Packaging bag transfer system based on positioning technology

Abstract

The invention belongs to the technical field of devices for packaging objects, and particularly relates to a packaging bag transfer system based on a positioning technology, which comprises a carrying vehicle, a positioning device and a positioning device, the manipulator comprises a manipulator body and a manipulator control module, the manipulator body is mounted on the carrier, a clamping jaw is mounted on the manipulator, and the manipulator control module controls the manipulator body to complete set actions; the positioning system comprises an active end, a passive end and a communication module, the active end comprises a processing module and at least three UWB receiving and transmitting units, the passive end comprises at least one UWB receiving and transmitting unit, the passive end is installed on the clamping jaw, the UWB receiving and transmitting units on the active end and the passive end are in signal connection through the communication module, and the manipulator and the positioning system are in signal connection through the communication module; and the power supply system supplies power to the carrier, the manipulator and the positioning system. The problems that after being bundled, the packaging bags are low in economic benefit and poor in safety during carrying and transferring are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of packaging device, and in particular relates to a packaging bag transfer system based on positioning technology. Background Art

[0002] The manufacture of composite packaging bags usually includes printing, laminating, slitting, bag making and quality inspection. After the bag making step, the baler neatly stacks and bundles the slit individual packaging bags, and then transfers multiple bundles in batches to the rounding mechanism, marking mechanism or quality inspection device and other stations through the transfer cart to complete the subsequent steps. In this transfer process, due to the limitations of site, cost, efficiency, and compatibility between equipment, it is impossible to directly transport the bundled packaging bags to the feeding position of these equipment. Instead, manual handling is adopted, that is, workers are required to carry and stack each bundle of packaging bags on the transfer cart. However, this requires the arrangement of special workers for special shifts to achieve the transfer, resulting in low economic benefits of this transfer step. Even if the commonly used AGV trolley combined with the transport basket is used for transportation, the problem of neatly stacking packaging bags cannot be solved. The bundles of packaging bags that cannot be neatly stacked are prone to tipping over during transportation, causing the packaging bags to deform or even be damaged, and thus the safety and stability during transportation cannot be guaranteed. Summary of the invention

[0003] The present invention is intended to provide a packaging bag transfer system based on positioning technology to solve the problems of low economic benefits and insufficient safety in the transportation and transfer of packaging bags after bundling.

[0004] In order to achieve the above object, the solution of the present invention is: a packaging bag transfer system based on positioning technology, comprising:

[0005] A transport truck with a transport basket mounted on it;

[0006] The manipulator includes a manipulator body and a manipulator control module. The manipulator body is installed on the transport vehicle. A gripper is installed on the working end of the manipulator. The manipulator control module controls the manipulator body to complete the set action.

[0007] The positioning system includes an active end, a passive end and a communication module, wherein the communication module is used to realize communication between the active end and the passive end, the active end includes a processing module and at least three UWB transceiver units, the passive end includes at least one UWB transceiver unit, the passive end is installed on the gripper, and the UWB transceiver units on the active end and the passive end, and between the manipulator and the positioning system are all connected by signals of the communication module;

[0008] The power supply system provides power for the transport vehicle, manipulator and positioning system.

[0009] The working principle and beneficial effects of this solution are:

[0010] UWB positioning technology estimates the distance between any two nodes based on the propagation time of wireless signals. In this technology, the transmitting node transmits the signal, the receiving node receives the signal, and the propagation time of the signal from the transmitting node to the receiving node is measured. The positioning accuracy can reach the centimeter level.

[0011] The active end of the positioning system is used to be installed on the conveying device that conveys the bundled packaging bags. After the calculation of the processing module, the UWB transceiver units on the three active ends can relatively accurately locate the spatial position of the UWB transceiver unit on the passive end. Since the passive end is installed on the manipulator, the spatial position of the transport vehicle, the manipulator, and the gripper on the manipulator relative to the conveying station can be accurately located in real time. After the manipulator obtains its own spatial position information and its own position information relative to the conveying station through the communication module, the manipulator control module parses the manipulator's running path and installs the set clamping and stacking program to clamp the bundled packaging bags and neatly stack them on the transport vehicle.

[0012] Since the positioning system of this solution can accurately position the robot in real time, this solution does not rely on the AGV car and can use a commonly used manual pallet truck, which greatly reduces costs.

