CN105691717A - Device for capturing bulk auxiliary material package by robot and package searching method - Google Patents
Device for capturing bulk auxiliary material package by robot and package searching method Download PDFInfo
- Publication number
- CN105691717A CN105691717A CN201610176508.6A CN201610176508A CN105691717A CN 105691717 A CN105691717 A CN 105691717A CN 201610176508 A CN201610176508 A CN 201610176508A CN 105691717 A CN105691717 A CN 105691717A
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- China
- Prior art keywords
- robot
- accessory package
- range finder
- laser range
- signal
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a device for capturing a bulk auxiliary material package by a robot. The device is characterized by comprising a joint robot, a control cabinet and a clamp, wherein the clamp is composed of a lower mounting panel (3), a packaging paper sucker (1) installed on the lower mounting panel (3), a laser range finder (2) installed on the lower mounting panel (3) and a signal transmission line; and a light beam of the laser range finder (2) is perpendicular to a mounting plate. The device has the beneficial effects that kraft paper wraps the middle part of the bulk auxiliary material package, the sucker on the clamp of the robot transports the auxiliary material package by adsorbing the kraft paper, and searching the center of the auxiliary material package is the key condition of successfully capturing and transporting the auxiliary material package. Through the structure and a package searching method, the robot can accurately calculate the position of each auxiliary material package and then successfully captures the auxiliary material package. The package searching method has a simple structure and is high in positioning accuracy, easy in realization and lower in cost.
Description
Technical field
The invention belongs to robot and find target, particularly relate to a kind of robot and seek bag method by laser range finder and capture bulk accessory package device。
Background technology
At present, packer is widely used in the wraparound workshop of each cigarette factory of the whole nation, the accessory package of packer by manually unpacking, unpacking carry in entering on material conveyer, four bag accessory packages are loaded in a plastic bag, and plastic bag reinstalls in a carton。
The packaging efficiency of packer is 400/minute, but needs before packer to carry out to unpack owing to its accessory package enters, unpacking, the hard work such as carrying are accomplished manually。The on-the-spot single adjuvant of project is surrounded by wrapping paper 625, total wrapping paper 2500 in one packing crates, these basic conditions mean that workman has needed the unpacking of 10 casees accessory packages, unpacking per hour, simultaneously completing the carrying of 40 bag accessory packages, therefore packer pan feeding part being optimized just has its necessity。If full automatic pan feeding mode can be adopted, can largely alleviate the labor intensity of personnel。
Bulk accessory package is packed by kraft paper, and kraft paper packaging is positioned at the mid portion of accessory package。
The wrapping paper sucker of robot is carried by drawing the kraft paper on accessory package。
Summary of the invention
It is an object of the invention to provide a kind of robot capture bulk accessory package device and seek bag method。
It is an object of the invention to be achieved through the following technical solutions。
A kind of robot captures bulk accessory package device, the invention is characterised in that, including articulated robot and switch board and fixture；Wherein fixture includes lower installation flat board, wrapping paper sucker, laser range finder and signal transmssion line；Wherein laser range finder is installed on lower installation flat board, and laser rangefinder beam is perpendicular to installing plate。
Laser range finder of the present invention has the digital I/O signal of analog signal output and adjustable range finding numerical value to export for distance。
According to above-mentioned a kind of robot capture bulk accessory package device seek bag method, the invention is characterised in that, set up accessory package stacking coordinate system (Fig. 1), the pattern that operated in by robot changes accessory package stacking coordinate system into, robot clamp plane is parallel to accessory package stacking X/Y plane, adjusts sucker orientation parallel with X-direction。Signal robot is certain point (laser range finder no signal) rectilinear motion from top to bottom above accessory package, until the position of recorder people's fixture when laser range finder has signal to export, it is possible to calculate height and the number of plies of accessory package stacking。Robot again above accessory package stacking certain point (laser range finder has signal to export) move to two vertical edges respectively, until the position of recorder people's fixture during the output of laser range finder no signal, at two different marginal points of X-direction record, at Y-axis record one marginal point, set up accessory package workpiece coordinate system (Fig. 2) by line-of-sight course。Calculate the angle of accessory package stacking coordinate system and accessory package workpiece coordinate system, then rotated six axles by robot, it is achieved sucker orientation is parallel to accessory package workpiece coordinate X-direction, in order to capture the center of material。
