CN113478484B - Tobacco shred box positioning and centering system and method - Google Patents
Tobacco shred box positioning and centering system and method Download PDFInfo
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- CN113478484B CN113478484B CN202110754733.4A CN202110754733A CN113478484B CN 113478484 B CN113478484 B CN 113478484B CN 202110754733 A CN202110754733 A CN 202110754733A CN 113478484 B CN113478484 B CN 113478484B
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- tobacco shred
- ground grid
- goods shelf
- tobacco
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- 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
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- 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
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a tobacco shred box positioning and centering system and a method, wherein the tobacco shred box positioning and centering system comprises: AMR, through identifying the two-dimensional code, the current position can be obtained, and the orientation and the position can be adjusted; the track is used for bearing the box turnover robot; the box overturning robot runs on the track; the limiters are arranged at two ends of the track and used for limiting the position of the box turnover robot; the AMR can submerge to the bottom of the goods shelf, and then the goods shelf is lifted and carried away; the tobacco shred box is placed on the goods shelf; the ground grid is used for placing a goods shelf; camera and braced frame can make a video recording to ground grid, goods shelves and pipe tobacco case. According to the invention, the specific positions and the number of the tobacco shred boxes are identified by the camera, so that the AMR can accurately adjust the specific positions of the tobacco shred boxes on the goods shelf, a box turning robot can conveniently grab the tobacco shred boxes, the situation that the mechanical arm can push the tobacco shred boxes down is effectively avoided, and the overall working efficiency and the working quality are improved.
Description
Technical Field
The invention relates to the technical field of cigarette production logistics, in particular to a tobacco shred box positioning and centering system and a method.
Background
In the automatic production process of cigarettes, the transportation of production raw and auxiliary materials and finished products is an important link, the material flow is large, and the transportation links are multiple. AMR is an advanced automatic logistics device, has the characteristics of high automation degree, good safety, flexible line and the like, can better meet the logistics requirements of cigarette production, and is widely applied. Goods are typically placed on shelves and bound to the shelves. The AMR determines the desired goods by recognizing the markings under the shelf, and then lifts the shelf up to the designated location.
In the tobacco shred feeding working section, the cigarette shred boxes are taken from the designated positions by the AMR and sent to a box turning station of a movable box turning robot, and after information reading, cover removing and box turning, finished tobacco shreds are poured into a wind power tobacco shred feeding machine for subsequent rolling operation. In this workshop section, the box turnover robot firstly needs to utilize the arm to snatch the pipe tobacco case, just can carry, turn over the case, expect operations such as. Because the cut tobacco box is placed on the goods shelf and is carried to a specific position by the AMR, the cut tobacco box has offset on the goods shelf and is not necessarily in the middle position. When the robot snatchs, if there is great difference between arm and the pipe tobacco case, the arm can push away the pipe tobacco case, causes the damage of pipe tobacco case and pipe tobacco to pour out. If the mechanical arm is operated manually to accurately grab the tobacco shred boxes, the efficiency is low. If the position and orientation of the manipulator are finely adjusted by the direction of image recognition, the manipulator is required to have a high fine operation capability, a high cost, and a low operation efficiency.
Therefore, how to provide a tobacco shred box centering system and a method capable of effectively adjusting the direction and the position between the tobacco shred box and a box turning robot becomes a technical problem to be solved urgently in the field.
Disclosure of Invention
The invention aims to provide a tobacco shred box positioning and centering system and a tobacco shred box positioning and centering method which can effectively adjust the direction and the position between a tobacco shred box and a box turning robot.