[0013] This solution also does not need to set a fixed starting position for the robot transporter, that is, there is no need to place the transporter precisely at a specific position before transporting. The operator only needs to place the transporter at any position where the robot can reach the bundled packaging bags on the conveying station based on common sense, which greatly reduces the difficulty of operation, allowing operators with low cultural level to perform the task.

[0014] The entire positioning and stacking of this solution is semi-automatic, that is, more than 95% of the time, workers do not need to be stationed or intervened, so there is no need for dedicated personnel, which greatly reduces labor costs. More importantly, the semi-automation implemented in this solution is more advantageous than some fully automatic solutions in the existing technology: in the fully automatic solution, the transfer system uses automation technologies such as visual positioning, navigation positioning, and AGV trolleys to allow the transporter to operate fully automatically in the production line, but it also causes the entire transfer system to be highly coupled with the production line, and the use and maintenance require high-level professionals. The labor cost of use and maintenance is high, and in some links, the fully automatic solution cannot be realized. For example, when loading, the transporter needs to be dragged to the loading and unloading position and as convenient as possible for the loading and unloading workers to operate. At this time, the transporter is completely separated from the originally designed, automated line, and the transporter function will be invalid after leaving this line. This solution adopts a semi-automatic solution, which is automatically completed in the stacking link, and can be freely towed to any position by workers during loading and unloading. The coupling degree with the production line is lower, and the requirements for operating workers are greatly reduced.

[0015] This solution is not limited to the transfer and handling of packaging bags, but is also applicable to the semi-automatic, efficient, safe and stable stacking and handling of any materials with a fixed volume that need to be neatly stacked.

[0016] Optionally, the active end includes four UWB transceiver units, one of which is located at the origin of the spatial coordinate system, and the other three are located on the X, Y, and Z axes of the spatial coordinate system. A main spatial coordinate system based on the conveying device is constructed.

[0017] Optionally, the positioning system further includes an auxiliary terminal, which includes at least one UWB transceiver unit, and the auxiliary terminal is installed on the transport vehicle.

[0018] Optionally, the auxiliary end includes at least four UWB transceiver units, the transport basket is a cubic structure, and the four UWB transceiver units of the auxiliary end are installed on four adjacent vertices of the transport basket. An auxiliary space coordinate system based on the auxiliary end is constructed, and the boundary of the transport basket in the auxiliary space coordinate system can be accurately located. First, the length, width and height of each bundle of packaging bags can be adaptively measured, that is, the manipulator performs the set measurement action: the gripper first carries a bundle of packaging bags to any position in the transport basket, and records the position P1, and then the manipulator clamps a bundle of packaging bags in the same posture and places it on the previous bundle of packaging bags, and records the position P2 at this time. The height difference between P1 and P2 is the height of the packaging bags. Similarly, by clamping a bundle of packaging bags in the same posture and placing them close to the first bundle of packaging bags in the width and length directions, the width and length of a bundle of packaging bags can be measured.

[0019] Optionally, the transport vehicle includes a vehicle plate, universal wheels are installed under the vehicle plate, and the transport basket is installed on the vehicle plate.

[0020] Optionally, the robot body includes a base, a first-section arm, a second-section arm and a third-section arm, the first-section arm is rotationally connected to the base, the second-section arm is horizontally rotationally connected to the first-section arm, the third-section arm is vertically slidingly connected to the second-section arm, and the clamp is installed on the third-section arm.

[0021] Optionally, two alignment arms are further included, which are installed in parallel to both sides of the end of the conveying device, and the base of the manipulator is installed on the center line of the transport basket. Since the operator places the transport cart at will, the angle between the transport cart and the conveying device is uncertain, and it is impossible to keep it parallel or aligned (straightened), the movement stroke of the manipulator needs several more strokes, and the efficiency is reduced. After adopting this solution, the manipulator can swing the claws on the two-section arm or the three-section arm to touch the alignment arm, and use the reaction force to align the transport cart until the center line of the transport basket is aligned with the center line of the conveying device, and the transport cart can be straightened.

[0022] Optionally, the clamping jaw includes two clamping pieces, and the length of the clamping piece is not less than the length of the packaging bag to be clamped. The clamping piece can be used to assist in the alignment of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The figure is a schematic diagram of the structure of the packaging bag transfer system based on the positioning technology in the first embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following is further described in detail through specific implementation methods:

[0025] The symbols in the drawings of the specification include: conveyor belt 1, transport vehicle 2, one-section arm 3, two-section arm 4, three-section arm 5, clamping claw 6, transport basket 7, active end 8, passive end 9, auxiliary end 10, and alignment arm 11.

