CN107350177A - A kind of material automatic sorting transportation industry robot - Google Patents
A kind of material automatic sorting transportation industry robot Download PDFInfo
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- CN107350177A CN107350177A CN201710605053.XA CN201710605053A CN107350177A CN 107350177 A CN107350177 A CN 107350177A CN 201710605053 A CN201710605053 A CN 201710605053A CN 107350177 A CN107350177 A CN 107350177A
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- CN
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- Prior art keywords
- main process
- process task
- roadblock
- task controller
- manipulator
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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
- 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
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- 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
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of material automatic sorting transportation industry robot, it is related to Industrial Robot Technology field.Including road wheel, roadblock sensing device, warning device, material space exploration device, base, material color identification device, manipulator；Road wheel is fixed with base, road wheel is universal wheel；Roadblock sensing device, warning device and material space exploration device are provided with base；Manipulator is provided with material color identification device on adjacent joint.The present invention detects the coordinate of material in space, the colouring information by material color identification device collection material by the roadblock information in roadblock sensing device collection industrial robot motion path, by material space exploration device, main process task controller clamps sorting of the material to material by controlling the time of movement position, posture and the track of industrial robot joint and fuselage, operation order and action to adjust the position of manipulator, realizes automated sorting and carrying of the industrial robot to material.
Description
Technical field
The invention belongs to Industrial Robot Technology field, more particularly to a kind of material automatic sorting transportation industry machine
People.
Background technology
The degree of automation is the mark of job development degree, automatic sorting be exactly one in automating must can not portion
Point, there is the advantages of efficiency high, has become main flow, according to the program of setting nobody, efficiently work, maintenance cost pole
It is few.Because all using mechanical automation operation, therefore, sorting disposal ability is larger, and sorting classification quantity is also more.Save
Substantial amounts of manual labor, reduce the extraneous expense of enterprise, be that enterprise saves cost the best way.Especially needing to carry out material
Expect the enterprise of sorting, the method for using manual sorting always in the past is personal restricted due to people's work, thus causes the life having
Production efficiency is very low, error is more, production cost is high, and the competitiveness of enterprise is poor, hinders the development of enterprise.So automated sorting
Device will necessarily substitute artificial sorting work, and this is also just being their ability to the basic reason of fast development.
With industrial expansion, automatization level more and more higher, automatic sorting device substitutes manual work to be necessary completely
And it is inevitable.Sorting system neatly can be seamlessly connected with other logistics equipments, be realized to material material flow, material information
The distribution and management of stream be very there is an urgent need to, therefore invent a kind of material automatic sorting transportation industry robot, make its tool
There is system layout flexible, safeguard, overhaul the characteristics of facilitating, and do not influenceed by place, realize that the automated sorting of material is carried.
The content of the invention
It is an object of the invention to provide a kind of material automatic sorting transportation industry robot, by being provided with workshop
Material automatic sorting transportation industry robot, solve the problems, such as existing Material Sorting and carry it is cumbersome, easily by site influence.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
The people, including road wheel, roadblock sensing device, warning device, material space exploration device, base, material face
Color identification device, manipulator；Road wheel is fixed with the base, the road wheel is universal wheel；It is provided with the base
Roadblock sensing device, warning device and material space exploration device；The manipulator is provided with material color on adjacent joint
Identification device；The roadblock sensing device is gathered by data sensor and signal converting transmission module and main process task controller phase
Connection；The material space exploration device passes through space coordinates acquisition process and signal converting transmission module and main process task controller phase
Connection；The material color identification device is handled by color acquisition and signal converting transmission module is connected with main process task controller；
The main process task controller is connected by signal analysis and processing and signal transmission control module with warning device.
Further, the roadblock sensing device gathers the roadblock information in industrial robot motion path and will collected
Roadblock information transfer to main process task controller；The main process task controller drives connection warning device to alarm and passes through road wheel
Drive control module adjusts the path avoiding obstacles of industrial robot.
Further, the material space exploration device includes laser scanner；The material space exploration device detection
The coordinate information of the material collected in space is simultaneously sent to main process task controller, the master by material coordinate in space
Processing controller is by controlling movement position of the industrial robot fuselage joint in working space, posture track, operation order
And the position of the time adjustment manipulator of action.
