A design method of a special-shaped box loading scheme

Abstract

The application discloses a design method of a special-shaped box loading scheme, belongs to the technical field of material arranging and loading, and adopts a manipulator as an executing mechanism. The number of clamping claws in a material clamp is determined according to the column number of incoming materials, loading capacity demand and the optimal action beat of the manipulator, and the clamping claws in the clamp all adopt clamping claws capable of independently controlling opening and closing actions. According to the determined number m of the clamping claws in the clamp and the number n of material grids in the special-shaped box, the least common multiple L of the two is calculated, so that the intelligent manipulator picks up L / m times of materials and fills L / n boxes in one loading cycle. In each loading cycle, the loading logic of each clamping claw in the clamp in the loading cycle is determined according to the position of the material grid in the box. The design scheme can design a suitable loading scheme for each special-shaped box, optimizes the loading logic, simplifies the loading and placing actions, and effectively improves the loading efficiency of the special-shaped box.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material tray arrangement and loading, and more particularly to a loading scheme design method for special-shaped tray boxes. BACKGROUND

[0002] Material loading refers to arranging and loading materials into the compartments of a tray box according to the arrangement of the compartments in the tray box, so as to better package, collect, store and transport the materials. Existing material tray arrangement and loading mostly uses intelligent mechanical hands for automatic mechanical loading, and only a small part uses manual arrangement and loading. Intelligent mechanical hands for loading have high efficiency and can better guarantee food hygiene and safety, while manual arrangement and loading has low efficiency and cannot guarantee food hygiene and safety.

[0003] The existing intelligent mechanical hand loading is divided into ordered material loading and unordered material loading. For unordered material loading, machine vision is used to identify the position of the material, so as to ensure that the intelligent mechanical hand can accurately pick up the material. This type of loading method can only pick up one material at a time, has low loading efficiency, and increases the cost of equipment due to the use of machine vision. For ordered material loading, the materials are arranged in order, the arrangement rules of the materials can be defined in advance, the picking position of the intelligent mechanical hand can be defined, and through the cooperation of the intelligent mechanical hand and the material clamp mounted on the intelligent mechanical hand, multiple materials can be picked up at a time, greatly improving the material picking efficiency, and omitting the machine vision related components to reduce the cost of equipment.

[0004] However, the existing picking and loading of ordered materials are all for regular tray boxes. A regular tray box refers to a tray box in which the compartments are uniformly distributed and arranged in a straight line. After the intelligent mechanical hand drives the material picking clamp to pick up multiple materials arranged in order, the multiple picked materials can be directly placed into the compartments of the tray box.

[0005] For the loading of special-shaped tray boxes, most of them still use manual loading. A special-shaped tray box refers to a tray box in which the multiple compartments are not arranged in a straight line in the vertical and horizontal directions, or some positions of the tray box are designed as LOGO or other functional positions, resulting in inconsistent number of compartments in the vertical or horizontal direction of the tray box. For this type of special-shaped tray box, there is currently no effective intelligent mechanical hand loading scheme for loading.

[0006] If one material is picked up at a time for loading, the material loading time will be greatly increased, and the loading efficiency will be reduced. SUMMARY

[0007] In order to overcome the defects and deficiencies existing in the prior art, the application provides a design method of a tray loading scheme of a special-shaped tray, and the application aims to provide a general design method of a tray loading scheme for loading special-shaped trays by using an intelligent manipulator, and the design method can obtain an optimized tray loading scheme for different types of special-shaped trays, so as to overcome the difficulty of loading special-shaped trays by using an intelligent manipulator and solve the problem of low efficiency of loading special-shaped trays. The application uses an intelligent robot as an executing mechanism, determines the number of clamping jaws in a material clamp by the number of material columns, the tray loading capacity demand and the optimal action rhythm of the intelligent robot, and the clamping jaws in the clamp are all clamping jaws capable of independently controlling the opening and closing action, so that the clamping jaws independently control the grabbing action. According to the determined number m of clamping jaws in the clamp and the number n of material cells in the special-shaped tray, the least common multiple L of the two is obtained, the intelligent manipulator is determined to pick up L / m times of materials, L / n full trays are determined to be loaded, and one tray loading cycle is completed. The tray loading is performed according to the tray loading cycle. In each tray loading cycle, the tray loading logic of each clamping jaw in the clamp in the tray loading cycle is determined according to the position of the material cell in the tray. The design scheme of the application can design a tray loading scheme suitable for each type of special-shaped tray, optimizes the tray loading logic, simplifies the action of tray loading and placing, and effectively improves the tray loading efficiency of the special-shaped tray.

[0008] In order to solve the problems existing in the prior art, the application is realized by the following technical scheme.

