CN109761052A - Transportation system for robot stacking - Google Patents
Transportation system for robot stacking Download PDFInfo
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- CN109761052A CN109761052A CN201811544703.5A CN201811544703A CN109761052A CN 109761052 A CN109761052 A CN 109761052A CN 201811544703 A CN201811544703 A CN 201811544703A CN 109761052 A CN109761052 A CN 109761052A
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Abstract
A kind of transportation system for robot stacking, including charging pipeline, sorting conveying line, the first, second detection sensor, parameter of materials detection device and controller.Sorting conveying line is connected in the ring-type being closed, the entrance of sorting conveying line with the outlet of charging pipeline, and the exit of sorting conveying line is equipped with conveying mechanism capable of reversing.First detection sensor is for detecting whether there is material to enter sorting conveying line；Parameter of materials detection device is used to detect the specified parameter for each material for entering sorting conveying line；Whether the material that the second detection sensor is used to detect sorting conveying line conveying reaches the outlet of sorting conveying line.The specified parameter information that controller is used to receive the detection signal of the first, second detection sensor transmission and parameter of materials detection device is sent, control the work of conveying mechanism capable of reversing, so that the material into sorting conveying line is successively exported from the outlet of sorting conveying line according to the sequence of robot stacking, to realize robot automatic stacking.
Description
Technical field
The present invention relates to robot palletizing technologies.
Background technique
Most domestic stacking work is all by being accomplished manually.Weight of material is light, small in size, stacking speed is slow, material
It is feasible using hand stowage, but be manually insufficient for code in many cases under various shapes and irregular situation
The demand of pile.With the development of industrial automation technology, robot is gradually applied in stacking work.
When carrying out stacking to the skimble-scamble material of size specification, sequence and the material of stacking convey robot palletizer system
Initial order it is usually not identical.Material conveying initial order be often it is random, and robot palletizer then need according to
The maximized principle of pallet space utilization rate carries out stacking.With it is common for irregular material carry out the algorithm citing of stacking come
It says, robot palletizer system can carry out stacking according to the sequence of volume of material from big to small, to reach pallet space utilization rate most
The purpose changed greatly, therefore just need multiple irregular materials of stochastic inputs according to meeting wanting for robot palletizer stacking sequence
Output is asked, to achieve the purpose that automatic stacking.
Summary of the invention
It, can be certainly technical problem to be solved by the present invention lies in a kind of transportation system for robot stacking is provided
Dynamic multiple irregular materials by stochastic inputs are exported according to the requirement for meeting robot palletizer stacking sequence, to realize machine
People's automatic stacking.
The technical solution used in the present invention is: the present invention provides a kind of transportation system for robot stacking, packet
It includes: charging pipeline；Sorting conveying line, ring-type of the sorting conveying line in closure, the entrance and charging pipeline of sorting conveying line
Outlet be connected, the exit of sorting conveying line is equipped with conveying mechanism capable of reversing, and conveying mechanism capable of reversing can be controlled selectively
Material processed is to export or continue on sorting conveying line transmission from the outlet of sorting conveying line；First detection sensor is for examining
Whether survey has material to enter sorting conveying line；Parameter of materials detection device is for detecting each material for entering sorting conveying line
Specified parameter；Whether the second detection sensor, the material for detecting sorting conveying line conveying reach going out for sorting conveying line
Mouthful；Controller, for receiving the detection signal and parameter of materials inspection that the first detection sensor and the second detection sensor are sent
The specified parameter information that device is sent is surveyed, the work of conveying mechanism capable of reversing is controlled, so that the material into sorting conveying line is pressed
It is successively exported from the outlet of sorting conveying line according to the sequence of robot stacking；Wherein, the sequence of robot stacking and specified parameter
It is associated.
The present invention has at least the following advantages and feature:
1, the transportation system according to an embodiment of the present invention for robot stacking makes the material of stochastic inputs in cricoid sorting
It is conveyed on pipeline, and is located at the mechanism capable of reversing of sorting conveying line outlet by controller control, so that entering sorting conveying
The material of line can successively be exported from the outlet of sorting conveying line according to the sequence of robot stacking, to alleviate worker's sorting
With the workload for piling up material, the efficiency that stacking is carried out to the skimble-scamble material of size is improved；
2, the transportation system structure according to an embodiment of the present invention for robot stacking is simple, easy to implement.
