最接近供料裝置20之下游端20b的物件1作為目標物件,並依據目標物件的座標決定推抵起點H3及推抵終點H5。
8 is a schematic diagram of the configuration of the
第9圖是依據本發明另一實施方式推抵部221依據工作路徑推抵目標物件的作動示意圖,第10圖是第9圖中推抵部221的工作路徑示意圖,第9圖及第10圖的視角不同,第9圖中Y軸的方向是垂直進入紙面,第10圖中Y軸的方向如第10圖中所繪示。第10圖中,工作路徑可依序包含一平移路徑LH、一下降路徑LD、一推抵路徑LM及一上升路徑LI,其中推抵起點H3及推抵終點H5定義推抵路徑LM,且推抵路徑LM包含第一推抵路徑LM1及第二推抵路徑LM2。同時參照第9圖及第10圖,推抵部221於平移路徑LH由初始位置點H1水平位移至第一上方位置點H2,推抵部221於下降路徑LD由第一上方位置點H2往下位移至推抵起點H3,此時推抵部221的底面221b接觸目標物件的頂面T,推抵部221於第一推抵路徑LM1將目標物件由推抵起點H3推抵至推抵中間點H4(參考第8圖),此時推抵部221提供目標物件一水平推力(圖未示)以及一下壓垂直力Fp,其中水平推力的方向為垂直進入紙面(即平行Y軸),以使目標物件沿著垂直進入紙面的方向於載物表面21位移,推抵部221於第二推抵路徑LM2將目標物件由推抵中間點H4推抵
至推抵終點H5(參考第8圖),此時推抵部221提供目標物件一水平推力Fh以及一下壓垂直力Fp,其中水平推力Fh的方向往右(即平行X軸),以使目標物件沿著平行X軸的方向於載物表面21位移,在推抵的過程中,推抵部221與目標物件保持接觸,且目標物件是以接觸的方式於載物表面21移動。推抵部221於上升路徑LI由推抵終點H5往上位移至第二上方位置點H6並脫離接觸目標物件。關於上述各點(H1~H6)可為推抵部221的底面221b的中心點,且各點座標關係可參考表三。
FIG. 9 is a schematic diagram of the operation of the pushing
表三中,第一上方位置點H2的高度與第二上方位置點H6的高度相同(Z座標皆為Z0),但本發明不以此為限,第一上方位置點H2的高度與第二上方位置點H6的高度以使推抵部221不與工作場所中的其他裝置產生干涉為原則。另外,當推抵部221的初始位置點H1位於推抵起點H3的正上方時,工作路徑可省略平移路徑LH。在本實施方式中,推抵部221於每一移動皆為單維度位移,其僅為例示,在實施上並不侷限。
In Table 3, the height of the first upper position H2 is the same as the height of the second upper position H6 (all Z coordinates are Z0), but the invention is not limited to this. The height of the first upper position H2 and the second The height of the upper position point H6 is based on the principle that the pushing
配合參照第11圖,其是第9圖中目標物件的移動路徑示意圖。目標物件受推抵部221推抵,由第一位置點P1被推抵至第二位置點P2,再由第二位置點P2被推抵至第三位置點P3,目標物件再依據慣性位移至第四位置點P4,第四位置點P4位於出料區域31內。關於上述各點(P1~P4)可為目標物件底部平面的中心點,且各點座標關係可參考表四。
With reference to FIG. 11, it is a schematic diagram of the moving path of the target object in FIG. 9. The target object is pushed by the pushing
配合參照第12圖及第13圖。第12圖是依據本發明另一實施方式由物件1~8中選出目標物件的步驟流程圖。第13圖是第12圖中的步驟示意圖。在本實施方式中,出料裝置30的傳輸方向D2配置為與供料裝置20的傳輸方向D1垂直,物件1~8位於辨識區域111內,控制模組130依據各物件1~8的座標由物件1~8中選出目標物件,在本實施方式中,是選擇最接近出料裝置30以及最接近出料裝置30之下游端30b的物件(在此為物件1)作為目標物件,如步驟510至步驟550所示。
Refer to Figure 12 and Figure 13 together. FIG. 12 is a flowchart of steps for selecting a target object from objects 1 to 8 according to another embodiment of the present invention. Figure 13 is a schematic diagram of the steps in Figure 12. In this embodiment, the conveying direction D2 of the discharging
步驟510是依據各物件1~8的座標計算各物件1~8與出料裝置30間的第一距離d1,第一距離d1可為各物件1~8之中心點至出料裝置30的垂直距離,第13圖中僅例示地繪示出物件1與出料裝置30間的第一距離d1。
Step 510 is to calculate the first distance d1 between each object 1~8 and the
步驟520是依據第一距離d1將物件1~8分為複數個群組L1、L2、L3,各群組L1、L2、L3包含至少一物件1~8,其中以最接近出料裝置30的群組L1為第一群組,如第13圖所示,群組L1包含物件1、群組L2包含物件2、3、4,群組L3包含物件5、6、7、8。
Step 520 is to divide the objects 1~8 into a plurality of groups L1, L2, L3 according to the first distance d1, and each group L1, L2, L3 includes at least one object 1~8, which is closest to the
步驟530是依據各物件1~8的座標計算各物件1~8與出料裝置30之下游端30b間的第二距離d2,第二距離d2可為各物件1~8之中心點與出料裝置30之下游端30b間於平行傳輸方向D2的距離,第13圖中僅例示地繪示出物件1與出料裝置30之下游端30b間的第二距離d2。
Step 530 is to calculate the second distance d2 between each object 1~8 and the
步驟540是依據第二距離d2將各群組L1、L2、L3中的至少一物件1~8進行排序,其中各群組L1、L2及L3中以第二距離d2最短的物件為第一物件,第13圖中,群組L1以物件1為第一物件,群組L2以物件2為第一物件,群組L3以物件5為第一物件。
Step 540 is to sort at least one object 1~8 in each group L1, L2, L3 according to the second distance d2, wherein the object with the shortest second distance d2 in each group L1, L2, and L3 is the first object In Figure 13, group L1 uses object 1 as the first object, group L2 uses
步驟550是選擇第一群組的第一物件作為目標物件,如第13圖所示,選擇物件1作為目標物件。藉此方法,有利於將目標物件優先傳送至位於下游端30b的出料區域31,而有利於生產線的流暢度。
Step 550 is to select the first object of the first group as the target object. As shown in FIG. 13, select the object 1 as the target object. By this method, it is advantageous to preferentially transfer the target object to the
