CN206967502U - A kind of vision industrial robot automatic sorting device - Google Patents
A kind of vision industrial robot automatic sorting device Download PDFInfo
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- CN206967502U CN206967502U CN201720895630.9U CN201720895630U CN206967502U CN 206967502 U CN206967502 U CN 206967502U CN 201720895630 U CN201720895630 U CN 201720895630U CN 206967502 U CN206967502 U CN 206967502U
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Abstract
It the utility model is related to a kind of vision industrial robot automatic sorting device, including sorting case pipeline, multiple spaced apart sorting devices and automatic control equipment；Each sorting device includes a commodity supply pipeline and a vision industrial robot, the sorting case pipeline is vertically arranged with the commodity supply pipeline, can be grabbed the commodity in the container on commodity supply pipeline by the vision industrial robot in the sorting case on sorting case pipeline；Labor intensity can be greatly reduced using the vision industrial robot automatic sorting device, improve customer requirement list treatment effeciency, while reduce error rate.
Description
Technical field
Industrial robot is the utility model is related to, more particularly to a kind of vision industrial robot automatic sorting device, is belonged to
Industrial robot application apparatus field.
Background technology
Internet shopping is swift and violent in China's development, and the people of shopping on the web is more and more, and electric business needs the need according to client
Ask and sorting processing is carried out to commodity, especially run into the special periods such as shopping Carnival, client can be big to the demand of commodity
How big increase, be the problem of electric business is in the urgent need to address according to the quick shipment of customer demand.
Traditional commodity sorting mode, it is the papery demand inventory according to client, manually carries out statistics commodity amount, picks up
Take, dispense operation, cause that number of workers is more, cost is high, labor intensity is big, error rate is high.
It is more at present to sort commodity, i.e. storing by the way of electronic tag auxiliary with the development of China's informationization technology
Every kind of goods all installs commodity electronic labeling on frame, according to customer requirement list, sends sorting instruction, makes corresponding in magazine
Commodity electronic labeling bright light simultaneously shows sorting quantity, and staff completes sorting operation according to the guide of commodity electronic labeling.
The processing speed of existing goods sorting mode can not meet the needs of client, when Carnival etc. of doing shopping is special
Between section need that the customer requirement list of one day could have been handled for days, cause commodity delay delivery, make what customer network was done shopping
Experience poor, loss is brought to electric business.
Utility model content
In view of the deficienciess of the prior art, the utility model purpose is to provide a kind of vision industrial robot automatic sorting
Device, can be according to customer requirement list, automatic rapid sorting commodity, to solve the problems mentioned in the above background technology, sheet
Utility model is easy to use, easy to operation, and stability is good, and reliability is high.
Technical scheme is used by the utility model solves its technical problem：
A kind of vision industrial robot automatic sorting device, including sorting case pipeline, multiple spaced apart sortings are set
Standby and automatic control equipment；Each sorting device includes a commodity supply pipeline and a vision industrial robot, described
Multiple adjacent containers for being used to deposit commodity are set on each commodity supply pipeline, and first container is placed on the commodity and supplied
To the end of pipeline, the sorting case pipeline is vertically arranged with the commodity supply pipeline, passes through vision industry
Robot can grab the commodity in the container on commodity supply pipeline in the sorting case on sorting case pipeline；It is described from
Dynamic control device is connected with each sorting device, and automatic control equipment includes image measurement instrument；The vision industrial robot bag
CCD industrial cameras, vacuum cup, light source, six axis robot body are included, the CCD industrial cameras can photograph the commodity and supply
To pipeline end commodity and give image transmitting to the automatic control equipment, the workflow of the vision industrial robot
It is divided into off-line phase and on-line stage, the off-line phase obtains to all kinds of commodity acquisition module images after carrying out image procossing
The template of all kinds of commodity is simultaneously stored in the automatic control equipment, and the on-line stage passes through vision industrial robot end band
Dynamic CCD industrial cameras collection realtime graphic, then identifies the type of merchandise, the automatic control equipment calculates by template matches
Go out position of the commodity under vision industrial robot ending coordinates system, and transfer data to the vision industrial robot, institute
State the crawl that vision industrial robot completes commodity according to the vacuum cup of the data guide tip of reception.
Vision industrial robot automatic sorting device described in the utility model, wherein, the commodity supply pipeline
End is provided with empty van removal mechanism, can be by described when in the container on the commodity supply pipeline end without commodity
Empty van removal mechanism removes the container from commodity supply pipeline.