Detailed description of the invention
Fig. 1 shows overall schematic of the present invention for one embodiment of the transportation system of robot stacking.
Fig. 2 shows the schematic diagrames of one embodiment of sorting conveying line of the invention.
Fig. 3 shows the partial schematic diagram of one embodiment of robot material grasping pipeline of the invention.
Fig. 4 shows the partial schematic diagram of one embodiment of charging pipeline of the invention.
Fig. 5 shows electric control theory block diagram of the present invention for the transportation system of robot stacking.
Fig. 6 to Fig. 9 shows the example of the control flow of controller according to an embodiment of the invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Fig. 1 to Fig. 5 is please referred to, the transportation system according to an embodiment of the invention for robot stacking includes that charging is defeated
Line sending 1, robot material grasping pipeline 2, sorting conveying line 3, the first detection sensor 41, the second detection sensor 42, material ginseng
Number detection device 5 and controller 6.
Sorting conveying line 3 is in the ring-type being closed.The entrance 31 of sorting conveying line 3 is connected with the outlet of charging pipeline 1, point
It picks the outlet 32 of pipeline 3 to connect with the entrance of robot material grasping pipeline 2, robot palletizer 100 can be grabbed and be grabbed in robot
The material 200 conveyed on material pipeline 2, is piled up 300 on pallet.It is equipped at the outlet 32 of sorting conveying line 3 capable of reversing
Conveying mechanism 3d, the conveying mechanism 3d capable of reversing, which can selectively control material, to be exported from the outlet of sorting conveying line 3 32
Still the transmission of sorting conveying line 3 is continued on.
Sorting conveying line 3 includes that the first conveying branch line 3a, the universal transport platform 3b of entrance and second convey branch line 3c, capable of reversing
Conveying mechanism 3d is transport platform capable of reversing.First conveying branch line 3a, the universal transport platform 3b of entrance, the second conveying branch line 3c and interchangeable
The cyclic annular pipeline in closure is collectively constituted to transport platform 3d.The one of the first conveying branch line 3a is arranged in the universal transport platform 3b of entrance
Between end and one end of the second conveying branch line 3c, and against the outlet of charging pipeline 1, the universal transport platform 3b of entrance is for distinguishing
The material 200 that first conveying branch line 3a and charging pipeline 1 convey is conveyed to the second conveying branch line 3c.The universal conveying of entrance
The conveyor surface of platform 3b is equipped with multiple ball 31b, these balls can make material 200 slide to any direction.It is capable of reversing defeated
It send platform 3d to be arranged between the other end of the first conveying branch line 3a and the other end of the second conveying branch line 3c, and is grabbed against robot
Expect the entrance of pipeline 2.In the present embodiment, transport platform 3d capable of reversing is chain roller bed type transport platform, the conveying of chain roller bed type
The conveying direction of the chain of platform and the conveying direction of roller-way are mutually perpendicular to.In yet another embodiment, transport platform 3d capable of reversing
Conveyor surface be equipped with multiple balls, and the side of the entrance of transport platform 3d object manipulator material grasping pipeline 2 capable of reversing is equipped with
First baffle, the side towards the first conveying branch line 3a are equipped with second baffle.It, can when needing material to flow out cyclic annular pipeline
Commutation transport platform 3d can fall first baffle, rise second baffle, and material is made to flow into the entrance of robot material grasping pipeline 2, this
When transport platform 3d capable of reversing conveyor surface can slightly rub material bottom surface；When material need to be flowed into the first conveying branch line 3a without
When being robot material grasping pipeline 2, transport platform 3d capable of reversing will rise up the first gear towards robot material grasping pipeline 2
Plate falls second baffle.In another embodiment, transport platform 3d capable of reversing is equipped with multiple variable-angles on its conveyor surface
Conveying roller, the angle of these conveying rollers can be adjusted by the control of controller 6.Pipeline 1, first is fed to convey
Branch line 3a, the second conveying branch line 3b and robot material grasping pipeline 2 are roller bed conveying line.