[0009] The application provides a design method of a tray loading scheme of a special-shaped tray, and the design method comprises the following steps:

[0010] S1, using a manipulator as an executing mechanism, the executing end of the manipulator is mounted with a material clamp for picking up materials and placing the materials into the material cells of a tray; the number of clamping jaws in the material clamp is determined by the number of material columns, the tray loading capacity demand and the optimal action rhythm of the manipulator, and each clamping jaw can independently control the opening and closing action, so that the material clamp independently controls the grabbing action when releasing the materials into the material cells of the special-shaped tray;

[0011] S2, according to the number m of clamping jaws determined in S1 and the number n of material cells in the special-shaped tray, the least common multiple L of the two is obtained.

[0012] S3, the least common multiple L obtained in S2 is used to determine that the manipulator picks up L / m times of materials, L / n full trays are loaded, and one tray loading cycle is completed. In each tray loading cycle, the tray loading logic of each clamping jaw of the material clamp after picking up the materials is determined according to the position of the material cell in the special-shaped tray.

[0013] Further preferably, in the S3 step, in each loading cycle, the loading logic of each gripper of the material clamp after picking up the material is determined according to the position of the material grid in the box, specifically,

[0014] In one loading cycle, the material grids in the L / n boxes in one loading cycle are sequentially numbered, the grippers of the material clamp picking up L / m materials are sequentially numbered, and the material grid numbers are matched with the gripper numbers to determine the loading logic of the material clamp after picking up the material, with the principle of minimizing the number of actions of the manipulator.

[0015] Further preferably, in one loading cycle, the loading is performed in the manner that the material clamp picks up m materials at a time and puts all the m materials into the box, and then picks up m materials again; and the loading is performed in the manner that one special-shaped box is filled and then another special-shaped box is loaded, and the loading position of the material picked up by each gripper is defined according to the number and layout of the material grids on the special-shaped box and the layout and number of the grippers on the material clamp, until the last box in the loading cycle is filled, and one loading cycle is completed.

[0016] Further preferably, in one loading cycle; according to the number and distribution of each gripper in the material clamp, the first group of material grid positions where the grippers of the material clamp place the materials after picking up the materials for the first time in the loading cycle are matched in the first special-shaped box as the positions corresponding to the distribution of the grippers in the material clamp, and the numbers of the group of material grids are matched with the numbers of the grippers;

[0017] The second group of material grid positions where the grippers of the material clamp place the materials after picking up the materials for the second time in the loading cycle are matched in the remaining material grids of the first special-shaped box as the positions corresponding to the distribution of the grippers in the material clamp, and the numbers of the second group of material grids are matched with the numbers of the grippers;

[0018] After the material clamp picks up the materials for the first time in the loading cycle and places the materials in the corresponding material grid positions, if there is a gripper on the material clamp that does not release the material, the material of the gripper is released into the remaining material grids of the special-shaped box except the second group of material grid positions; after the material clamp places all the materials picked up for the first time into the special-shaped box, the second picking of the materials begins;

[0019] After the material clamp picks up the materials for the second time, the materials are placed in the loading according to the second group of material grid positions matched therewith, and if there is still a gripper on the material clamp that does not release the material after the placement, the material of the gripper is released into the remaining material grids of the special-shaped box.

[0020] Further preferably, if the material clamp picks up the material for the second time and the first irregular shaped box is full, and there is still material in the material clamp, the remaining material in the material clamp is placed into the second irregular shaped box in the loading cycle.

[0021] Further preferably, in the S1 step, the number of clamping jaws is 6, and the 6 clamping jaws are arranged in three rows and two columns.

[0022] Further preferably, in the S2 step, 3 boxes are filled to form a loading cycle in one loading cycle.

[0023] Further preferably, when the greatest common divisor of the number m of clamping jaws obtained in the S2 step and the number n of cells in the irregular shaped box is large, the number of materials picked up by the material clamp each time is adjusted so that 3 boxes are filled to form a loading cycle.

[0024] Further preferably, the number of clamping jaws is 6, the number of cells in the irregular shaped box is 10, and the greatest common divisor L of the two is 30, so that the robot picks up 5 times of materials and fills 3 boxes to complete a loading cycle.

[0025] Further preferably, the robot is a three-axis delta robot.