Vision industrial robot automatic sorting device described in the utility model, wherein, the empty van removal mechanism is set
In the side of the commodity supply pipeline end, the empty van removal mechanism includes expansion link and cylinder, the expansion link with
The cylinder connection, the expansion link is oppositely arranged with the container on the commodity supply pipeline end, when nothing in the container
During commodity, the cylinder drives the expansion link to release the container from commodity supply pipeline.
Vision industrial robot automatic sorting device described in the utility model, wherein, the commodity supply pipeline end
End is provided with connected empty van collection slide, and the empty van removal mechanism and the empty van collection slide or so are accordingly divided
Cloth is provided with empty van recovery conveying in the commodity supply pipeline end both sides, the side-lower of the commodity supply pipeline
Line, the empty van collection slide and the empty van recovery pipeline are connected, by the container that the expansion link is released along the empty van
Collection slide enters empty van recovery pipeline.
The course of work of vision industrial robot automatic sorting device described in the utility model is：
For example, the vision industrial robot automatic sorting device includes seven sorting devices, each sorting is set
Standby to be numbered, numbering is a-g respectively, after receiving customer requirement list from the background, is translated into corresponding customer requirement list
Data, such as a customer requirement list data are：Commodity one corresponding to a sorting devices, commodity one corresponding to c sorting devices
Part, commodity one corresponding to g sorting devices；It is respectively a, c to numbering that automatic control equipment, which receives after customer requirement list data,
G sorting device sends command adapted thereto.
The sorting device that numbering is a is after instruction is received, the CCD industry first by being arranged on vision industrial robot
Camera is taken pictures to the container of commodity supply pipeline end, and the photo photographed is transferred into image measurement instrument, image measurement instrument
Photo is contrasted with the template to prestore, it is determined that the position coordinates where the commodity that can be captured, and the coordinate data is sent
Vision industrial robot, vision industrial robot is given to be put after grabbing commodity in relevant position to sorting case pipeline
Sort in case.
After vision industrial robot grabs commodity and put to the sorting case on sorting case pipeline, case is sorted
The sorting case equipped with commodity is transported at next sorting device by pipeline, and in this example, sorting case pipeline will be equipped with
It is at c sorting device that the sorting case of commodity, which is transported to numbering, repeats above-mentioned action, is conveyed after having performed by sorting case
It is at g sorting device that the sorting case equipped with commodity is transported to numbering by line, repeats above-mentioned action, you can completing the client needs
Seek the task of inventory, by sort case pipeline by the sorting case be transported to sorting case pipeline end, staff by its
Pick up, can be delivered after packing.
When the position coordinates where image measurement instrument not can determine that the commodity that can be captured in container, judge the container for sky
Case, the container is released from commodity supply pipeline by empty van removal mechanism, the container enters empty along empty van collection slide
Case reclaims pipeline, while starts commodity supply pipeline, and container below is delivered to the end of commodity supply pipeline.
Vision industrial robot automatic sorting device described in the utility model has the beneficial effect that：
The demand listings data of client can issued automatic control equipment by the utility model on backstage, can be driven follow-up each
Equipment operates automatically.This vision industrial robot automatic sorting device sorting speed is exceedingly fast, and handles a customer requirement list
Only need 3 to 5 seconds.In addition, a variety of commodity can be optionally combined the model for together, expanding accessible customer requirement list by the device
Enclose：Error rate is greatly reduced.And its is simple in construction, convenient use can wide popularization and application.
Brief description of the drawings
Fig. 1 is a kind of structural representation of vision industrial robot automatic sorting device of the utility model；
Fig. 2 is the structural representation of vision industrial robot；
Shown in figure：Sort case pipeline 101；Automatic control equipment 102；Commodity supply pipeline 103；Vision industrial machine
Device people 104；Expansion link 105；Cylinder 106；Empty van collection slide 107；Empty van reclaims pipeline 108；Container 201；Sort case
202；CCD industrial cameras 301；Vacuum cup 302；Light source 303；Six axis robot body 304.
Embodiment
Technological means, creation characteristic, reached purpose and effect to realize the utility model are easy to understand, below
With reference to embodiment, the utility model is expanded on further.