First detection sensor 41 is for detecting whether there is material 200 to enter sorting conveying line 3.Parameter of materials detection device
5 for detecting the specified parameter for each material for entering sorting conveying line 3, which can be the volume of material, length
Degree, width, height etc..It is defeated whether the material that the second detection sensor 42 is used to detect the conveying of sorting conveying line 3 reaches sorting
The outlet of line sending 3.In a kind of specific embodiment, the first detection sensor 41 and parameter of materials detection device 5 are set respectively
It sets in the boundary position of the entrance of the outlet and sorting conveying line 3 of charging pipeline 1, the setting of the second detection sensor 42 is being sorted
The outlet port of pipeline 3, the first detection sensor 41 and the second detection sensor 42 are photoelectric sensor.
Controller 6 is used to receive the detection signal and object that the first detection sensor 41 and the second detection sensor 42 are sent
Expect the specified parameter information that parameter detection device 5 is sent, control the work of conveying mechanism 3d capable of reversing, so that entering sorting conveying
The material of line 3 is successively output to robot material grasping pipeline 2 from the outlet of sorting conveying line according to the sequence of robot stacking.Its
In, the sequence of robot stacking is associated with specified parameter, and in a kind of specific embodiment, the sequence of robot stacking is
Stacking is carried out according to volume of material sequence from big to small, this requires enter the material of sorting conveying line 3 according to volume from big
It successively is output to robot material grasping pipeline 2 from the outlet of sorting conveying line to small sequence, so that pile robot 100 is according to object
The sequence of Material product from big to small carries out stacking.
Controller 6 is used to establish the output queue of the specified parameter of material, and a pointer is arranged, and makes the initial position of pointer
It is directed toward the Head-of-line of output queue；It, will be into when the first detection sensor 41 detects that material enters sorting conveying line every time
The specified parameter for entering the material of sorting conveying line is added in output queue, has detected object every time in the second detection sensor 42
Expect up to when the outlet 32 of sorting conveying line 3, the queue of the specified parameter, current output queue of 32 material is exported according to arrival
Content and the sequence of robot stacking determine whether to export the material from the outlet of sorting conveying line 3 32；If be not required to
It exports, so that material is continued on the transmission of sorting conveying line 3 by controlling conveying mechanism 3d capable of reversing, and pointer is moved backward
One；If necessary to export, then export material from the outlet of sorting conveying line 3 32 by controlling conveying mechanism 3d capable of reversing,
Specified parameter corresponding with the material of output is deleted from output queue, and pointer is moved forward one；Pointer to
Afterwards move one or move forward one after, if pointer currently point to be output queue tail of the queue position, move the pointer over
To direction Head-of-line.
