CN107252785A - A kind of express mail grasping means applied to quick despatch robot piece supplying - Google Patents
A kind of express mail grasping means applied to quick despatch robot piece supplying Download PDFInfo
- Publication number
- CN107252785A CN107252785A CN201710514027.6A CN201710514027A CN107252785A CN 107252785 A CN107252785 A CN 107252785A CN 201710514027 A CN201710514027 A CN 201710514027A CN 107252785 A CN107252785 A CN 107252785A
- Authority
- CN
- China
- Prior art keywords
- quick despatch
- robot
- express mail
- grasping means
- piece supplying
- 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.)
- Granted
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Classifications
-
- 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
- B07C3/00—Sorting according to destination
- B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
-
- 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
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to logistics sorting device technical field, a kind of express mail grasping means applied to quick despatch robot piece supplying is disclosed, is comprised the following steps：S1：Quick despatch is transmitted on transporting flat；S2：Gather the multiple spot apparent height value H of quick despatchi；S3：According to the multiple spot apparent height value H of quick despatchiQuick despatch mean height of surface value H is obtained, i.e.,S4：Gauging surface height value HiWith average height value H difference DELTAi, i.e. Δi=| H Hi|；S5：Setting contrast deviation Δ, according to difference DELTAiLess than the crawl height value D of the ratio-dependent robot gripper of contrast deviation Δ；S6：Control machine people's handgrip drops to crawl height D crawl quick despatch.The present invention is applied to the express mail grasping means of quick despatch robot piece supplying, can rationally judge the height of quick despatch and then make robot drop to correct position to be captured.
Description
Technical field
It is more particularly to a kind of applied to the fast of quick despatch robot piece supplying the present invention relates to logistics sorting device technical field
Part grasping means.
Background technology
At present, field is sorted in logistics, the sorting of quick despatch is generally by the way of manual sorting, this mode efficiency ratio
Relatively low, hand labor intensity is big.And use robot sorting then have efficiency high, mitigate hand labor intensity the characteristics of, for
Robot sorting is closed, it is necessary to which the rational height for providing quick despatch carries out crawl express delivery to allow robot to drop to suitable position
Part, it is higher using the common three-dimensional vision sensor costs such as volume camera (the long wide * of * are high) of surveying, if the such machine of large-scale application
Device people's automatic sorting, Meteorological is higher.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide a kind of express mail crawl applied to quick despatch robot piece supplying
Method, can rationally obtain the height of quick despatch and then robot gripper is dropped to correct position crawl quick despatch.
In order to realize goal of the invention, the present invention is adopted the following technical scheme that：
There is provided a kind of express mail grasping means applied to quick despatch robot piece supplying of quick despatch, comprise the following steps：
S1：Gather multiple apparent height value H of the quick despatchi, wherein i is natural number；
S2：According to the apparent height value H of multiple points of the quick despatchiQuick despatch mean height of surface value H is obtained, i.e.,The apparent height value H of multiple points of collectioniProgrammable logic controller (PLC) is transferred to, passes through Programmable logical controller
Device calculates average height value H.
S3：Calculate each apparent height value HiWith mean height of surface value H difference DELTAi, i.e. Δi=| H-Hi|；
S4：Setting contrast deviation Δ, the ratio-dependent robot gripper of contrast deviation Δ is less than according to difference DELTA i
Capture height value D.
Further, in S4,
When the ratio that the quantity for being less than contrast deviation Δ in total amount of Δ i accounts for sum is more than 60%, D=H；
When the ratio that the quantity for being less than contrast deviation Δ in total amount of Δ i accounts for sum is not more than 60%, D=H-
A, wherein A span are 10-25mm.
Further, the contrast deviation Δ value is set between 20mm to 40mm.
Further, the transporting flat is provided with line placed in the middle, and the quick despatch is passed in the centre position of the transporting flat
Send.Line placed in the middle makes quick despatch be in the centre position of transport plane all the time in transmit process, facilitates non-contact measurement apparatus
Accurately measure the height value of quick despatch.
Further, in S1, the apparent height value H of multiple points of the quick despatch is gathered using laser range sensori。
Laser range sensor is arranged on the top in transport plane centre position, and the quick despatch transmitted in transport plane passes through laser ranging
When below sensor, laser range sensor is measured to the height of quick despatch, and laser range sensor has certain adopt
Collect frequency, quick despatch below laser range sensor when passing through, and laser range sensor can obtain quick despatch surface
The height value of multiple points.