Referring to figs. 1 to Fig. 2, an a kind of embodiment of vision industrial robot automatic sorting device of the utility model is proposed：
A kind of vision industrial robot automatic sorting device, including sorting case pipeline 101, multiple spaced apart sorting devices and from
Dynamic control device 102；Each sorting device includes a commodity supply pipeline 103 and a vision industrial robot 104, institute
State and multiple adjacent containers 201 for being used to deposit commodity are set on each commodity supply pipeline 103, first container 201 is placed
In the end of the commodity supply pipeline 103, the sorting case pipeline 101 is vertical with the commodity supply pipeline 103
Set, the commodity in the container 201 on commodity supply pipeline 103 can be grabbed by the vision industrial robot 104
Sort in the sorting case 202 on case pipeline 101；The automatic control equipment 102 is connected with each sorting device, is automatically controlled
Equipment 102 includes image measurement instrument；The vision industrial robot 104 includes CCD industrial cameras 301, vacuum cup 302, light
Source 303, six axis robot body 304, the CCD industrial cameras 301 can photograph the end of commodity supply pipeline 103
Commodity simultaneously give image transmitting to the automatic control equipment 102, and the workflow of the vision industrial robot 104 is divided into offline
Stage and on-line stage, the off-line phase obtain all kinds of commodity to all kinds of commodity acquisition module images after carrying out image procossing
Template and be stored in the automatic control equipment 102, the on-line stage pass through the end of vision industrial robot 104 drive
CCD industrial cameras 301 gather realtime graphic, then identify the type of merchandise, the automatic control equipment 102 by template matches
Position of the commodity under the ending coordinates system of vision industrial robot 104 is calculated, and transfers data to the vision industrial machine
Device people 104, the vision industrial robot 104 complete grabbing for commodity according to the vacuum cup 302 of the data guide tip of reception
Take.
Vision industrial robot automatic sorting device described in the utility model, wherein, the commodity supply pipeline 103
End be provided with empty van removal mechanism, can when in container 201 on the end of commodity supply pipeline 103 without commodity
The container 201 is removed from commodity supply pipeline 103 by the empty van removal mechanism.
Vision industrial robot automatic sorting device described in the utility model, wherein, the empty van removal mechanism is set
In the side of the end of commodity supply pipeline 103, the empty van removal mechanism includes expansion link 105 and cylinder 106, described
Expansion link 105 is connected with the cylinder 106, the expansion link 105 and the container on the end of commodity supply pipeline 103
201 are oppositely arranged, and when in the container 201 without commodity, the cylinder 106 drives the expansion link 105 by the container 201 from business
Released on product supply pipeline 103.
Vision industrial robot automatic sorting device described in the utility model, wherein, the commodity supply pipeline 103
End is provided with connected empty van collection slide 107, the empty van removal mechanism and the empty van collection slide 107 or so
The end both sides of commodity supply pipeline 103 are accordingly distributed in, the side-lower of the commodity supply pipeline 103 is provided with
Empty van reclaims pipeline 108, and the empty van collection slide 107 is connected with empty van recovery pipeline 108, by the expansion link
105 containers 201 released enter empty van recovery pipeline 108 along the empty van collection slide 107.
The course of work of vision industrial robot automatic sorting device described in the utility model is：
For example, the vision industrial robot automatic sorting device includes seven sorting devices, each sorting is set
Standby to be numbered, numbering is a-g respectively, after receiving customer requirement list from the background, is translated into corresponding customer requirement list
Data, such as a customer requirement list data are：Commodity one corresponding to a sorting devices, commodity one corresponding to c sorting devices
Part, commodity one corresponding to g sorting devices；Automatic control equipment 102 is respectively to numbering after receiving customer requirement list data
A, c, g sorting device send command adapted thereto.
The sorting device that numbering is a is after instruction is received, the CCD first by being arranged on vision industrial robot 104
Industrial camera 301 is taken pictures to the container of the end of commodity supply pipeline 103, and the photo photographed is transferred into image measurement instrument,
Image measurement instrument is contrasted photo with the template to prestore, it is determined that the position coordinates where the commodity that can be captured, and this is sat
Mark data are sent to vision industrial robot 104, vision industrial robot 104 grabbed in relevant position put after commodity to
Sort in the sorting case 202 on case pipeline 101.
Vision industrial robot 104 grab commodity and put to sorting case pipeline 101 on sorting case 202 in it
Afterwards, sort case pipeline 101 the sorting case 202 equipped with commodity is transported at next sorting device, in this example, sorting
It is at c sorting device that the sorting case 202 equipped with commodity is transported to numbering by case pipeline 101, repeats above-mentioned action, performs
Complete is afterwards weight at g sorting device by sorting case pipeline 101 the sorting case 202 equipped with commodity is transported into numbering
Multiple above-mentioned action, you can complete the task of the customer requirement list, transported the sorting case 202 by sorting case pipeline 101
To the end of sorting case pipeline 101, staff is picked up, can delivered after packing.