The above-mentioned working principle and process of controller 6 are simply illustrated below by way of one.In this example, there are 3
Material flows into sorting conveying line 3 at random, then successively exports from sorting conveying line 3 according to the sequence of volume from big to small, Fig. 6 is extremely
Fig. 9 shows the control flow of controller 6.Wherein, in output queue Q, at first into the body of the material of sorting conveying line 3
Product is 0.02 cubic metre, and the volume for secondly entering the material of sorting conveying line 3 is 0.03 cubic metre, finally enters sorting conveying line
The volume of 3 material is 0.05 cubic metre.These materials are the packing case of rectangular shape.As shown in fig. 6, pointer P's rises
The Head-of-line of output queue Q is directed toward in beginning position, i.e., at first into the bulking value of the material of sorting conveying line 3.When the second detection
It is big according to its volume when sensor 42 detects that the material for entering sorting conveying line 3 at first reaches the outlet 32 of sorting conveying line 3
The queue content (entering the bulking value of three materials in output queue Q at present) and machine of small, current output queue Q
The sequence of people's stacking determines whether to export the material from the outlet of sorting conveying line 3 32.Due to the sequence of robot stacking
It is sequence from big to small according to volume, therefore, the judgement of controller 6 then controls without output and enters sorting conveying line 3 at first
Material continue on the transmission of sorting conveying line 3, and pointer P is moved backward one, has been directed toward and has secondly entered sorting conveying line 3
Material bulking value, as shown in Figure 7.It is similar with above-mentioned process, because secondly entering the volume of the material of sorting conveying line 3
Nor it is maximum in output queue, therefore when the second detection sensor 42 detects the secondly material into sorting conveying line 3
When reaching the outlet 32 of sorting conveying line 3, controller can also allow it to continue on the transmission of sorting conveying line 3, and backward by pointer P
It is one mobile, it is directed toward the bulking value for finally entering the material of sorting conveying line 3, as shown in Figure 8.This finally enters sorting conveying line
The bulking value of 3 material is maximum in current output queue, therefore is finally entered point when the second detection sensor 42 detects
When picking the outlet 32 of material arrival sorting conveying line 3 of pipeline 3, controller 6 can control conveying mechanism 3d capable of reversing, make this most
It is exported afterwards into the material of sorting conveying line 3 from the outlet of sorting conveying line 3 32, and (i.e. 0.05 is vertical by its corresponding bulking value
Square rice) it is deleted from output queue Q, and pointer P is moved forward one, it is just directed toward due to pointer P forward movement one
It is the tail of the queue position of output queue, therefore also needs to adjust pointer P to Head-of-line is directed toward, that is, is directed toward 0.02 cubic metre, such as Fig. 9
It is shown.So circulation, controller 6 can control volume is 0.03 cubic metre, volume is 0.02 cubic metre material successively from sorting
The outlet 32 of pipeline 3 exports, to meet the requirement of robot palletizer stacking sequence.This control mode can work
Period arbitrarily continues to add materials, and has good real-time operation.
In the present embodiment, controller 6 uses PLC controller.
Optionally, the transportation system for robot stacking includes third detection sensor 43 and blocking mechanism.Third inspection
It surveys sensor 43 and is used to detect the predetermined position whether material reaches charging pipeline 1, in the present embodiment, third detection sensing
Device 43 is photoelectric sensor.Blocking mechanism includes block piece 71 and block piece driving mechanism, and block piece driving mechanism is for driving
Block piece 71 moves between blocking position and release position, and the default of block piece 71 is stopping position in blocking position, block piece 71
Prevented when setting the material for reaching predetermined position to the conveying of charging pipeline export direction (that is, when material is in predetermined position against
Block piece), at release position, material can be exported to the outlet of charging pipeline 1 block piece 71 from predetermined position.In this reality
It applies in example, the first block piece 71 is baffle, and the first block piece driving mechanism is that the lifting of 71 raising and lowering of baffle is driven to drive
It takes offence cylinder 72.In the present embodiment, the outlet of the neighbouring charging pipeline 1 in above-mentioned predetermined position.
Controller 6 is used to receive the detection signal of the transmission of third detection sensor 43, and controls the work of blocking mechanism.Its
In, controller 6 when third detection sensor 43 detects that material reaches predetermined position, examine by control parameter of materials detection device 5
The specified parameter up to the material in predetermined position is measured, and specifies parameter in the material for receiving the transmission of parameter of materials detection device 5
When control block piece driving mechanism work, so that block piece 71 is moved to release position, detected in third detection sensor 43
When pre-position does not have material, control stops driving mechanism movement, and block piece 71 is made to return to blocking position.
In the present embodiment, parameter of materials detection device 5 is barcode scanning equipment；The side of material 200 is equipped with containing specified ginseng
The identification code 201 of several information, identification code 201 include but is not limited to bar code, two dimensional code etc..The successful barcode scanning of barcode scanning equipment 5
Afterwards, controller 6 is the specified parameter information for obtaining corresponding material.In other implementations, parameter of materials detection device 5
It is also possible to 3D camera etc., the volume information of material can also be equally obtained using the camera function of 3D camera.Material 200 exists
Against block piece 71 when reaching predetermined position, it can not continue to move to, be beneficial to carry out subsequent visual imaging.