[0026] Example

[0027] This embodiment is basically Figure 1 Shown: The packaging bag transfer system based on positioning technology includes:

[0028] The transport vehicle 2 is provided with a transport basket 7, and the transport vehicle 2 is a pallet trolley, and a mop is provided on the pallet trolley to facilitate the operator to drag. The transport basket 7 is a cubic structure. The transport vehicle 2 includes a vehicle plate, which is a pallet, and a universal wheel is installed under the vehicle plate, and the transport basket 7 is installed on the vehicle plate. In this embodiment, the conveying device is a conveyor belt 1, which conveys the bundle of packaging bags.

[0029] Manipulator, the manipulator includes a manipulator body and a manipulator control module. The manipulator body is installed on the central axis of the vehicle plate of the transport vehicle 2. A clamp 6 is installed on the working end of the manipulator. The manipulator control module controls the manipulator body to complete the set action. The manipulator body includes a base, a first-section arm 3, a second-section arm 4 and a third-section arm 5. The first-section arm 3 is horizontally rotatably connected to the base, the second-section arm 4 is horizontally rotatably connected to the first-section arm 3, the third-section arm 5 is vertically slidably connected to the second-section arm 4, and the clamp 6 is installed on the lower end of the third-section arm 5. The clamp 6 includes two clamps, and the length of the clamp is greater than the length of the packaging bag to be clamped. In this embodiment, two alignment arms 11 are also included. The alignment arms 11 are installed in parallel to both sides of the end of the conveying device. The height of the alignment arms 11 is similar to the height of the packaging bag bundle on the conveyor belt 1. The manipulator can directly clamp the packaging bag bundle after the transport vehicle is straightened.

[0030] The positioning system includes an active end 8, a passive end 9 and a communication module. The communication module is used to realize the communication between the active end 8 and the passive end 9. In this embodiment, the communication module is a BLE module with low power and stable connection. The UWB transceiver units on the active end 8 and the passive end 9, and the manipulator and the positioning system are connected by signals of the communication module. The active end 8 includes four UWB transceiver units of the processing module, and the processing module is a microcomputer with input, output, calculation and storage functions. The UWB transceiver unit adopts UWB positioning technology: based on the time of flight (TOF), the estimation of the distance between any two nodes is based on the propagation time of the wireless signal. Specifically, in the UWB positioning technology, the transmitting node transmits the signal, the receiving node receives the signal, and the propagation time of the signal from the transmitting node to the receiving node is measured. The positioning accuracy can reach the centimeter level, which is suitable for the accuracy required in the use environment of this embodiment. One of the four UWB transceiver units of the active end 8 is located at the origin of the spatial coordinate system, and the origin is located at the end of the conveyor belt 1. The other three UWB transceiver units of the active end 8 are respectively located on the X, Y, and Z axes of the spatial coordinate system, that is, they are respectively located on the other side of the conveyor belt 1 opposite to the origin, on the alignment arm 11, and on the ground. The main spatial coordinate system based on the conveying device is constructed, combined with the UWB unit on the passive end 9. The passive end 9 includes a UWB transceiver unit. The passive end 9 is installed on the clamp 6, which can accurately locate the spatial position of the clamp 6 based on the conveying device. At this time, based on the programmed control of the manipulator, the manipulator can be controlled to complete the specified clamping and stacking actions, so that the bundles of packaging bags on the conveyor belt 1 are clamped and stacked in the transport basket 7, and then the workers drag the transport vehicle to other workstations.

[0031] In order to further improve the accuracy of clamping, the positioning system also includes an auxiliary end 10, which includes four UWB transceiver units. The transport basket 7 is a cubic structure, and the four UWB transceiver units of the auxiliary end 10 are installed on four adjacent vertices of the transport basket 7. An auxiliary space coordinate system based on the auxiliary end 10 is constructed, and the boundary of the transport basket 7 in the auxiliary space coordinate system can be accurately located. First, the length, width and height of each bundle of packaging bags can be adaptively measured, that is, the manipulator performs the set measurement action: the clamp 6 first carries a bundle of packaging bags to any position of the transport basket 7, and records the position P1, and then the manipulator clamps a bundle of packaging bags in the same posture and places it on the previous bundle of packaging bags, and records the position P2 at this time. The height difference between P1 and P2 is the height of the packaging bags. Similarly, by clamping a bundle of packaging bags in the same posture and placing them close to each other and side by side in the width and length directions of the first bundle of packaging bags, the width and length of a bundle of packaging bags can be measured. After obtaining the length, width and height of the packaging bag, the processing module can calculate how the packaging bag bundles in the transport basket 7 should be stacked in combination with the located boundary of the transport basket 7, thereby analyzing and executing the gripping and stacking procedures of the robot body.