According to a first aspect of the invention, there is provided a tobacco box positioning and centering system, comprising:
the AMR is a submersible AMR, and the current position can be obtained by identifying the two-dimensional code, and the orientation and the position can be adjusted;
the track is used for bearing the box turnover robot;
the box turning robot travels on the track, and the position, the height and the direction of a manipulator extending out of the box turning robot are fixed;
the limiters are arranged at two ends of the track and used for limiting the position of the box turnover robot;
the bottom of the goods shelf is provided with a two-dimensional code, the AMR can submerge into the bottom of the goods shelf, and then the goods shelf is lifted up and carried away;
the tobacco shred box comprises a box body and a box cover, and the box body is placed on the goods shelf;
the ground grid is positioned on one side of the track and used for placing a goods shelf, and the center of the ground grid is also provided with a two-dimensional code;
the camera is arranged on a cross beam of the ground grid, can shoot the ground grid, the goods shelf and the tobacco shred box and identifies and judges objects in a visual field.
Optionally, the tobacco shred box positioning and centering system further comprises a tobacco shred box cover removing area and a tobacco shred box tipping area, wherein the tobacco shred box cover removing area and the tobacco shred box tipping area are arranged on the other side, opposite to the ground grid, of the track;
and the box turning robot executes the cover removing operation in the cover removing area of the tobacco shred boxes and executes the box turning operation in the tipping area of the tobacco shred boxes.
Optionally, according to the tobacco shred box positioning and centering system provided by the invention, the stopper comprises a first stopper and a second stopper, the first stopper is used for the box turnover robot to perform grabbing and cover removing operations, and the second stopper is used for the box turnover robot to perform box turnover operations;
the first limiting device is arranged at a position, close to the cut tobacco box uncovering area, on the track, and the second limiting device is arranged at a position, close to the cut tobacco box turning area, on the track.
Optionally, according to the tobacco shred box positioning and centering system provided by the invention, the number of the ground grids is 5, and the ground grids are sequentially arranged as a ground grid a, a ground grid B, a ground grid C, a ground grid D and a ground grid E, wherein the position of the ground grid a corresponds to the position of the cap removing area of the tobacco shred box.
Optionally, according to the cut tobacco box positioning and centering system provided by the invention, one to two cut tobacco boxes can be carried on the storage rack, and the two cut tobacco boxes are stacked.
Optionally, according to the tobacco shred box positioning and centering system provided by the invention, the orientation precision of the AMR is within ± 5mm, and the stopping precision is within ± 20 mm.
Optionally, according to the tobacco shred box positioning and centering system, the position accuracy of the box overturning robot travelling on the track is within ± 20 mm.
According to a second aspect of the invention, a tobacco shred box positioning and centering method is also provided, which comprises the tobacco shred box positioning and centering system of any one of the embodiments and the following steps;
the first step is as follows: AMR carrying, namely conveying the specified tobacco shred boxes from a warehouse to the ground grid near the box turnover robot by the AMR, positioning the tobacco shred boxes through two-dimensional codes, and arranging the goods shelf on the ground grid;
the second step is that: the tobacco shred boxes are placed on the goods shelf and shot by the camera, and after the images are identified, the system judges whether the goods shelf and the tobacco shred boxes are arranged on the ground grid;
when the goods shelf is arranged on the ground grid and the cut tobacco box is not arranged, the goods shelf is moved away;
when the goods shelf and the tobacco shred box are arranged on the ground grid, the next step is carried out;
the third step: the box turning robot moves on the track, stops at the position of the limiting device, extends out of the mechanical arm, and is adjusted to the waist rib part of the tobacco shred box in height;
the fourth step: a goods shelf is supported, the goods shelf containing the tobacco shred boxes in the ground grid is used as an operation target, and the AMR supports the goods shelf;
the fifth step: shooting, identifying and positioning by a camera, wherein the camera shoots a manipulator of the box turning robot and the tobacco shred boxes, and calculates the positions and the directions of the manipulator and the tobacco shred boxes;
and a sixth step: the position of a goods shelf is dynamically adjusted by AMR, and the position and the direction of the tobacco shred box are adjusted by the AMR rotation plus displacement according to the difference between the position and the direction of a manipulator and the position and the direction of the tobacco shred box, so that the tobacco shred box borne by the AMR can be clamped by the manipulator;
the seventh step: grabbing the tobacco shred boxes, and grabbing the tobacco shred boxes by the manipulator, lifting up, turning, and carrying out subsequent operations of cover removal, tipping and the like;
eighth step: and returning to the second step.