It further, include revolving part 81 and for driving according to the transportation system for robot stacking of the present embodiment
The revolving part driving mechanism that dynamic revolving part 81 rotates.The predetermined position of the charging pipeline 1 is arranged in revolving part 81, uses
The material of coming is conveyed in receiving from charging pipeline entrance.
Controller 6 is used to control the work of revolving part driving mechanism, wherein controller 6 is examined in third detection sensor 43
When measuring the arrival predetermined position of material 200,5 barcode scanning of barcode scanning equipment is controlled, if barcode scanning equipment 5 does not detect identification code 201, meeting
The information of barcode scanning failure is sent to controller 6, then controller 6 controls the one scheduled angle of rotation of revolving part 81, and controls again
5 barcode scanning of barcode scanning equipment, until the success of 5 barcode scanning of barcode scanning equipment, controller 6 receives the barcode scanning result of barcode scanning equipment 5.It is such
Words, no matter identification code 201 is arranged on which side of cuboid packing case, can ensure to be scanned by barcode scanning equipment 5 and arrive.?
In the present embodiment, revolving part 81 is turntable, and rotary drive mechanism is driving motor 82.Above-mentioned scheduled angle is 90 °.
Transportation system according to an embodiment of the present invention for robot stacking makes the material of stochastic inputs at cricoid point
It picks and is conveyed on pipeline, and be located at the mechanism capable of reversing of sorting conveying line outlet by controller control, so that it is defeated to enter sorting
The material of line sending can successively be exported from the outlet of sorting conveying line according to the sequence of robot stacking, to alleviate worker point
The workload for picking and piling up material improves the efficiency that stacking is carried out to the skimble-scamble material of size.
Claims (10)
1. being used for the transportation system of robot stacking characterized by comprising
Feed pipeline；
Sorting conveying line, ring-type of the sorting conveying line in closure, the outlet of the entrance and charging pipeline of sorting conveying line
It is connected, the exit of sorting conveying line is equipped with conveying mechanism capable of reversing；The conveying mechanism capable of reversing can be controlled selectively
Material is to export or continue on sorting conveying line transmission from the outlet of sorting conveying line；
First detection sensor is for detecting whether there is material to enter sorting conveying line；
The parameter of materials detection device is used to detect the specified parameter for each material for entering sorting conveying line；
Whether the second detection sensor, the material for detecting sorting conveying line conveying reach the outlet of sorting conveying line；
Controller, for receiving the detection signal and material ginseng that first detection sensor and the second detection sensor are sent
The specified parameter information that number detection device is sent, controls the work of conveying mechanism capable of reversing, so that into the object of sorting conveying line
Material is successively exported from the outlet of sorting conveying line according to the sequence of robot stacking；Wherein, the sequence of the robot stacking with
The specified parameter is associated.
2. the transportation system according to claim 1 for robot stacking, which is characterized in that described is used for robot
The transportation system of stacking includes third detection sensor and blocking mechanism；
The third detection sensor is used to detect the predetermined position whether material reaches the charging pipeline；The blocking machine
Structure includes block piece and block piece driving mechanism, the block piece driving mechanism for drive the block piece blocking position with
It is moved between release position, block piece is defaulted in the blocking position, and block piece is prevented in the blocking position described in arrival
The material in predetermined position is to charging pipeline export direction conveying, and for block piece at the release position, material can be from described
Predetermined position is exported to the outlet of charging pipeline；
The controller is used to receive the detection signal of third detection sensor transmission, and controls the work of the blocking mechanism.
3. the transportation system according to claim 2 for robot stacking, which is characterized in that the parameter of materials detection
Device is barcode scanning equipment；The side of the material is equipped with the identification code of the information containing the specified parameter.