Further, the laser range sensor is arranged on the surface of the line placed in the middle.
Further, the laser range sensor is arranged on the position within the surface left and right 100mm of the line placed in the middle
Put.
Further, the apparent height value H of the quick despatchiUsing transporting flat as reference planes.
Further, in S1, the quick despatch that apparent height value is more than 1mm enters adopting for the laser range sensor
When collecting scope, the laser range sensor gathers the apparent height value H of the quick despatch in real timei。
Further, in S1, the apparent height value H of three different points is at least gatheredi.By gathering quick despatch surface three
The height value of individual diverse location, can more accurately calculate the flat height value of quick despatch, improve and calculate the accurate of average height value
Rate.
Further, the robot gripper is robot sucker, the flexible layer of robot sucker.Robot is inhaled
Disk draws quick despatch by the way of vacuumizing, and PLC controls robot sucker draws the height of quick despatch,
The absorption height of robot sucker and the height of quick despatch are adapted, the accuracy rate and stability drawn, resilient suction cups is improved
Quick despatch can be effectively drawn, the elastic layer of resilient suction cups is that sucker has certain cushion space, and sucker reaches express delivery
Can be with the contact of quick despatch well during part surface, in the presence of vacuumizing, attraction is stronger, draws effect more stable.
Further, the elastic range value of the elastic layer is 20-40mm.
The beneficial effects of the invention are as follows：
1st, the express mail grasping means applied to quick despatch robot piece supplying of example of the present invention, the collection multiple points of quick despatch
Apparent height value, by the apparent height value gauging surface average height value of multiple points of collection, according to each apparent height value
It is less than the crawl height of the ratio-dependent robot gripper of contrast height value, data error with the difference of mean height of surface value
It is small, manual measurement can be replaced completely.
2nd, the express mail grasping means applied to quick despatch robot piece supplying of example of the present invention, passes through the Laser Measuring of low cost
The average height value of quick despatch is measured away from sensor cooperation programmable logic controller (PLC), according to the average height of the quick despatch of acquisition
Value realizes the crawl to sorting device robot gripper using the crawl height of PLC controls robot gripper
Highly it is controlled.
3rd, example of the present invention is applied to the express mail grasping means of quick despatch robot piece supplying, easily implements, manually participates in few,
The height of quick despatch is measured by coordinating programmable logic controller (PLC), and coordinates programmable logic controller (PLC) to calculate quick despatch
Average height, the data degree of approach that altitude information and the manual measurement of acquisition are obtained is high, and error is small, and artificial survey can be replaced completely
Amount.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure：1- quick despatch, 2- conveyer belts, 3- lines placed in the middle, 4- laser range sensors.
Embodiment
In order to be better understood by technical scheme, with reference to Figure of description and specific embodiment to the present invention
It is described further.
As shown in figure 1, a kind of express mail grasping means applied to quick despatch robot piece supplying, comprises the following steps：
S1：Quick despatch 1 is put into conveyer belt 2, conveyer belt 2 is provided with line 3 placed in the middle, and quick despatch 1 begins in the presence of line 3 placed in the middle
Transmitted eventually in the centre position of conveyer belt 2, laser range sensor is installed in the top position in the centre position of conveyer belt 2
4；
S2：When the quick despatch 1 transmitted on conveyer belt 2 is by below laser range sensor 4, laser range sensor 4
Height to quick despatch 1 is acquired, and the frequency acquisition of laser range sensor 4 is 0.1 second, and the transfer rate of conveyer belt 2 is
0.5m/s, quick despatch 1 is from the acquisition range of entrance laser range sensor 4 to the acquisition range for leaving laser range sensor 4
During, the surface of 1 different points of quick despatch 1 can be collected during the acquisition range of laser range sensor 4
Height value Hi, wherein i=is natural number；Apparent height value HiUsing the transport plane of conveyer belt 2 as reference planes, laser ranging is passed
The collection in real time of sensor 4 is highly more than the height value H of 1mm quick despatch 1i, laser range sensor 4 is by the quick despatch 1 of collection
The apparent height value H of multiple pointsiIt is sent to programmable logic controller (PLC).