Optionally, according to the tobacco shred box positioning and centering method provided by the invention, in the second step, when the number of the ground grids is 5, a ground grid a, a ground grid B, a ground grid C, a ground grid D and a ground grid E are sequentially arranged;
the tobacco shred boxes are placed on the goods shelf at the ground grid A, the camera shoots the tobacco shred boxes, and after the images are identified, the system judges whether the goods shelf and the tobacco shred boxes are arranged at the ground grid A or not;
when the goods shelf is arranged on the ground grid and the cut tobacco box is not arranged, the goods shelf is moved away, and the goods shelf from the ground grid B to the ground grid E is sequentially added to the ground grid A;
and when the goods shelf and the tobacco shred box are arranged on the ground grid, the next step is carried out.
Optionally, according to the method for positioning and centering the cut tobacco boxes, in the seventh step, when the shelf and the cut tobacco boxes are arranged on the ground grid, the system judges the specific number of one or two cut tobacco boxes according to the cut tobacco box image shot by the camera, so that the box turning robot can grasp all the cut tobacco boxes.
The tobacco shred box positioning and centering system and the method can achieve good positioning and centering effects on coordination and matching between the tobacco shred box and the box turning robot, the specific position and the number of the tobacco shred box are identified through the camera, and specific parameters in pictures shot by the camera are captured by the system, so that AMR can accurately adjust the specific position of the tobacco shred box on the goods shelf, the tobacco shred box is right opposite to a mechanical arm of the box turning robot, the box turning robot can conveniently grab the tobacco shred box, the situation that the mechanical arm can push down the tobacco shred box is effectively avoided, and the overall working efficiency and the working quality are improved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic structural diagram of a tobacco shred box positioning and centering system disclosed by the invention;
fig. 2 is a schematic view of the vertical position of the disclosed tobacco box.
The reference numbers are as follows: 1-a support frame; 2-a camera; 3-a tobacco shred box; 31-a tobacco shred box I; 32-a second tobacco shred box; 4-a shelf; 5-ground grid; 51-ground grid a; 52-ground grid B; 53-ground grid C; 54-ground grid D; 55-ground grid E; 6-box turning robot; 61-a manipulator; 7-a stopper; 8-orbit; 9-a cut tobacco box cover removing area; 10-tobacco shred box tipping area.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1 and 2, the present invention provides a tobacco shred box positioning and centering system, including:
the AMR is a submersible AMR, and the current position can be known and the orientation and the position can be adjusted by identifying the two-dimensional code.
And the track 8 is used for bearing the box turnover robot.
The box-turning robot 6 travels on the rail 8, and the position, height, and direction of the hand 61 extending from the box-turning robot 6 are fixed. In order to improve the overall working efficiency of the box-turning robot 6 and prolong the service life of the box-turning robot 6, the extending height, position and direction of the manipulator 61 of the box-turning robot 6 should be fixed, and the adjustment of the position of the tobacco shred box 3 is also convenient.
And the limiting stoppers 7 are arranged at two ends of the track 8 and are used for limiting the position of the box overturning robot 6.
The goods shelf 4 is provided with two-dimensional codes at the bottom of the goods shelf 4, AMR can submerge to the bottom of the goods shelf 4, and then the goods shelf 4 is lifted and carried away.
And the tobacco shred box 3 comprises a box body and a box cover, and the box body is placed on the goods shelf 4.