[0026] Compared with the prior art, the beneficial technical effects brought by the present application are as follows:

[0027] 1. The present application provides a general design method for irregular shaped box loading scheme, which comprehensively considers the number of incoming material columns, loading capacity demand and optimal motion cycle of the robot to determine the number of clamping jaws in the material clamp, and adopts clamping jaws that can be independently controlled to open, close and release materials, thereby improving the flexibility of material clamp discharging, and can be adjusted adaptively for irregular shaped boxes, can be loaded according to the designed loading logic, and is more convenient to control. No matter what kind of irregular shaped box is used, a set of optimized loading scheme can be designed by using the design method of the present application, which solves the problem of low loading efficiency of existing irregular shaped boxes, optimizes the loading logic, simplifies the loading and unloading action, and effectively improves the loading efficiency of irregular shaped boxes.

[0028] 2、In the present application, the least common multiple of the number of material grids in the special-shaped box and the number of clamping jaws in the material clamp is calculated, the number of boxes in a box loading cycle and the number of times the material clamp picks up the material are calculated according to the least common multiple; then, according to the number of boxes, the distribution of material grids in the box and the distribution of clamping jaws in the material clamp, the box loading logic in a box loading cycle is determined, the design of a box loading logic is completed, which can make the subsequent box loading cycle according to the box loading cycle, and the design of the box loading logic of the special-shaped box is realized. The designed box loading logic of the special-shaped box is preset to the control system of the box loading machine, so that the box loading machine can load according to the box loading logic, and the automatic box loading of the special-shaped box is realized, which greatly improves the box loading efficiency of the special-shaped box.

[0029] 3、The box loading scheme design method of the special-shaped box of the present application obtains the number of boxes in a box loading cycle and the number of times the material clamp picks up the material by calculating the least common multiple, changes the original way of designing a box loading logic for each special-shaped box to designing a box loading logic for multiple boxes and multiple times of picking up the material in a box loading cycle, so that the box loading logic runs more stably and has more applicability, and is also simpler to design. The design method of the present application considers all the boxes in a box loading cycle for the design of the box loading logic, rather than the design of the box loading logic of a single box. By calculating the least common multiple, a cyclic box loading rule is obtained, and by designing a box loading rule, the design of all the box loading logics for this type of special-shaped box is completed, reducing the design amount.

[0030] 4、In the present application, the design of the box loading logic is based on the principle of the minimum number of actions of the manipulator, which can effectively simplify the number of actions of the manipulator, simplify the box loading action and improve the box loading efficiency.

[0031] 5、In the present application, the special-shaped box is taken as the reference, and the corresponding number of material grids in the material clamp is matched in the special-shaped box to locate the placement position of the material clamp for the first time to pick up the material. This way can place as many materials as possible for the first time, and the subsequent placement is also based on the principle of the minimum number of actions of the manipulator to design the box loading scheme, simplify the action frequency of the manipulator and improve the box loading efficiency.

[0032] 6、In the present application, the design of the box loading scheme for different special-shaped boxes aims to improve the box loading efficiency, and it is found that the number of clamping jaws in the material clamp is preferably 6 clamping jaws, and they are arranged in three rows and two columns. The use of this type of structure distributed clamp maximizes the box loading efficiency. At the same time, the number of boxes in a box loading cycle is controlled to be less than 3, which also maximizes the box loading efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 A flow chart of a design method of a loading scheme of a special-shaped toting box of the present application;

[0034] Figure 2 A structural schematic diagram of a special-shaped toting box;

[0035] Figure 3 A structural schematic diagram of another special-shaped toting box;

[0036] Figure 4 A structural schematic diagram of a special-shaped toting box with 22 compartments;

[0037] Figure 5 A schematic diagram of material arrangement;

[0038] Figure 6 A distribution diagram of a material clamp;

[0039] Figure 7 A distribution diagram of another material clamp. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0041] Embodiment 1

[0042] As a preferred embodiment of the present application, with reference to the accompanying drawings of the present application shown in the specification, Figure 1 The present embodiment discloses a design method of a loading scheme of a special-shaped toting box, which comprises the following steps:

[0043] S1, a manipulator is used as an execution mechanism, and the execution end of the manipulator is mounted with a material clamp for picking up materials and placing the materials into the compartments of the toting box; the number of clamps in the material clamp is determined through the number of material columns, the loading capacity requirement and the optimal action beat of the manipulator, and each clamp can be independently controlled to open and close, so that the material clamp releases the materials into the compartments of the special-shaped toting box while the clamps are independently controlled to grasp and release;

[0044] S2, according to the number m of clamps determined in step S1 and the number n of compartments in the special-shaped toting box, the least common multiple L of the two is calculated;

[0045] S3, determining the mechanical hand to pick up L / m times of materials according to the least common multiple L calculated in the step S2, filling L / n boxes, and completing a box filling cycle; in each box filling cycle, determining the box filling logic of each gripper of the material clamp after picking up materials each time according to the positions of the material grids in the special-shaped box.