S3：The apparent height of the multiple points for the quick despatch 1 that programmable logic controller (PLC) is gathered by laser range sensor 4
Value HiThe mean height of surface value H of quick despatch 1 is calculated, i.e.,
S4：Programmable logic controller (PLC) calculates each apparent height value HiWith mean height of surface value H difference DELTAi, i.e.
Δi=| H-Hi|；
S5：Programmable logic controller (PLC) determines that robot sucker draws the absorption height value D of quick despatch 1：
When total amount of ΔiIn when being less than contrast deviation Δ=30mm quantity and accounting for the ratio of sum and be more than 60%,
The upper surface for thinking quick despatch is plane, and the absorptions height value D of robot sucker is the quick despatch surface mean height that is obtained in S3
Angle value H；
When total amount of ΔiIn be less than contrast deviation Δ=30mm quantity and account for the ratio of sum and be not more than 60%
When, it is believed that the upper surface of quick despatch be irregular face, robot sucker on the basis of the mean height of surface value of quick despatch again
Decline certain altitude, the absorptions height value D of robot sucker is on the basis of the quick despatch mean height of surface value H that is obtained in S3
Decline 10-25mm；
The apparent height value of the quick despatch collected such as laser range sensor 4 is respectively 100mm, 120mm and 110mm,
Then its mean height of surface value H=110mm, the mean height of surface value H and the three apparent height values gathered difference DELTA
Respectively less than 30mm, it is believed that the upper surface of quick despatch is smooth regular shape, the absorption of robot sucker is highly
110mm。
S6：PLC controls robot sucker drops to absorption height D and draws quick despatch.
Contrast deviation Δ in embodiment is not only limited to 30mm, can also be set as other values according to actual needs,
The laser range sensor mentioned in embodiment can also be entered using contactless hyperfrequency range radar to the height of quick despatch
Row measurement.In embodiment, the value of contrast deviation Δ is not limited only to 30mm, and its span can be entered between 20mm-40mm
Row selection.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical schemes formed by any combination.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical characteristic of energy carries out technical scheme formed by replacement mutually.
Claims (12)
1. a kind of express mail grasping means applied to quick despatch robot piece supplying, it is characterised in that comprise the following steps：
S1：Gather the apparent height value H of multiple points of the quick despatchi, wherein i is natural number；
S2：According to the apparent height value H of multiple points of the quick despatchiQuick despatch mean height of surface value H is obtained, i.e.,
S3：Calculate each apparent height value HiWith mean height of surface value H difference DELTAi, i.e. Δi=| H-Hi|；
S4：Setting contrast deviation Δ, according to difference DELTAiLess than the crawl of the ratio-dependent robot gripper of contrast deviation Δ
Height value D.
2. the express mail grasping means according to claim 1 applied to quick despatch robot piece supplying, it is characterised in that S4
In,
When total amount of ΔiIn be less than contrast deviation Δ quantity account for sum ratio be more than 60% when, D=H；
When total amount of ΔiIn be less than the quantity of contrast deviation Δ and account for the ratio of sum when being not more than 60%, D=H-A, its
Middle A span is 10-25mm.
3. the express mail grasping means according to claim 1 or 2 applied to quick despatch robot piece supplying, it is characterised in that
The contrast deviation Δ value is set between 20mm to 40mm.
4. the express mail grasping means according to claim 1 applied to quick despatch robot piece supplying, it is characterised in that described
Transporting flat is provided with line placed in the middle, and the quick despatch carries out position transmission in the middle of the transporting flat.
5. the express mail grasping means according to claim 4 applied to quick despatch robot piece supplying, it is characterised in that in S1
The apparent height value H of multiple points of the quick despatch is gathered using laser range sensori。
6. the express mail grasping means according to claim 5 applied to quick despatch robot piece supplying, it is characterised in that described
Laser range sensor is arranged on the surface of the line placed in the middle.
7. the express mail grasping means according to claim 5 applied to quick despatch robot piece supplying, it is characterised in that described
Laser range sensor is arranged on the position within the surface left and right 100mm of the line placed in the middle.