And the ground grid 5 is positioned on one side of the track 8 and used for placing the goods shelf 4, and the center of the ground grid 5 is also provided with a two-dimensional code. A gap should be left between the shelf 4 and the floor grid 5 so that the AMR can be submerged into the floor of the shelf 4 to recognize the two-dimensional code at the bottom of the shelf 4 and the two-dimensional code of the floor grid 5, respectively.
Further, the tobacco shred box positioning and centering system disclosed by the invention further comprises a tobacco shred box cover removing area 9 and a tobacco shred box tipping area 10, wherein the tobacco shred box cover removing area 9 and the tobacco shred box tipping area 10 are arranged on the other side, opposite to the ground grid 5, of the track 8. The box turning robot 6 performs a cover removing operation in the cut tobacco box cover removing area 9 and performs a box turning operation in the cut tobacco box tipping area 10. Cut tobacco box decapping area 9 should correspond to the position of ground grid 5 so that decapping can be performed quickly without traveling on rails 8 when box-turning robot 6 grasps cut tobacco box 3.
Further, the stopper 7 includes a first stopper and a second stopper (not shown), the first stopper is configured for the box-turning robot 6 to perform the grabbing and uncovering operation, and the second stopper is configured for the box-turning robot 6 to perform the box-turning operation. The first limiting device is arranged on the track 8 and close to the tobacco shred box uncovering area 9, and the second limiting device is arranged on the track 8 and close to the tobacco shred box 3 box overturning area. When the tobacco shred box cover removing device is implemented, a program of the box turning robot 6 is preset, when the tobacco shred box 3 is stopped by the stopper when the tobacco shred box moves to the stopper, the box turning robot 6 carries out a grabbing process on the tobacco shred box 3, and after the tobacco shred box 3 is finished with the cover removing process, the box turning robot 6 continues to carry out the reverse operation on the track 8; when the tobacco shred box is moved to the second limiting stopper and is blocked by the second limiting stopper, the box turning robot 6 is just positioned at the position of the tobacco shred box turning area 10, and the box turning robot 6 can directly perform a box turning process.
Further, according to another embodiment of the present invention, there are 5 ground grids 5, which are arranged in sequence as ground grid a51, ground grid B52, ground grid C53, ground grid D54 and ground grid E55, and the position of ground grid a51 corresponds to the position of cut tobacco box uncovering area 9. In implementation, in order to improve the working efficiency of the whole system, 5 grids are arranged to sequentially advance, the ground grid A51 corresponds to the cut tobacco box cover removing area 9, the box turning robot 6 only needs to grab the cut tobacco box 3 at the ground grid A51, and when no cut tobacco box 3 is arranged at the ground grid A51, AMR is provided to convey the cut tobacco box 3 at the ground grid B52 to the ground grid A51, and the like, the cut tobacco box 3 at the ground grid C53 fills the vacancy at the ground grid B52, and the working efficiency is further improved.
Further, according to another embodiment of the present invention, one to two shredded tobacco boxes 3 can be carried on the shelf 4, and the two shredded tobacco boxes 3 are stacked. In implementation, the position, the direction and the height of the manipulator 61 extending out of the box turning robot 6 are fixed, but the position of the tobacco shred boxes 3 can be changed, the goods shelf 4 is lifted through the AME, so that the tobacco shred boxes 3 on the goods shelf 4 can correspond to the position of the manipulator 61, and the workload of the tobacco shred box 3 progressive process at the ground grid 5 is reduced by at least half each time.
Further, the orientation accuracy of the AMR is within + -5 mm, and the stop accuracy is within + -20 mm. In order to enable the manipulator 61 to better grab the tobacco shred boxes 3, the AMR controls the goods shelf 4 to rotate a certain angle so that the tobacco shred boxes 3 are just opposite to the position of the manipulator 61, and the rotating orientation precision of the AMR can be within +/-5 mm.
Still further, according to the tobacco shred box positioning and centering system, the position accuracy of the box turning robot 6 in the advancing process on the track 8 is within +/-20 mm, and the stopping accuracy of the AMR is within +/-20 mm, so that the adjusting range between the box turning robot 6 and the AMR is larger, and the practicability is higher.