[0046] Embodiment 2

[0047] As another preferred embodiment of the present application, the embodiment is further detailed and supplemented to the technical solution of the present application on the basis of the above-mentioned embodiment 1.

[0048] In the embodiment, in the step S3, in each box filling cycle, the box filling logic of each gripper of the material clamp after picking up materials each time is determined according to the positions of the material grids in the special-shaped box, specifically,

[0049] In a box filling cycle, the material grids in the L / n boxes in a box filling cycle are sequentially numbered, the grippers of the material clamp picking up L / m times of materials are sequentially numbered, the grid numbers are corresponded to the gripper numbers according to the principle of the minimum number of actions of the mechanical hand, so as to determine the box placing logic of the material clamp after picking up materials each time.

[0050] In the embodiment, when designing the box placing logic of the material clamp after picking up materials each time, in a box filling cycle, the m materials are grabbed at one time and all the m materials are placed into the box, and then the m materials are grabbed again; meanwhile, after filling one special-shaped box, the next special-shaped box is filled, the box placing positions of the materials picked up by each gripper are defined according to the numbers and layouts of the material grids on the special-shaped box and the layouts and numbers of the grippers on the material clamp, until the last box in the box filling cycle is filled, and a box filling cycle is completed.

[0051] Further preferably, in a box filling cycle; according to the numbers and distribution of the grippers in the material clamp, the several material grids corresponding to the distribution of the grippers in the material clamp in the first special-shaped box are matched as the first group of grid positions for placing materials by the grippers of the material clamp after picking up materials for the first time in the box filling cycle, and the numbers of the grid are corresponded to the numbers of the grippers;

[0052] In the remaining material grids in the first special-shaped box, the several material grids corresponding to the distribution of the grippers in the material clamp are matched as the second group of grid positions for placing materials by the grippers of the material clamp after picking up materials for the second time in the box filling cycle, and the numbers of the second group of grids are corresponded to the numbers of the grippers;

[0053] After the material gripper picks up the material for the first time in the tray loading cycle and places the material into the corresponding tray position, if there is a gripper on the material gripper that does not release the material, the material of the gripper is released into the remaining trays of the special-shaped tray box except the second group of tray positions; until the material gripper places all the first-picked material into the special-shaped tray box, the second material picking begins;

[0054] After the material gripper picks up the material for the second time, the material is placed into the second group of tray positions matched therewith, and if there is a gripper on the material gripper that does not release the material after the placement, the material of the gripper is released into the remaining trays of the special-shaped tray box. If the first special-shaped tray box is filled after the material gripper picks up the material for the second time, and there is still material in the material gripper, the remaining material in the material gripper is placed into the second special-shaped tray box in the tray loading cycle.

[0055] Embodiment 3

[0056] As another preferred embodiment of the present application, the embodiment is a further detailed elaboration and supplement to the technical solution of the present application on the basis of the above-mentioned embodiment 1 or embodiment 2. Referring to the drawings in the specification Figure 6 and the drawings in the specification Figure 7 As shown in the drawings in the specification, the number of grippers is preferably 6, and the 6 grippers are arranged in the form of three rows and two columns or three columns and two rows.

[0057] Referring to the drawings in the specification Figure 5 As shown in the drawings in the specification, the number of columns of incoming material is 3, and for the incoming material direction, the material gripper should be arranged in the form of three columns and two rows to maximize the optimization of tray loading efficiency.

[0058] Further preferably, in one tray loading cycle, 3 tray boxes need to be filled to form one tray loading cycle.

[0059] Embodiment 4

[0060] As another preferred embodiment of the present application, the embodiment is a further detailed elaboration and supplement to the technical solution of the present application on the basis of the above-mentioned embodiment 1 or embodiment 2. In the embodiment, the number of materials gripped each time can be less than the number of grippers of the gripper itself through program setting, for example, 9 grippers are selected and arranged in the form of three rows and three columns, and each special-shaped tray box has 10 trays, so the least common multiple is 90, and 9 tray boxes are needed to complete the tray loading cycle in turn, and the tray loading logic design of 9 tray boxes is relatively complex, so the number of materials gripped each time can be changed to simplify the tray loading action, for example, 9 materials are gripped at a time and 6 materials are gripped at a time, so that the tray loading action can be simplified under the condition that the speed is sufficient, and 3 tray boxes can be cycled.

[0061] Embodiment 5

[0062] As another preferred embodiment of the present application, this embodiment is based on a specific embodiment to clearly and explicitly describe the technical solutions of the present application.