4. the transportation system according to claim 3 for robot stacking, which is characterized in that described is used for robot
The transportation system of stacking includes revolving part and the revolving part driving mechanism for driving the revolving part rotation；The revolving part
The predetermined position of the charging pipeline is set, for receiving the material come from charging pipeline entrance conveying；
The controller is used to control the work of the revolving part driving mechanism, wherein controller is used to detect in third and sense
When device detects that material reaches predetermined position, the barcode scanning equipment barcode scanning is controlled, is lost in the barcode scanning for receiving the transmission of barcode scanning equipment
When the information lost, control the revolving part and rotate a scheduled angle, and control barcode scanning equipment barcode scanning again, until barcode scanning at
Function.
5. the transportation system according to claim 2 for robot stacking, first detection sensor, the second inspection
It surveys sensor and third detection sensor is photoelectric sensor.
6. the transportation system according to claim 1 for robot stacking, which is characterized in that the controller is for building
The output queue of the specified parameter of vertical material, and a pointer is set, so that the initial position of the pointer is directed toward the team of output queue
It sets first place；When the first detection sensor detects that material enters sorting conveying line every time, the material of sorting conveying line will be entered
Specified parameter be added in output queue, the second detection sensor detect every time material reach sorting conveying line go out
When mouth, according to the specified parameter of material, the queue content of current output queue and the sequence of robot stacking for reaching outlet
It determines whether to export the material from the outlet of sorting conveying line；If you do not need to output, by controlling conveyer capable of reversing
Structure makes material continue on sorting conveying line transmission, and pointer is moved backward one；It, then can by control if necessary to export
Commutation conveying mechanism exports material from the outlet of sorting conveying line, by specified parameter corresponding with the material of output from output
It is deleted in queue, and pointer is moved forward one；After pointer moves backward one or moves forward one, if pointer is current
What is be directed toward is the tail of the queue position of output queue, then moves the pointer over to direction Head-of-line.
7. the transportation system according to claim 6 for robot stacking, which is characterized in that the specified parameter is
The volume of material；
The sequence of the robot stacking is to carry out stacking according to the sequence of volume of material from big to small.
8. the transportation system according to claim 1 for robot stacking, which is characterized in that the sorting conveying line packet
Including the first conveying branch line, the universal transport platform of entrance and the second conveying branch line, the conveying mechanism capable of reversing is transport platform capable of reversing；
First conveying branch line, the universal transport platform of entrance, the second conveying branch line and the transport platform capable of reversing is collectively constituted in closure
Cyclic annular pipeline；The universal transport platform of entrance is arranged between one end of the first conveying branch line and one end of the second conveying branch line, and
Against the outlet of charging pipeline, the universal transport platform of entrance is for respectively by the first conveying branch line and the object of charging pipeline conveying
Material is conveyed to the second conveying branch line；The other end and the second conveying branch of the first conveying branch line is arranged in the transport platform capable of reversing
Between the other end of line.
9. the transportation system according to claim 1 for robot stacking, which is characterized in that the charging conveying
Line, the first conveying branch line and the second conveying branch line are roller bed conveying line.
10. robot palletizing system according to claim 1, which is characterized in that the controller is PLC controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811544703.5A CN109761052B (en) | 2018-12-17 | 2018-12-17 | Conveying system for robot stacking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811544703.5A CN109761052B (en) | 2018-12-17 | 2018-12-17 | Conveying system for robot stacking |
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| CN109761052B CN109761052B (en) | 2020-11-24 |
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| WO2021103819A1 (en) * | 2019-11-29 | 2021-06-03 | 北京旷视机器人技术有限公司 | Sorting apparatus |
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| CN116424836A (en) * | 2023-06-09 | 2023-07-14 | 廊坊永创包装机械有限公司 | Robot stacking system and working method thereof |
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| CN114906523B (en) * | 2022-04-24 | 2024-06-07 | 北京旷视机器人技术有限公司 | Bin issuing method, apparatus, storage medium and program product |
| CN116424836A (en) * | 2023-06-09 | 2023-07-14 | 廊坊永创包装机械有限公司 | Robot stacking system and working method thereof |
| CN116424836B (en) * | 2023-06-09 | 2024-02-20 | 廊坊永创包装机械有限公司 | Robot stacking system and working method thereof |
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