According to a second aspect of the invention, a tobacco shred box positioning and centering method is also provided, which comprises the tobacco shred box positioning and centering system of any one of the embodiments and the following steps;
the first step is as follows: and in AMR conveying, the specified tobacco shred boxes 3 are conveyed to a ground grid 5 near a box turning robot 6 from the warehouse by the AMR, positioning is carried out through two-dimensional codes, and the goods shelf 4 is arranged on the ground grid 5.
The second step: the tobacco shred boxes 3 are placed on the storage rack 4 and shot by the camera 2, and after the images are identified, the system judges whether the storage rack 4 and the tobacco shred boxes 3 are arranged on the ground grid 5.
When the ground grid 5 is provided with the goods shelf 4 but not the tobacco shred box 3, the goods shelf 4 is moved away by the AMR; when the ground grid 5 is provided with the goods shelf 4 and the tobacco shred box 3, the next step is carried out.
The third step: the box turning robot 6 is limited, the box turning robot 6 moves on the track 8, stops at the position of the limit stop, extends out of the mechanical arm 61, and the height of the mechanical arm 61 extending out is adjusted to be the waist rib part of the tobacco shred box 3 in advance.
The fourth step: a shelf 4 is lifted, and AMR lifts the shelf 4 with the shelf 4 containing the tobacco shred boxes 3 in the ground grid 5 as an operation target.
The fifth step: the camera 2 shoots, identifies and positions, the camera 2 shoots the manipulator 61 of the box turning robot 6 and the tobacco shred boxes 3, and the position and the direction of the manipulator 61 and the position and the direction of the tobacco shred boxes 3 are calculated.
And a sixth step: the position of the shelf 4 is dynamically adjusted by AMR, and the position and the direction of the tobacco shred box 3 are adjusted by the AMR rotation and displacement according to the difference between the position and the direction of the manipulator 61 and the position and the direction of the tobacco shred box 3, so that the tobacco shred box 3 borne by the shelf can be clamped by the manipulator 61.
The seventh step: and the mechanical arm 61 grabs the tobacco shred box 3, lifts up and turns to the tobacco shred box 3, and carries out subsequent operations of cover removal, tipping and the like.
Eighth step: and returning to the second step.
Further, in the process of the second step, a ground grid a51, a ground grid B52, a ground grid C53, a ground grid D54, and a ground grid E55 are sequentially arranged, with 5 ground grids 5;
cut tobacco box 3 is placed on goods shelf 4 at ground grid A51, and is shot by camera 2, and after the image is identified, the system judges whether goods shelf 4 and cut tobacco box 3 are at ground grid A51. When goods shelves 4 are arranged at the ground grid 5 and no tobacco shred boxes 3 are arranged, the goods shelves 4 are removed, and the goods shelves 4 from the ground grid B52 to the ground grid E55 are added to the ground grid A51 in turn; when the ground grid 5 is provided with the goods shelf 4 and the tobacco shred box 3, the next step is carried out.
Furthermore, in the seventh step, when the storage rack 4 and the tobacco shred boxes 3 are arranged on the ground grid 5, the system judges the specific number of one or two tobacco shred boxes 3 according to the images of the tobacco shred boxes 3 shot by the camera 2, so that the box turning robot 6 can grab all the tobacco shred boxes 3. When the method is implemented, the camera 2 can capture the number of the specific tobacco shred boxes 3 on the goods shelf 4, and firstly lifts a certain height through the AMR, so that the mechanical arm 61 of the box turning robot 6 can grab the first tobacco shred box 31, after the subsequent cover removing and box turning processes are completed, the box turning robot 6 returns to the position again, the AMR continues to lift a certain height, so that the mechanical arm 61 of the box turning robot 6 grabs the second tobacco shred box 32 and completes the subsequent processes.