[0063] In this embodiment, referring to the layout structure of the special-shaped tray shown in the drawings Figure 5 The material arrangement is arranged in 3 columns, generating a demand of more than 150 / min; this capacity demand is the capacity of the material feeding direction, such as dumpling machines, steamed meatball machines, wonton machines, and other stuffed food machines, and can also be other machines, which are not listed here; the reason for introducing the capacity demand is to require the matching of the tray loading efficiency and the capacity, so as to avoid the accumulation of the material feeding belt and affect the capacity of the front-end production machine. The optimal action frequency of the manipulator is 30 times / min; the optimal action frequency of the manipulator referred to in this paper refers to the maximum movement frequency of the manipulator. The number of clamps in the clamp is >150 / 30, and the optimal design of the clamp is 6 clamps.

[0064] The structure of the special-shaped tray is shown in the drawings Figure 2 The special-shaped tray has 10 compartments, and the middle position of the tray is a LOGO position or other functional position, which cannot place materials.

[0065] Therefore, the design method of the tray loading scheme for the special-shaped tray is as follows:

[0066] The manipulator is used as an executing mechanism (such as a three-axis delta robot), and the executing end of the manipulator is hung with a material clamp for picking up materials and placing the materials into the compartments of the tray; the number of clamps (6) in the material clamp is determined by the number of material columns (3), the tray loading capacity demand (>150 / min), and the optimal action frequency of the manipulator (30 times / min), and each clamp can be independently controlled to open and close, so that the material clamp releases the materials into the compartments of the special-shaped tray, and the clamp independently controls the grabbing and placing action.

[0067] As known from the above, the number of clamps in the material clamp is 6, the number of compartments in the special-shaped tray is 10, and the least common multiple of the two is 30, so that the material clamp grabs 6 materials at a time, a total of 5 times, and sequentially fills 3 special-shaped trays, completing the sequential cycle.

[0068] The specific grabbing and placing logic is as follows:

[0069] Referring to the layout structure number of the special-shaped tray shown in the drawings Figure 2 and the layout structure and number of the clamps in the material clamp shown in the drawings Figure 6 ;

[0070] The material clamp first clutches 6 materials, and the materials clutched by the No. 1, No. 2, No. 3, No. 4 and No. 6 clamping claws of the material clamp are respectively placed in the No. 1, No. 2, No. 3, No. 6 and No. 7 compartments of the first special-shaped box; when being placed, the No. 5 clamping claw holds the material and does not release the material; after being placed, the material clutched by the No. 5 clamping claw is separately placed in the No. 9 compartment of the special-shaped box; that is, the 6 materials clutched by the material clamp for the first time are all placed in the first special-shaped box.

[0071] The material clamp secondly clutches 6 materials, and the materials clutched by the No. 1, No. 4, No. 6 and No. 3 clamping claws of the material clamp are respectively placed in the No. 4, No. 8, No. 10 and No. 5 compartments of the special-shaped box; the first special-shaped box is completed; then a new special-shaped box is conveyed, the material clutched by the No. 5 clamping claw is placed in the No. 5 compartment of the second special-shaped box, and the material clutched by the No. 2 clamping claw is placed in the No. 4 compartment of the second special-shaped box; that is, the 6 materials clutched for the second time are all placed in the special-shaped box.

[0072] The material clamp thirdly clutches 6 materials, and the materials clutched by the No. 1, No. 2, No. 3, No. 4 and No. 6 clamping claws are respectively placed in the No. 1, No. 2, No. 3, No. 6 and No. 7 compartments of the second special-shaped box; the No. 5 clamping claw is placed in the No. 9 compartment.

[0073] The material clamp fourthly clutches 6 materials, the No. 1 clamping claw is placed in the No. 8 compartment of the second special-shaped box, and the No. 3 clamping claw is placed in the No. 10 compartment of the second special-shaped box; the second special-shaped box is completed, a third special-shaped box is conveyed, the No. 4, No. 5 and No. 6 clamping claws are placed in the No. 8, No. 9 and No. 10 compartments of the third special-shaped box, and the No. 2 clamping claw is placed in the No. 2 compartment of the third special-shaped box.

[0074] The material clamp fifthly clutches 6 materials, the No. 1, No. 3, No. 4 and No. 6 clamping claws are respectively placed in the No. 1, No. 3, No. 6 and No. 7 compartments of the third special-shaped box, the No. 5 clamping claw is placed in the No. 5 compartment of the third special-shaped box, the No. 2 clamping claw is placed in the No. 4 compartment of the third special-shaped box, the third special-shaped box is completed, the 6 materials clutched by the material clamp for the fifth time are all placed in the special-shaped box, and one loading cycle is completed.

[0075] Example 6

[0076] As another preferable embodiment of the present application, the present embodiment is based on a specific embodiment to clearly and explicitly describe the technical solution of the present application.