[0032] In order to straighten the transport cart after the worker places it in front of the conveyor belt 1, the manipulator can swing the clamping claw 6 on the second-section arm 4 or the third-section arm 5 to touch the alignment arm 11, and use the reaction force to swing the transport cart 2, that is, the second-section arm 4 or the clamping claw 6 rotates to a direction parallel to the center line of the transport basket 7, and swings the first-section arm 3 with a swing amplitude equal to the distance between the two alignment arms 11. If there is an angle between the second-section arm 4 or the clamping claw 6 and the alignment arm 11, the second-section arm 4 or the clamping claw 6 will touch the alignment arm 11 and give the alignment arm 11 a reaction force, and the reaction force then acts on the transport cart to make the transport cart swing, which is specifically manifested as shown in the attached figure. Figure 1 The distances L1 and L2 between the two UWB transceiver units shown in the figure will change until the center line of the transport basket 7 is aligned with the center line of the conveying device, and the distances L1 and L2 no longer change or the change range is very small, then the transport vehicle 2 is aligned. The alignment of the transport vehicle 2 significantly improves the efficiency of clamping and stacking the packaging bag bundles, and the accumulated error during the clamping and stacking process of the robot is smaller, making the stacking more neat.

[0033] The power supply system supplies power to the transport vehicle 2, the manipulator and the positioning system. The passive terminal 9 and the auxiliary terminal 10 on the manipulator and the transport vehicle 2 are powered by batteries, while the active terminal 8 is powered by a wired power supply.

[0034] The above are only embodiments of the present invention. The invention is not limited to the fields involved in this implementation case. The common sense such as the known specific structures and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field to which the invention belongs before the application date or the priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to explain the content of the claims.

Claims

1. The packaging bag transfer system based on positioning technology is characterized by: include: A transport truck with a transport basket mounted on it; The manipulator includes a manipulator body and a manipulator control module. The manipulator body is installed on the transport vehicle. A gripper is installed on the working end of the manipulator. The manipulator control module controls the manipulator body to complete the set action. The positioning system includes an active end, a passive end and a communication module, wherein the communication module is used to realize communication between the active end and the passive end, the active end includes a processing module and at least three UWB transceiver units, the passive end includes at least one UWB transceiver unit, the passive end is installed on the gripper, and the UWB transceiver units on the active end and the passive end, and between the manipulator and the positioning system are all connected by signals of the communication module; The power supply system provides power for the transport vehicle, manipulator and positioning system.

2. The packaging bag transfer system based on positioning technology according to claim 1 is characterized in that: The active end includes four UWB transceiver units, one of which is located at the origin of the space coordinate system, and the other three are located on the X, Y, and Z axes of the space coordinate system.

3. The packaging bag transfer system based on positioning technology according to claim 2 is characterized in that: The positioning system also includes an auxiliary terminal, which includes at least one UWB transceiver unit and is installed on the transport vehicle.

4. The packaging bag transfer system based on positioning technology according to claim 3 is characterized in that: The auxiliary end includes at least four UWB transceiver units. The transport basket is a cubic structure. The four UWB transceiver units of the auxiliary end are installed on four adjacent vertices of the transport basket.

5. The packaging bag transfer system based on positioning technology according to claim 4 is characterized in that: The transport vehicle comprises a vehicle plate, universal wheels are arranged under the vehicle plate, and a transport basket is arranged on the vehicle plate.

6. The packaging bag transfer system based on positioning technology according to claim 5 is characterized in that: The robot body includes a base, a first-section arm, a second-section arm and a third-section arm. The first-section arm is rotatably connected to the base, the second-section arm is horizontally rotatably connected to the first-section arm, the third-section arm is vertically slidably connected to the second-section arm, and the clamp is installed on the third-section arm.

7. The packaging bag transfer system based on positioning technology according to claim 6 is characterized in that: It also includes two alignment arms, which are installed in parallel to both sides of the end of the conveying device, and the base of the manipulator is installed on the center line of the transport basket.

8. The packaging bag transfer system based on positioning technology according to claim 7 is characterized in that: The clamping claw comprises two clamping pieces, and the length of the clamping piece is not less than the length of the packaging bag to be clamped.

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