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. A tobacco shred box positioning and centering system is characterized by comprising:
the AMR is a submerged AMR, the current position of the goods shelf can be obtained by identifying the two-dimensional code, the orientation and the position of the goods shelf are adjusted, the AMR rotates and displaces, and the position of the tobacco shred box borne on the goods shelf is adjusted, so that the tobacco shred box can be clamped by a box turning robot;
the track is used for bearing the box turnover robot;
the box turning robot travels on the track, and the position, the height and the direction of a manipulator extending out of the box turning robot are fixed;
the limiters are arranged at two ends of the track and used for limiting the position of the box turnover robot;
the bottom of the goods shelf is provided with a two-dimensional code, the AMR can submerge into the bottom of the goods shelf, and then the goods shelf is lifted up and carried away;
the tobacco shred box comprises a box body and a box cover, and the box body is placed on the goods shelf;
the ground grid is positioned on one side of the track and used for placing a goods shelf, and the center of the ground grid is also provided with a two-dimensional code;
the camera is arranged on a cross beam of the ground grid, can shoot the ground grid, the goods shelf and the tobacco shred box and identifies and judges objects in a visual field.
2. The tobacco shred box positioning and centering system according to claim 1, further comprising a tobacco shred box cover removing area and a tobacco shred box tipping area, wherein the tobacco shred box cover removing area and the tobacco shred box tipping area are arranged on the other side of the track opposite to the ground grid;
and the box turning robot executes the cover removing operation in the cover removing area of the tobacco shred boxes and executes the box turning operation in the tipping area of the tobacco shred boxes.
3. The tobacco shred box positioning and centering system according to claim 2, wherein the stopper comprises a first stopper and a second stopper, the first stopper is arranged for the box overturning robot to perform grabbing and cover removing operations, and the second stopper is arranged for the box overturning robot to perform box overturning operations;
the first limiting device is arranged at a position, close to the cut tobacco box uncovering area, on the track, and the second limiting device is arranged at a position, close to the cut tobacco box turning area, on the track.
4. The tobacco shred box positioning and centering system according to claim 3, wherein the number of the ground grids is 5, the ground grids are sequentially arranged as a ground grid A, a ground grid B, a ground grid C, a ground grid D and a ground grid E, and the position of the ground grid A corresponds to the position of the uncovering area of the tobacco shred box.
5. The cut tobacco box positioning and centering system according to claim 4, wherein one to two cut tobacco boxes can be carried on the storage rack, and the two cut tobacco boxes are stacked.
6. The tobacco shred box positioning and centering system according to claim 1, wherein the orientation precision of the AMR is within +/-5 mm, and the stopping precision is within +/-20 mm.
7. The cut tobacco box positioning and centering system according to claim 6, wherein the position accuracy of the box turnover robot traveling on the track is within ± 20 mm.
8. A tobacco shred box positioning and centering method is characterized by comprising the tobacco shred box positioning and centering system of any one of claims 1 to 7 and the following steps;
the first step is as follows: AMR carrying, namely conveying the specified tobacco shred boxes from a warehouse to the ground grid near the box turnover robot by the AMR, positioning the tobacco shred boxes through two-dimensional codes, and arranging the goods shelf on the ground grid;
the second step is that: the tobacco shred boxes are placed on the goods shelf and shot by the camera, and after the images are identified, the system judges whether the goods shelf and the tobacco shred boxes are arranged on the ground grid;
when the goods shelf is arranged on the ground grid and the cut tobacco box is not arranged, the goods shelf is moved away;
when the goods shelf and the tobacco shred box are arranged on the ground grid, the next step is carried out;
the third step: the box turning robot moves on the track, stops at the position of the limiting device, extends out of the mechanical arm and is adjusted to the waist rib part of the tobacco shred box in height;
the fourth step: a goods shelf is supported, the goods shelf containing the tobacco shred boxes in the ground grid is used as an operation target, and the AMR supports the goods shelf;
the fifth step: shooting, identifying and positioning by a camera, wherein the camera shoots a manipulator of the box turning robot and the tobacco shred boxes, and calculates the positions and the directions of the manipulator and the tobacco shred boxes;
and a sixth step: the position of a goods shelf is dynamically adjusted by AMR, and the position and the direction of the tobacco shred box are adjusted by the AMR rotation plus displacement according to the difference between the position and the direction of a manipulator and the position and the direction of the tobacco shred box, so that the tobacco shred box borne by the AMR can be clamped by the manipulator;
the seventh step: grabbing the tobacco shred boxes, wherein the mechanical arm grabs the tobacco shred boxes, lifts up, turns to the direction, and carries out subsequent operations such as cover removal and tipping;
eighth step: and returning to the second step.