[0077] In the present embodiment, reference is made to the drawings in the specification Figure 5As shown, the material inlet is arranged in 3 columns, generating a demand greater than 150 pieces / min. This capacity demand refers to the capacity in the material inlet direction, such as dumpling machines, shumai machines, wonton machines, and other stuffed food machinery. It can also be other machinery, which will not be listed here. The reason for introducing capacity demand is to ensure that the loading efficiency matches the capacity direction, avoiding accumulation on the material inlet conveyor belt that affects the capacity of the upstream production machinery. The optimal cycle time of the robot arm is 30 times / min; the optimal cycle time of the robot arm referred to in this paper refers to the maximum movement frequency of the robot arm. Therefore, the number of grippers in the fixture is >150 / 30, and the optimal design of the fixture is 6 grippers.

[0078] The structure of the irregularly shaped tray is as shown in the instruction manual. Figure 3 As shown, this irregularly shaped tray has 10 compartments, which are not arranged in a straight line. The specific design method for the tray assembly scheme is as follows:

[0079] A robotic arm (e.g., a three-axis delta robot) is used as the actuator. The robotic arm's actuator is equipped with a material gripper for picking up materials and placing them into the compartments of the trays. The number of grippers in the material gripper (6) is determined by the number of incoming material rows (3 rows), the tray loading capacity requirement (>150 pieces / min), and the optimal cycle time of the robotic arm (30 times / min). Each gripper can be independently controlled to open and close, ensuring that the gripper independently controls the gripping and releasing action when releasing materials into the compartments of the irregularly shaped trays. With 6 grippers and 10 compartments in the irregularly shaped trays, and a least common multiple of 30, the material gripper picks up 6 materials each time, making 5 picks in total, filling 3 irregularly shaped trays sequentially, and completing the cycle.

[0080] The specific grabbing and placement logic is as follows:

[0081] Refer to the instruction manual appendix Figure 3 Included with instruction manual Figure 6 The layout and numbering of the irregularly shaped trays and the layout and numbering of the grippers in the material fixtures are shown.

[0082] The material clamp first grabs 6 materials. The materials gripped by jaws 1, 3, 4 and 6 are placed in compartments 1, 2, 5 and 6 of the first irregular-shaped tray, respectively. The material gripped by jaw 2 is placed in compartment 7 of the first irregular-shaped tray, and the material gripped by jaw 5 is placed in compartment 9 of the first irregular-shaped tray.

[0083] The material clamp grabs 6 materials for the second time. Jaw 2 is placed in cell 8 of the first irregular-shaped tray, jaw 5 is placed in cell 10 of the first irregular-shaped tray, jaw 1 is placed in cell 3 of the first irregular-shaped tray, and jaw 3 is placed in cell 4 of the first irregular-shaped tray. The first irregular-shaped tray is full, and the second irregular-shaped tray is conveyed. Jaws 4 and 6 are placed in cells 3 and 4 of the second irregular-shaped tray, respectively.

[0084] The material clamp grabs 6 materials for the third time. Claws 1, 3, 4 and 6 are placed into compartments 1, 2, 5 and 6 of the second irregular-shaped tray, respectively; Claws 2 and 5 are placed into compartments 7 and 9 of the second irregular-shaped tray, respectively.

[0085] The material clamp grabs 6 materials for the fourth time. Claws 2 and 5 are placed in the 8th and 10th compartments of the second irregular-shaped tray, respectively. After the second irregular-shaped tray is full, the third irregular-shaped tray is conveyed to the position. Claws 1, 3, 4 and 6 are placed in the 1st, 2nd, 5th and 6th compartments of the third irregular-shaped tray, respectively.

[0086] The material clamp grips six materials for the fifth time. Claws 1 and 3 are placed into compartments 3 and 4 of the third irregular-shaped tray, respectively. Claws 2 and 5 are placed into compartments 7 and 9 of the third irregular-shaped tray, respectively. Claw 4 is placed into compartment 8 of the third irregular-shaped tray, and claw 6 is placed into compartment 10 of the third irregular-shaped tray. This completes the loading of the third irregular-shaped tray, and all six materials gripped by the material clamp for the fifth time are placed into the tray, completing one loading cycle.

[0087] Example 7

[0088] As another preferred embodiment of the present invention, this embodiment is based on specific embodiments and provides a clear and explicit explanation of the technical solution of the present invention.

