A translation speed control method applied to the robot gripper of small express delivery
A robot gripper and speed control technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of unsteady falling and low efficiency of express delivery, and achieve improved sorting timeliness, less manual participation, and improved accuracy The effect of rate and stability
Active Publication Date: 2020-04-28
SF EXPRESS
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Problems solved by technology
[0003] During the horizontal movement of the robot gripper grabbing the courier, due to the different weight of the courier, it needs to use different moving speeds. If the weight of the courier is heavy and the translation speed of the robot gripper is too fast, it is easy to The robot gripper grasps the problem that the courier is not firmly falling, and setting the translation speed of the robot gripper to a very low speed will cause low efficiency
Method used
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[0037] In order to better understand the technical solutions of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0038] Such as figure 1 As shown, a translation speed control method applied to the robot gripper of small express delivery, including the following steps:
[0039] S1: Put the courier item 1 into the conveyor belt 2. The center line 3 is set on the conveyor belt 2. Under the action of the center line 3, the courier item 1 is always transmitted in the middle of the conveyor belt. A laser ranging sensor 4 is installed at the upper position, and a two-dimensional vision sensor 5 is provided on one side of the conveyor belt 2;
[0040] S2: when the courier 1 conveyed on the conveyor belt 2 passes under the laser ranging sensor 4, the laser ranging sensor 4 collects the height value H of the courier 1, and transmits the height value H to the programmable logic controll...
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The invention relates to the technical field of logistics sorting equipment, and discloses a translational velocity control method of a robot gripper applied to small express items. The translational velocity control method comprises the following steps that S1, an express item is conveyed on a conveying plane; S2, the height value H of the express item is collected; S3, the length value L and the width value W of the express item are collected; and S4, the weight range of the express item is judged according to the height value H, the length value L and the width value W of the express item, and the corresponding translational velocity V is distributed to the robot gripper according to the weight of the express item. According to the translational velocity control method of the robot gripper applied to the small express items, the different weights can be reflected according to the sizes of the express items, the translational velocity of the robot gripper can be reasonably controlled, and the phenomenon that in the translational process generated after the robot gripper grabs the express item, the velocity is too high, and consequently the express item is grabbed infirmly and falls off is avoided.
Description
technical field [0001] The invention relates to the technical field of logistics sorting equipment, in particular to a translation speed control method applied to a robot gripper of small express delivery. Background technique [0002] At present, in the field of logistics sorting, manual sorting is generally used for sorting small express items, which is relatively inefficient and labor-intensive. The use of robot sorting has the characteristics of high efficiency and reduced manual labor intensity. [0003] During the horizontal movement of the robot gripper grabbing the courier, due to the different weight of the courier, it needs to use different moving speeds. If the weight of the courier is heavy and the translation speed of the robot gripper is too fast, it is easy to The robot gripper grasps the problem that the courier is not firmly dropped, and setting the translation speed of the robot gripper to a very low speed will cause low efficiency. [0004] In practical ...
Claims
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IPC IPC(8): B25J9/16B07C3/02
CPCB07C3/02B25J9/1628B25J9/1679
Inventor 贺文彬
Owner SF EXPRESS