相較於先前技術,本發明的自動搬運系統是採用推抵的方式將目標物件由供料裝置移動至出料裝置,相較於採用夾取或吸取的方式,有利於縮短目標物件的整體移動行程,可大幅提升生產效率。此外,本發明的自動搬運系統不需配合氣壓系統,可避免設備體積龐大、維護成本高、不利於連續生產的缺失,且適於搬運有粉末的物件如餅乾,而有利於應用在食品工業。再者,本發明的取料裝置是以推抵部來移動物件,因此當物件種類變更,僅需相應更換推抵部,而具有較高的泛用性。 Compared with the prior art, the automatic handling system of the present invention adopts the push-and-pull method to move the target object from the feeding device to the discharging device, which is beneficial to shorten the overall movement of the target object compared with the method of clamping or sucking Itinerary can greatly improve production efficiency. In addition, the automatic handling system of the present invention does not need to cooperate with the pneumatic system, which can avoid the bulky equipment, high maintenance cost, and is not conducive to the loss of continuous production, and is suitable for handling powdered objects such as biscuits, which is beneficial for application in the food industry. Furthermore, the retrieving device of the present invention uses the pushing portion to move the object. Therefore, when the type of the object changes, it is only necessary to replace the pushing portion accordingly, which has a high versatility.
以上所述僅為本發明之較佳實施例,凡依本發明申請專利範圍所做之均等變化與修飾,皆應屬本發明之涵蓋範圍。 The above are only the preferred embodiments of the present invention, and all changes and modifications made in accordance with the scope of the patent application of the present invention shall fall within the scope of the present invention.
1~12:物件 1~12: Object
20:供料裝置 20: feeding device
20a:上游端 20a: upstream
20b:下游端 20b: downstream
21:載物表面 21: Loading surface
30:出料裝置 30: Discharging device
30a:上游端 30a: upstream
30b:下游端 30b: downstream
31:出料區域 31: Discharge area
110:辨識裝置 110: Identification device
111:辨識區域 111: Identify the area
120:取料裝置 120: Reclaiming device
121:推抵部 121: Pushing Department
121a:圓柱體 121a: cylinder
121b:弧形承靠面 121b: Curved bearing surface
130:控制模組 130: control module
A:中心線 A: Centerline
D1、D2:傳輸方向 D1, D2: transmission direction
G3:推抵起點 G3: Push to the starting point
G4:推抵終點 G4: Push to the end
X、Y、Z:座標軸 X, Y, Z: coordinate axis
Claims (9)
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TW201722656A (en) * | 2015-12-29 | 2017-07-01 | Hiwin Tech Corp | Path-planning method using robotic arm to perform array pick-and-place, and compensator matched to the path-planning method for use having a controller to compute a positional compensation quantity according to the coordinate error vector sum two sensors, and correct the pick-and-place position of robotic arm by the positional compensation quantity |
EP3318498A1 (en) * | 2016-11-08 | 2018-05-09 | Poly-clip System GmbH & Co. KG | Method and device for packaging groups of objects |
US20190099879A1 (en) * | 2016-03-08 | 2019-04-04 | KBee AG | Robot system, method for controlling a robot system, and processing system |
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TW201722656A (en) * | 2015-12-29 | 2017-07-01 | Hiwin Tech Corp | Path-planning method using robotic arm to perform array pick-and-place, and compensator matched to the path-planning method for use having a controller to compute a positional compensation quantity according to the coordinate error vector sum two sensors, and correct the pick-and-place position of robotic arm by the positional compensation quantity |
US20190099879A1 (en) * | 2016-03-08 | 2019-04-04 | KBee AG | Robot system, method for controlling a robot system, and processing system |
EP3318498A1 (en) * | 2016-11-08 | 2018-05-09 | Poly-clip System GmbH & Co. KG | Method and device for packaging groups of objects |
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