[0089] In this embodiment, refer to the appendix to the specification. Figure 5 As shown, the material inlet is arranged in 3 columns, generating a demand greater than 150 pieces / min. This capacity demand refers to the capacity in the material inlet direction, such as dumpling machines, shumai machines, wonton machines, and other stuffed food machinery. It can also be other machinery, which will not be listed here. The reason for introducing capacity demand is to ensure that the loading efficiency matches the capacity direction, avoiding accumulation on the material inlet conveyor belt that affects the capacity of the upstream production machinery. The optimal cycle time of the robot arm is 30 times / min; the optimal cycle time of the robot arm referred to in this paper refers to the maximum movement frequency of the robot arm. Therefore, the number of grippers in the fixture is >150 / 30, and the optimal design of the fixture is 6 grippers.

[0090] The structure of the irregularly shaped tray is as shown in the instruction manual.Figure 4 As shown, the special-shaped tray has 22 compartments, and the 22 compartments are not arranged according to the longitudinal and transverse straight line specification. Then, the design method of the tray loading scheme for the special-shaped tray is specifically as follows:

[0091] The manipulator is used as an execution mechanism (for example, a three-axis delta robot), the execution end of the manipulator is mounted with a material clamp used for picking up materials and placing the materials into the compartments of the tray; the number of clamping jaws in the material clamp is determined (6) through the incoming column number of the materials (3 columns), the tray loading capacity requirement (> 150 / min) and the optimal action frequency of the manipulator (30 times / min), and each clamping jaw can be independently controlled to open and close, so that the material clamp independently controls the picking and placing action when the material clamp releases the materials into the compartments of the special-shaped tray. The number of clamping jaws of the material clamp is 6, the number of compartments of the special-shaped tray is 22, and the least common multiple of the two is 66. The material clamp picks up 6 materials at a time, a total of 11 times, and sequentially fills 3 special-shaped trays to complete the sequential circulation.

[0092] The specific picking and placing logic is as follows:

[0093] Referring to the layout structure number of the special-shaped tray and the layout structure and number of the clamping jaws in the material clamp shown in the accompanying drawings of the specification Figure 4 and the accompanying drawings of the specification Figure 7 ;

[0094] The material clamp picks up 6 materials for the first time and places them into the 1st, 2nd, 3rd, 10th, 11th and 12th compartments of the first special-shaped tray;

[0095] The material clamp picks up 6 materials for the second time and places them into the 4th, 5th, 6th, 13th, 14th and 15th compartments of the first special-shaped tray;

[0096] The material clamp picks up 6 materials for the third time and places them into the 7th, 8th, 9th, 16th, 17th and 18th compartments of the first special-shaped tray;

[0097] The material clamp picks up 6 materials for the fourth time, the 4th and 5th clamping jaws are placed into the 19th and 20th compartments of the first special-shaped tray; then the manipulator is moved, the 1st clamping jaw and the 3rd clamping jaw are placed into the 21st and 22nd compartments, at this time, the first special-shaped tray is full, a second special-shaped tray is conveyed, the 2nd clamping jaw is placed into the 19th compartment of the second special-shaped tray, and the 5th clamping jaw is placed into the 20th compartment of the second special-shaped tray;

[0098] The material clamp picks up 6 materials for the fifth time and places them into the 1st, 2nd, 3rd, 10th, 11th and 12th compartments of the second special-shaped tray;

[0099] The material clamp grabs 6 materials for the 6th time and places them into the 4th, 5th, 6th, 13th, 14th and 15th compartments of the second special-shaped box;

[0100] The material clamp grabs 6 materials for the 7th time and places them into the 7th, 8th, 9th, 16th, 17th and 18th compartments of the second special-shaped box;

[0101] The material clamp grabs 6 materials for the 8th time, and the manipulator moves so that the 1st and 3rd clamps are placed into the 21st and 22nd compartments of the second special-shaped box, respectively, at this time, the second special-shaped box is full, a third special-shaped box is conveyed, the manipulator is moved so that the 4th and 6th clamps are placed into the 19th and 20th compartments of the third special-shaped box, and the 2nd and 5th clamps are placed into the 21st and 22nd compartments of the third special-shaped box, respectively;

[0102] The material clamp grabs 6 materials for the 9th time and places them into the 1st, 2nd, 3rd, 10th, 11th and 12th compartments of the third special-shaped box;

[0103] The material clamp grabs 6 materials for the 10th time and places them into the 4th, 5th, 6th, 13th, 14th and 15th compartments of the third special-shaped box;

[0104] The material clamp grabs 6 materials for the 11th time and places them into the 7th, 8th, 9th, 16th, 17th and 18th compartments of the third special-shaped box, at this time, the third special-shaped box is full, and a loading cycle is completed.