Further, the color data information of material color identification device collection material and by the material collected
Color data information transfer is to main process task controller；The main process task controller prestores the color data information of material；It is described
Main process task controller is contrasted the color data information of material of the color data information received with prestoring, the main place
Manage controller and material is sorted by manipulator control module control machinery hand.
Further, by material transferring to corresponding material bin after the sorting of the manipulator completion material.
The invention has the advantages that：
1st, the present invention gathers the roadblock information in industrial robot motion path by roadblock sensing device and will collected
Roadblock information transfer to main process task controller；Barrier on the path of industrial robot be present when roadblock sensing device collects
When, main process task controller starts warning device alarm and kept away by the path of traction drive control module adjustment industrial robot
Barrier is opened, avoids influence of the barrier to industrial robot, causes industrial robot to be turned on one's side so that material damage, improves work
The stability of industry robot work, is not influenceed by place.
2nd, the present invention detects coordinate, the material color identification device of material in space by material space exploration device and adopted
Collect the colouring information of material and the colouring information of the material collected coordinate information in space, material is sent to main process task
Controller, main process task controller by control movement position in working space of industrial robot joint and fuselage, posture and
The position clamping material of the time adjustment manipulator of track, operation order and action, main process task controller pass through manipulator control
Sorting of the module control machinery hand to material, realize automated sorting and carrying of the industrial robot to material.
Certainly, any product for implementing the present invention it is not absolutely required to reach all the above advantage simultaneously.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, used required for being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is the structural representation of material automatic sorting transportation industry robot of the present invention；
In accompanying drawing, the list of parts representated by each label is as follows：
1- road wheels, 2- roadblock sensing devices, 3- warning devices, 4- material space exploration devices, 5- bases, 6- material face
Color identification device, 7- manipulators.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
In the description of the invention, it is to be understood that term " perforate ", " on ", " under ", " thickness ", " top ", " in ",
Indicating position or the position relationship such as " length ", " interior ", " surrounding ", it is for only for ease of the description present invention and simplifies description, without
It is that the component of instruction or hint meaning or element must have specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.
Refer to shown in Fig. 1, the present invention is a kind of material automatic sorting transportation industry robot, including road wheel 1, roadblock
Sensing device 2, warning device 3, material space exploration device 4, base 5, material color identification device 6, manipulator 7；On base 5
Road wheel 1 is fixed with, road wheel 1 is universal wheel；Roadblock sensing device 2, warning device 3 and material space are provided with base 5
Detection device 4；Manipulator 7 is provided with material color identification device 6 on adjacent joint；Roadblock sensing device 2 is passed by data
Sense collection and signal converting transmission module are connected with main process task controller；Material space exploration device 4 is gathered by space coordinates
Processing and signal converting transmission module are connected with main process task controller；Material color identification device 6 by color acquisition handle and
Signal converting transmission module is connected with main process task controller；Main process task controller passes through signal analysis and processing and signal transmission control
Module is connected with warning device 3.
Wherein, roadblock sensing device 2 gathers the roadblock information in industrial robot motion path and the roadblock that will be collected
Information transfer is to main process task controller；It is main when roadblock sensing device 2, which collects, barrier be present on the path of industrial robot
Processing controller starts warning device 3 and alarms and avoided by the path of the drive control module of road wheel 1 adjustment industrial robot
Barrier, influence of the barrier to industrial robot is avoided, cause industrial robot to be turned on one's side so that material damages, raising is industrial
The stability of robot work.
Wherein, material space exploration device 4 includes laser scanner；Material space exploration device 4 detects material in space
In coordinate and the coordinate information of the material collected in space is sent to main process task controller, main process task controller passes through
Control industrial robot joint and fuselage movement position, posture and track in working space, operation order and action when
Between adjust the position clamping material of manipulator 7, be easy to the clip position of accurate control machinery hand 7, realize that industrial robot works
Accuracy, reduce fault rate.
Wherein, material color identification device 6 gathers the color data information of material and by the number of colours of the material collected
According to information transfer to main process task controller；Main process task controller prestores color data information；Main process task controller will connect
The color data information of material of the color data information of the material received with prestoring is contrasted, and main process task controller passes through machine
Sorting of the control module control machinery hand 7 of tool hand 7 to material, the automated sorting of material is realized, save labour.