When the position coordinates where image measurement instrument not can determine that the commodity that can be captured in container 201, the container is judged
201 be empty van, is released the container 201 from commodity supply pipeline 103 by empty van removal mechanism, and the container 201 is along sky
Case collection slide 107 enters empty van recovery pipeline 108, while starts commodity supply pipeline 103, by container 201 below
It is delivered to the end of commodity supply pipeline 103.
Certainly, for those of ordinary skills, the utility model can also have other various embodiments, not carry on the back
In the case of from the utility model spirit and essence, various corresponding changes and deformation, but this can be made according to the utility model
A little corresponding changes and deformation should all belong to the scope of the claims appended by the utility model.
Claims (4)
- A kind of 1. vision industrial robot automatic sorting device, it is characterised in that：Including sorting case pipeline, multiple arranged for interval Sorting device and automatic control equipment；Each sorting device includes a commodity supply pipeline and a vision industrial machine People, described that multiple adjacent containers for being used to deposit commodity are each set on commodity supply pipeline, first container is placed on institute The end of commodity supply pipeline is stated, the sorting case pipeline is vertically arranged with the commodity supply pipeline, by described Vision industrial robot can grab the commodity in the container on commodity supply pipeline in the sorting case on sorting case pipeline It is interior；The automatic control equipment is connected with each sorting device, and automatic control equipment includes image measurement instrument；The vision industry Robot includes CCD industrial cameras, vacuum cup, light source, six axis robot body, and the CCD industrial cameras can photograph institute State the commodity of commodity supply pipeline end and by image transmitting to the automatic control equipment.
- 2. vision industrial robot automatic sorting device according to claim 1, it is characterised in that：The commodity supply is defeated The end of line sending is provided with empty van removal mechanism.
- 3. vision industrial robot automatic sorting device according to claim 2, it is characterised in that：The empty van removes machine Structure is arranged on the side of the commodity supply pipeline end, and the empty van removal mechanism includes expansion link and cylinder, described to stretch Contracting bar is connected with the cylinder, and the expansion link is oppositely arranged with the container on the commodity supply pipeline end.
- 4. vision industrial robot automatic sorting device according to claim 3, it is characterised in that：The commodity supply is defeated Line sending end is provided with connected empty van collection slide, the empty van removal mechanism and the empty van collection slide or so pair It is distributed in the commodity supply pipeline end both sides with answering, the side-lower of the commodity supply pipeline is provided with empty van recovery Pipeline, the empty van collection slide and the empty van recovery pipeline be connecteds, and the container of the expansion link release is along the sky Case collection slide enters empty van recovery pipeline.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720895630.9U CN206967502U (en) | 2017-07-24 | 2017-07-24 | A kind of vision industrial robot automatic sorting device |
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| CN201720895630.9U CN206967502U (en) | 2017-07-24 | 2017-07-24 | A kind of vision industrial robot automatic sorting device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107983657A (en) * | 2017-11-28 | 2018-05-04 | 广州智能装备研究院有限公司 | A kind of plate intelligent sorting system based on robot |
| CN110481916A (en) * | 2019-07-30 | 2019-11-22 | 王安岩 | A kind of automatic packaging system applied to complete sets of products |
| CN111334901A (en) * | 2020-02-18 | 2020-06-26 | 常熟理工学院 | Goat raw wool automatic sorting device based on memristor neural network |
| CN114029657A (en) * | 2021-11-23 | 2022-02-11 | 广州丰桥智能装备有限公司 | Flexible piece feeding system based on 3D vision guidance |
-
2017
- 2017-07-24 CN CN201720895630.9U patent/CN206967502U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107983657A (en) * | 2017-11-28 | 2018-05-04 | 广州智能装备研究院有限公司 | A kind of plate intelligent sorting system based on robot |
| CN110481916A (en) * | 2019-07-30 | 2019-11-22 | 王安岩 | A kind of automatic packaging system applied to complete sets of products |
| CN110481916B (en) * | 2019-07-30 | 2021-05-25 | 廊嘉锐程(廊坊)自动化设备有限公司 | Automatic packaging system applied to complete set of products |
| CN111334901A (en) * | 2020-02-18 | 2020-06-26 | 常熟理工学院 | Goat raw wool automatic sorting device based on memristor neural network |
| CN114029657A (en) * | 2021-11-23 | 2022-02-11 | 广州丰桥智能装备有限公司 | Flexible piece feeding system based on 3D vision guidance |
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