The invention has the beneficial effects as follows: kraft paper is wrapped in the mid portion of accessory package in bulk, the sucker on robot clamp is by adsorbing kraft paper carrying accessory package, and the center finding accessory package is the key condition successfully capturing accessory package and carrying。By present configuration and seek bag method, robot can calculate the position of each accessory package accurately, then captures accessory package smoothly。The present invention seeks bag method positioning precision height, simple in construction, it is easy to accomplish and less costly。
Present disclosure is expanded on further below in conjunction with Figure of description。
Accompanying drawing explanation
Fig. 1 is the accessory package stacking coordinate system schematic diagram of the present invention；
Fig. 2 is the robot clamp schematic diagram of the present invention；
Fig. 3 is the single accessory package schematic diagram of the present invention；
Fig. 4 is the single accessory package workpiece coordinate system schematic diagram of the present invention。
Detailed description of the invention
Seeing Fig. 1, Fig. 2, Fig. 3, a kind of robot captures bulk accessory package device, the invention is characterised in that, including articulated robot and switch board and fixture；Wherein fixture includes lower installation flat board 3, wrapping paper sucker 1, laser range finder 2 and signal transmssion line；Wherein laser range finder 2 is installed on lower installation flat board 3, and laser range finder 2 beam orthogonal is in installing plate。
Laser range finder of the present invention has the digital I/O signal of analog signal output and adjustable range finding numerical value to export for distance。
According to above-mentioned a kind of robot capture bulk accessory package device seek bag method, the invention is characterised in that, set up accessory package stacking coordinate system (Fig. 1), the pattern that operated in by robot changes accessory package stacking coordinate system into, robot clamp plane is parallel to accessory package stacking X/Y plane, adjusts sucker orientation parallel with X-direction。Signal robot is certain point (laser range finder no signal) rectilinear motion from top to bottom above accessory package, until the position of recorder people's fixture when laser range finder has signal to export, it is possible to calculate height and the number of plies of accessory package stacking。Robot again above accessory package stacking certain point (laser range finder has signal to export) move to two vertical edges respectively, until the position of recorder people's fixture during the output of laser range finder no signal, at two different marginal points of X-direction record, at Y-axis record one marginal point, set up accessory package workpiece coordinate system (Fig. 2) by line-of-sight course。Calculate the angle of accessory package stacking coordinate system and accessory package workpiece coordinate system, then rotated six axles by robot, it is achieved sucker orientation is parallel to accessory package workpiece coordinate X-direction, in order to capture the center of material。
Workflow of the present invention
Accessory package stacking coordinate system (figure mono-) is set up according to the position that accessory package stacking is placed, the pattern that operated in by robot changes accessory package stacking coordinate system into, robot clamp plane is parallel to accessory package stacking X/Y plane, adjusts sucker orientation parallel with X-direction。
Arranging range finding numerical value according to arranging laser range finder installation site, sucker height and the distance to detection target, irradiating range-to-go at laser range finder has signal to export less than when arranging numerical value, otherwise does not then have signal to export。
Signal robot is certain point (laser range finder no signal) rectilinear motion from top to bottom above accessory package, until the position of recorder people's fixture when laser range finder has signal to export, it is possible to calculate height and the number of plies of accessory package stacking。
Robot again above accessory package stacking certain point (laser range finder has signal to export) move to two vertical edges respectively, until laser range finder no signal output time recorder people's fixture position, at the two edges point X that X-direction record is different1, X2, record marginal point Y in the Y direction1。Robot is with X1For initial point andThe plane of composition sets up accessory package workpiece coordinate system。Size according to accessory package can calculate accessory package center accurately。Rough calculation the center of next bag can be gone out again by the arrangement mode of accessory package。
Unpack work for convenience of the later stage, the orientation of sucker should be parallel with the X-direction of accessory package, if there is time not parallel, the orientation of the sucker owing to arranging before is parallel with accessory package stacking coordinate system, the angle of accessory package stacking coordinate system and accessory package workpiece coordinate system can be calculated, six axles are rotated again, it is achieved sucker orientation is parallel to accessory package workpiece coordinate X-direction, in order to capture the center of material by robot。
Claims (3)