Wherein, material transferring to corresponding material bin is realized into the automation of material after the sorting of the completion of manipulator 7 material
Sorting transport, ensures being smoothed out for job-shop automation production, improves production efficiency.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
At least one implementation of the present invention is contained in reference to specific features, structure, material or the feature that the embodiment or example describe
In example or example.In this manual, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
Moreover, specific features, structure, material or the feature of description can close in any one or more embodiments or example
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help and illustrates the present invention.Preferred embodiment is not detailed
All details are described, it is only described embodiment also not limit the invention.Obviously, according to the content of this specification,
It can make many modifications and variations.This specification is chosen and specifically describes these embodiments, is to preferably explain the present invention
Principle and practical application so that skilled artisan can be best understood by and utilize the present invention.The present invention is only
Limited by claims and its four corner and equivalent.
Claims (5)
1. a kind of material automatic sorting transportation industry robot, it is characterised in that including road wheel (1), roadblock sensing device
(2), warning device (3), material space exploration device (4), base (5), material color identification device (6), manipulator (7)；
Road wheel (1) is fixed with the base (5), the road wheel (1) is universal wheel；
Roadblock sensing device (2), warning device (3) and material space exploration device (4) are provided with the base (5)；
The manipulator (7) is provided with material color identification device (6) on adjacent joint；
The roadblock sensing device (2) is gathered by data sensor and signal converting transmission module is connected with main process task controller；
The material space exploration device (4) is controlled by space coordinates acquisition process and signal converting transmission module with main process task
Device is connected；
The material color identification device (6) is handled by color acquisition and signal converting transmission module and main process task controller phase
Connection；
The main process task controller is connected by signal analysis and processing and signal transmission control module with warning device (3).
A kind of 2. material automatic sorting transportation industry robot according to claim 1, it is characterised in that：
The roadblock sensing device (2) gathers the roadblock information in industrial robot motion path and the roadblock information that will be collected
Transmit to main process task controller；
Main process task controller driving connection warning device (3) alarm simultaneously adjusts work by road wheel (1) drive control module
The path avoiding obstacles of industry robot.
A kind of 3. material automatic sorting transportation industry robot according to claim 1, it is characterised in that：
The material space exploration device (4) includes laser scanner；
The material space exploration device (4) detects the coordinate of material in space and the seat by the material collected in space
Information transmission is marked to main process task controller, the main process task controller is by controlling industrial robot fuselage joint in working space
In movement position, posture track, operation order and the time of action adjustment manipulator (7) position.
A kind of 4. material automatic sorting transportation industry robot according to claim 1, it is characterised in that：
The color data information of material color identification device (6) the collection material simultaneously passes the colouring information of the material collected
Transport to main process task controller；
The main process task controller prestores the color data information of material；
The main process task controller carries out the material color data information received and the material color data information that prestores pair
Than the main process task controller sorts material by manipulator (7) control module control machinery hand (7).
A kind of 5. material automatic sorting transportation industry robot according to claim 1, it is characterised in that the manipulator
(7) by material transferring to corresponding material bin after the sorting of completion material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710605053.XA CN107350177A (en) | 2017-07-24 | 2017-07-24 | A kind of material automatic sorting transportation industry robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710605053.XA CN107350177A (en) | 2017-07-24 | 2017-07-24 | A kind of material automatic sorting transportation industry robot |
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| Publication Number | Publication Date |
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| CN107350177A true CN107350177A (en) | 2017-11-17 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710605053.XA Pending CN107350177A (en) | 2017-07-24 | 2017-07-24 | A kind of material automatic sorting transportation industry robot |
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| Country | Link |
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| CN (1) | CN107350177A (en) |
Cited By (3)
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| CN109979305A (en) * | 2019-05-09 | 2019-07-05 | 上海洛倍智能科技有限公司 | A kind of industrial robot elementary teaching training work station |
| CN112977951A (en) * | 2021-02-23 | 2021-06-18 | 于艳杰 | Material handling robot based on color recognition |
| CN115724390A (en) * | 2021-08-27 | 2023-03-03 | 京东方科技集团股份有限公司 | Material recovery device and material recovery method |
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| CN115724390A (en) * | 2021-08-27 | 2023-03-03 | 京东方科技集团股份有限公司 | Material recovery device and material recovery method |
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Application publication date: 20171117 |
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