Claims

1. A method for designing a mounting scheme for an irregularly shaped tray, characterized in that: The design method includes the following steps. S1. A robotic arm is used as the actuator. The robotic arm's actuator is equipped with a material gripper for picking up materials and placing them into the material compartments of the tray. The number of grippers in the material gripper is determined by the number of incoming materials, the tray loading capacity requirements, and the optimal cycle time of the robotic arm. Each gripper can be independently controlled to open and close, so that when the material gripper releases materials into the material compartments of the irregularly shaped tray, the gripper can independently control the gripping and releasing action. S2. Based on the number of grippers m determined in step S1 and the number of material compartments n in the irregular shaped tray, find the least common multiple L of the two. S3. Using the least common multiple L calculated in step S2, determine the number of times the robot arm picks up materials (L / m times) and fills L / n trays to complete one loading cycle. In each loading cycle, determine the loading logic of each gripper after the material clamp picks up materials each time, based on the position of the material compartment in the irregular tray.

2. The method for designing a mounting scheme for an irregularly shaped tray as described in claim 1, characterized in that: In step S3, within each loading cycle, the loading logic of each gripper after the material is picked up by the material fixture is determined based on the position of the material compartment in the tray. Specifically, this means... In a loading cycle, the material compartments in the L / n trays of a loading cycle are numbered sequentially, and the grippers of the material fixture that pick up materials L / m times are numbered sequentially. Based on the principle of minimizing the number of robot arm movements, the material compartment numbers are matched with the gripper numbers, thereby determining the placement logic after each material pick-up by the material fixture.

3. The method for designing a mounting scheme for an irregularly shaped tray as described in claim 2, characterized in that: In one palletizing cycle, the palletizing process is carried out by grabbing m materials at a time, placing all m materials into the pallet, and then grabbing m more materials. Simultaneously, the process is carried out by filling one irregular pallet before loading the next irregular pallet. The placement position of each material picked up by each gripper is defined according to the numbering and layout of the material compartments on the irregular pallet and the layout and numbering of the grippers on the material clamp, until the last pallet in the palletizing cycle is filled, thus completing one palletizing cycle.

4. The method for designing a mounting scheme for an irregularly shaped tray as described in claim 2 or 3, characterized in that: In a loading cycle; based on the number and distribution of each jaw in the material fixture, the most numerous material cells in the first irregular tray are matched with the distribution of each jaw in the material fixture as the first set of material cell positions for the jaws to place the material after the material fixture picks up the material for the first time in the loading cycle, and the number of this set of material cells is matched with the number of the jaws. In the remaining material cells of the first irregular tray, select the few material cells that correspond to the distribution of each jaw in the material fixture the most. These are the second set of material cell positions for the jaws to place the material after the second material pick-up in the loading cycle. The numbers of the second set of material cells are then matched with the numbers of the jaws. After the material clamp picks up the material for the first time in the loading cycle and places the material into the corresponding material compartment, if there are any grippers on the material clamp that have not released the material, the material in those grippers will be released into the remaining material compartments in the shaped tray except for the second set of material compartments; the second material picking will begin after the material clamp has placed all the material picked up in the first time into the shaped tray. After the material clamp picks up the material for the second time, it places the material into the second set of material compartments that match it. If there are still grippers in the material clamp that have not released the material after placement, the material in those grippers will be released into the other remaining material compartments in the irregular-shaped tray.

5. The method for designing a mounting scheme for an irregularly shaped tray as described in claim 4, characterized in that: If the first irregular-shaped tray is filled after the material clamp picks up the material for the second time, and there is still material in the material clamp, then the remaining material in the material clamp is placed into the second irregular-shaped tray in the loading cycle.

6. The method for designing a mounting scheme for an irregularly shaped tray as described in any one of claims 1-3, characterized in that: In step S1, there are 6 grippers, arranged in three rows and two columns.

7. The method for designing a mounting scheme for an irregularly shaped tray as described in claim 6, characterized in that: In step S2, three trays need to be filled to form one tray loading cycle.

8. The method for designing a mounting scheme for an irregularly shaped tray as described in any one of claims 1-3, characterized in that: When the least common multiple of the number of grippers m obtained in step S2 and the number of material compartments n in the irregular tray is large, the amount of material picked up by the material clamp each time is adjusted so that three trays are filled to form a tray loading cycle.

9. A method for designing a mounting scheme for an irregularly shaped tray as described in any one of claims 1-3, characterized in that: The number of grippers is 6, the number of material compartments in the irregularly shaped tray is 10, and the least common multiple of the two is L=30. Then the robot arm picks up the material 5 times, fills 3 trays, and completes one tray loading cycle.

10. A method for designing a mounting scheme for an irregularly shaped tray as described in any one of claims 1-3, characterized in that: The robotic arm is a three-axis delta robot.

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