1. a robot captures bulk accessory package device, it is characterised in that include articulated robot and switch board and fixture；Wherein fixture includes lower installation flat board (3), is arranged on the wrapping paper sucker (1) on lower installation flat board (3), is located at the laser range finder (2) on lower installation flat board (3) and signal transmssion line；Wherein laser range finder (2) beam orthogonal is in installing plate。
2. a kind of robot as claimed in claim 1 captures bulk accessory package device, it is characterised in that described laser range finder (2) has the digital I/O signal of analog signal output and adjustable range finding numerical value to export for distance。
3. a kind of robot as claimed in claim 1 capture bulk accessory package device seek bag method, it is characterised in that setting up accessory package stacking coordinate system, the pattern that operated in by robot changes accessory package stacking coordinate system into；Robot clamp plane is parallel to accessory package stacking X/Y plane, adjusts sucker orientation parallel with X-direction；Above accessory package, certain puts rectilinear motion from top to bottom in signal robot, until the position of recorder people's fixture when laser range finder has signal to export, calculates height and the number of plies of accessory package stacking；Robot again above accessory package stacking certain point move to two vertical edges respectively, until the position of recorder people's fixture during the output of laser range finder no signal, at two different marginal points of X-direction record, at Y-axis record one marginal point, set up accessory package workpiece coordinate system by line-of-sight course；Calculate the angle of accessory package stacking coordinate system and accessory package workpiece coordinate system, then rotated six axles by robot, it is achieved sucker orientation is parallel to accessory package workpiece coordinate X-direction, in order to capture the center of material。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610176508.6A CN105691717A (en) | 2016-03-25 | 2016-03-25 | Device for capturing bulk auxiliary material package by robot and package searching method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610176508.6A CN105691717A (en) | 2016-03-25 | 2016-03-25 | Device for capturing bulk auxiliary material package by robot and package searching method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105691717A true CN105691717A (en) | 2016-06-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610176508.6A Pending CN105691717A (en) | 2016-03-25 | 2016-03-25 | Device for capturing bulk auxiliary material package by robot and package searching method |
Country Status (1)
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| CN (1) | CN105691717A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370304A (en) * | 2019-03-29 | 2019-10-25 | 共享智能铸造产业创新中心有限公司 | A kind of automatic identification grasping means of truss manipulator |
| CN111605938A (en) * | 2019-05-31 | 2020-09-01 | 牧今科技 | Robotic system for palletizing packages using real-time placement simulation |
| WO2021012682A1 (en) * | 2019-07-19 | 2021-01-28 | 五邑大学 | Transfer travel method applied to transfer robot and transfer robot thereof |
| US10953549B2 (en) | 2019-05-31 | 2021-03-23 | Mujin, Inc. | Robotic system with error detection and dynamic packing mechanism |
| US11077554B2 (en) | 2019-05-31 | 2021-08-03 | Mujin, Inc. | Controller and control method for robotic system |
| US11319166B2 (en) | 2019-05-31 | 2022-05-03 | Mujin, Inc. | Robotic system with packing mechanism |
| US11472640B2 (en) | 2019-05-31 | 2022-10-18 | Mujin, Inc. | Robotic system for palletizing packages using real-time placement simulation |
| US11488323B2 (en) | 2019-05-31 | 2022-11-01 | Mujin, Inc. | Robotic system with dynamic packing mechanism |
| US11591168B2 (en) | 2019-05-31 | 2023-02-28 | Mujin, Inc. | Robotic system for processing packages arriving out of sequence |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370304A (en) * | 2019-03-29 | 2019-10-25 | 共享智能铸造产业创新中心有限公司 | A kind of automatic identification grasping means of truss manipulator |
| CN111605938A (en) * | 2019-05-31 | 2020-09-01 | 牧今科技 | Robotic system for palletizing packages using real-time placement simulation |
| US10953549B2 (en) | 2019-05-31 | 2021-03-23 | Mujin, Inc. | Robotic system with error detection and dynamic packing mechanism |
| CN111605938B (en) * | 2019-05-31 | 2021-04-30 | 牧今科技 | Robotic system for palletizing packages using real-time placement simulation |
| US11077554B2 (en) | 2019-05-31 | 2021-08-03 | Mujin, Inc. | Controller and control method for robotic system |
| US11319166B2 (en) | 2019-05-31 | 2022-05-03 | Mujin, Inc. | Robotic system with packing mechanism |
| US11472640B2 (en) | 2019-05-31 | 2022-10-18 | Mujin, Inc. | Robotic system for palletizing packages using real-time placement simulation |
| US11488323B2 (en) | 2019-05-31 | 2022-11-01 | Mujin, Inc. | Robotic system with dynamic packing mechanism |
| US11591168B2 (en) | 2019-05-31 | 2023-02-28 | Mujin, Inc. | Robotic system for processing packages arriving out of sequence |
| US11794346B2 (en) | 2019-05-31 | 2023-10-24 | Mujin, Inc. | Robotic system with error detection and dynamic packing mechanism |
| WO2021012682A1 (en) * | 2019-07-19 | 2021-01-28 | 五邑大学 | Transfer travel method applied to transfer robot and transfer robot thereof |
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Application publication date: 20160622 |