8. the express mail grasping means according to claim 5 applied to quick despatch robot piece supplying, it is characterised in that described
The apparent height value H of quick despatchiUsing transporting flat as reference planes.
9. the express mail grasping means according to claim 6 applied to quick despatch robot piece supplying, it is characterised in that S1
In, when the quick despatch that apparent height value is more than 1mm enters the acquisition range of the laser range sensor, the Laser Measuring
Gather the apparent height value H of the quick despatch in real time away from sensori。
10. the express mail grasping means according to claim 1 applied to quick despatch robot piece supplying, it is characterised in that S1
In, at least gather the apparent height value H of three different pointsi。
11. the express mail grasping means according to claim 1 applied to quick despatch robot piece supplying, it is characterised in that institute
Robot gripper is stated for robot sucker, the flexible layer of robot sucker.
12. the express mail grasping means according to claim 11 applied to quick despatch robot piece supplying, it is characterised in that institute
The elastic range value for stating elastic layer is 20-40mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710514027.6A CN107252785B (en) | 2017-06-29 | 2017-06-29 | A kind of express mail grasping means applied to quick despatch robot piece supplying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710514027.6A CN107252785B (en) | 2017-06-29 | 2017-06-29 | A kind of express mail grasping means applied to quick despatch robot piece supplying |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107252785A true CN107252785A (en) | 2017-10-17 |
| CN107252785B CN107252785B (en) | 2019-05-10 |
Family
ID=60024352
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710514027.6A Active CN107252785B (en) | 2017-06-29 | 2017-06-29 | A kind of express mail grasping means applied to quick despatch robot piece supplying |
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|---|---|---|---|---|
| CN102168973A (en) * | 2011-01-12 | 2011-08-31 | 湖南农业大学 | Automatic navigating Z-shaft positioning method for omni-directional vision sensor and positioning system thereof |
| CN102233580A (en) * | 2010-05-06 | 2011-11-09 | 日月光半导体制造股份有限公司 | Suction nozzle, and automatic carrying device |
| US20150066199A1 (en) * | 2013-09-03 | 2015-03-05 | Kabushiki Kaisha Yaskawa Denki | Robot hand, robot system, and method for depalletizing article |
| CN104842368A (en) * | 2015-05-25 | 2015-08-19 | 上海华力微电子有限公司 | Mechanical arm capable of automatically learning vertical height and automatic learning method of mechanical arm |
| CN106346504A (en) * | 2016-08-30 | 2017-01-25 | 成都市翻鑫家科技有限公司 | Sucker height automatic control method for sucker type clamps of manipulator |
| CN106393102A (en) * | 2015-07-31 | 2017-02-15 | 发那科株式会社 | Machine learning device, robot system, and machine learning method |
| CN106881709A (en) * | 2017-04-06 | 2017-06-23 | 贵州伊诺生物科技有限公司 | A kind of feeding mechanical hand for automatic production line |
-
2017
- 2017-06-29 CN CN201710514027.6A patent/CN107252785B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102233580A (en) * | 2010-05-06 | 2011-11-09 | 日月光半导体制造股份有限公司 | Suction nozzle, and automatic carrying device |
| CN102168973A (en) * | 2011-01-12 | 2011-08-31 | 湖南农业大学 | Automatic navigating Z-shaft positioning method for omni-directional vision sensor and positioning system thereof |
| US20150066199A1 (en) * | 2013-09-03 | 2015-03-05 | Kabushiki Kaisha Yaskawa Denki | Robot hand, robot system, and method for depalletizing article |
| CN104842368A (en) * | 2015-05-25 | 2015-08-19 | 上海华力微电子有限公司 | Mechanical arm capable of automatically learning vertical height and automatic learning method of mechanical arm |
| CN106393102A (en) * | 2015-07-31 | 2017-02-15 | 发那科株式会社 | Machine learning device, robot system, and machine learning method |
| CN106346504A (en) * | 2016-08-30 | 2017-01-25 | 成都市翻鑫家科技有限公司 | Sucker height automatic control method for sucker type clamps of manipulator |
| CN106881709A (en) * | 2017-04-06 | 2017-06-23 | 贵州伊诺生物科技有限公司 | A kind of feeding mechanical hand for automatic production line |
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| Publication number | Publication date |
|---|---|
| CN107252785B (en) | 2019-05-10 |
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