9. The tobacco shred box positioning and centering method according to claim 8, wherein in the second step, when the number of the ground grids is 5, a ground grid A, a ground grid B, a ground grid C, a ground grid D and a ground grid E are arranged in sequence;
the tobacco shred boxes are placed on the goods shelf at the ground grid A, the camera shoots the tobacco shred boxes, and after the images are identified, the system judges whether the goods shelf and the tobacco shred boxes are arranged at the ground grid A or not;
when the goods shelf is arranged on the ground grid and the cut tobacco box is not arranged, the goods shelf is moved away, and the goods shelf from the ground grid B to the ground grid E is added to the ground grid A in turn;
and when the goods shelf and the tobacco shred box are arranged on the ground grid, the next step is carried out.
10. The tobacco shred box positioning and centering method according to claim 9, wherein in the seventh step, when the storage rack and the tobacco shred boxes are arranged at the ground grid, the system judges the specific number of one or two tobacco shred boxes according to the images of the tobacco shred boxes shot by the camera, so that the box turning robot can grasp all the tobacco shred boxes.
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| CN202110754733.4A CN113478484B (en) | 2021-07-01 | 2021-07-01 | Tobacco shred box positioning and centering system and method |
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| CN202110754733.4A CN113478484B (en) | 2021-07-01 | 2021-07-01 | Tobacco shred box positioning and centering system and method |
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| CN113478484B true CN113478484B (en) | 2022-06-21 |
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|---|---|---|---|---|
| CN102070004B (en) * | 2009-11-23 | 2012-06-06 | 龙岩烟草工业有限责任公司 | Tobacco shred storage and supply device and process |
| CN102602710A (en) * | 2011-12-22 | 2012-07-25 | 上海烟草集团有限责任公司 | Automatic high-speed overturning and feeding method for tobacco shred boxes |
| CN103910158B (en) * | 2012-12-31 | 2016-09-28 | 上海烟草集团有限责任公司 | Tobacco shred box goes out to put induction system in storage |
| JP5778311B1 (en) * | 2014-05-08 | 2015-09-16 | 東芝機械株式会社 | Picking apparatus and picking method |
| JP6247796B2 (en) * | 2015-11-25 | 2017-12-13 | 株式会社日立製作所 | Shelf placement system, transfer robot, and shelf placement method |
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| CN109292346A (en) * | 2018-11-23 | 2019-02-01 | 北自所（北京）科技发展有限公司 | Shuttle vehicle type warehousing system and cargo transfer method |
| CN111348361A (en) * | 2020-01-21 | 2020-06-30 | 深圳市海柔创新科技有限公司 | Goods taking and placing control method and device, conveying device and conveying robot |
| CN111169894B (en) * | 2019-11-08 | 2021-03-30 | 成都图灵时代科技有限公司 | Shelf alignment method based on latent transfer robot |
| CN111591653A (en) * | 2020-05-25 | 2020-08-28 | 南京航空航天大学苏州研究院 | Compact AGV with independent position compensation rotating platform and control method |
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2021
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