Mechanical arm automatic sorting and caging system and method

Abstract

The invention relates to the technical field of logistics, and discloses a mechanical arm automatic sorting and caging system and method.The mechanical arm automatic sorting and caging system comprises an upper computer used for managing and controlling the whole sorting process; a first camera support and a second camera support, the first camera support and the second camera support are provided with a first 3D camera and a second 3D camera respectively, and the first 3D camera and the second 3D camera are used for obtaining size and position data of an express parcel; a plurality of express packages are arranged on the outer surface of the conveying line; and the mechanical arm is mounted at the top of the base. And through the automatic mechanical arm and the 3D camera technology, rapid identification, grabbing and classification of express packages are achieved, and the time needed by traditional manual sorting is greatly shortened. The multi-degree-of-freedom motion and the real-time data processing capacity of the mechanical arm can efficiently adapt to the sizes and shapes of different packages, so that it is ensured that each package can be rapidly and accurately processed, and the overall working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics, and in particular to a mechanical arm automatic sorting and cage loading system and method. Background Art

[0002] In the modern logistics industry, the sorting and loading of express parcels is a crucial link, which directly affects the delivery efficiency and customer satisfaction. Traditional sorting methods usually rely on manual operation, which is not only labor-intensive but also prone to human errors, resulting in low sorting efficiency. In addition, with the rapid development of e-commerce, the types and quantities of express parcels are increasing, and traditional manual sorting can no longer meet the market demand for fast and efficient delivery. Although the existing automated sorting systems have improved the processing efficiency to a certain extent through conveyor belts and fixed robotic arms, they often lack flexibility and cannot adapt to parcels of different sizes and shapes in real time, resulting in insufficient space utilization and operational bottlenecks. At the same time, these systems fail to effectively integrate real-time data monitoring and intelligent scheduling functions during the parcel processing process, further limiting the optimization of resource management. Therefore, the current technology has problems such as low efficiency, poor adaptability and waste of resources in the identification, classification and loading of parcels.

[0003] Therefore, those skilled in the art have proposed a robot arm automatic sorting and cage loading system and method to solve the above problems. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a robot arm automatic sorting and cage loading system and method, which solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a robotic arm automatic sorting and cage loading system, comprising:

[0006] The host computer is used to manage and control the entire sorting process;

[0007] A first camera bracket and a second camera bracket, on which a first 3D camera and a second 3D camera are installed respectively, and the first 3D camera and the second 3D camera are used to obtain size and location data of express parcels;

[0008] A conveyor line, wherein a plurality of express parcels are arranged on an outer surface of the conveyor line;

[0009] A mechanical arm is mounted on the top of the base, and the outer side of the mechanical arm is provided with a clamp suction cup for grabbing the express package and placing it in the cage vehicle;

[0010] Temporary storage positions No. 1 and No. 2 are used to store express parcels that do not meet the cage truck loading rules.

[0011] Cage trucks, used to load sorted express parcels;

[0012] Safety fences are used to prevent people from accidentally entering the work area.

[0013] Preferably, the system further comprises a position detection module for configuring real-time monitoring of the space status of the cage truck to ensure that the loading of the express parcels meets the space requirements.

[0014] Preferably, the host computer performs intelligent judgment and scheduling by receiving express package data and cage car status data from a 3D camera.

[0015] Preferably, the robotic arm has multi-degree-of-freedom movement capabilities to achieve precise grasping and placement of express parcels.

[0016] A method for automatically sorting and packing cages by a mechanical arm comprises the following steps:

[0017] S1, transport the express parcel from the conveyor line to the grabbing position;

[0018] S2, using a No. 1 3D camera mounted on a No. 1 camera bracket to obtain the size and location data of the express package;

[0019] S3. Before the grabbing position, use the No. 2 3D camera installed on the No. 2 camera bracket to obtain the status data of the cage car space;

[0020] S4. Determine whether the express parcel complies with the loading rules of the cage truck;

[0021] If it meets the requirements, the robotic arm grabs the express package and places it in the designated position of the cage truck;

[0022] If it does not match, the express package will be placed in the No. 1 temporary storage location and continue to match the next express package;

[0023] If the match is successful, place it in the cage car;

[0024] If the match is unsuccessful, it will be placed in the second temporary storage position and continue matching;

[0025] S5. By comparing the status of the express parcels in the No. 1 temporary storage position, the No. 2 temporary storage position and the grabbing position, the best express parcel is selected for grabbing to ensure that the system always has an empty position for circulation.

[0026] Preferably, the matching basis of the express package includes parameters such as the size, weight and shape of the package.

[0027] Preferably, when the cage car is full, the host computer sends a reminder to notify the management personnel to replace the cage car.

[0028] The present invention provides a robot arm automatic sorting and cage loading system and method. It has the following beneficial effects:

[0029] 1. The present invention uses automated robotic arms and 3D camera technology to achieve rapid identification, grabbing and classification of express parcels, greatly shortening the time required for traditional manual sorting. The multi-degree-of-freedom movement and real-time data processing capabilities of the robotic arm can efficiently adapt to the sizes and shapes of different parcels, thereby ensuring that each parcel can be processed quickly and accurately, improving overall work efficiency.

[0030] 2. The present invention reduces manual intervention and the probability of sorting errors caused by human error. At the same time, the design of the safety fence effectively prevents personnel from entering the working area of ​​the robot arm, ensuring the safety of the operator. In addition, the system's built-in monitoring and alarm mechanism can provide real-time feedback on the working status, handle abnormal situations in a timely manner, and further improve safety.

[0031] 3. Through intelligent judgment and scheduling, the host computer can dynamically adjust the placement of the package according to the real-time data of the express package and cage car status. The system can not only ensure the maximum space utilization of the cage car, but also reduce space waste and improve the effectiveness of resource management through flexible scheduling of the No. 1 and No. 2 temporary storage positions. This flexibility enables the system to maintain efficient operation even during peak periods. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a framework diagram of the present invention.

[0033] Among them, 1. Host computer; 2. Camera bracket No. 1; 3. 3D camera No. 1; 4. Safety fence; 5. Clamp suction cup; 6. 3D camera No. 2; 7. Temporary storage position No. 1; 8. Camera bracket No. 2; 9. Temporary storage position No. 2; 10. Express parcel; 11. Conveyor line; 12. Cage car; 13. Robot arm; 14. Base. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Example:

[0036] Please see attached Figure 1 The embodiment of the present invention provides a robot arm automatic sorting and cage loading system, comprising:

[0037] Host computer 1, used to manage and control the entire sorting process;

[0038] A first camera bracket 2 and a second camera bracket 8, on which a first 3D camera 3 and a second 3D camera 6 are respectively installed, and the first 3D camera 3 and the second 3D camera 6 are used to obtain the size and position data of the express package 10;

[0039] A conveyor line 11, a plurality of express parcels 10 are arranged on the outer surface of the conveyor line 11;

[0040] Specifically, the host computer 1, as the core control unit of the system, is responsible for managing and coordinating the entire sorting process. It performs real-time analysis and decision-making by receiving data from various modules, including package size and position data obtained by the 3D camera, the status of the conveyor line 11, and the loading status of the cage car 12. The host computer 1 is equipped with advanced processors and software algorithms, which can quickly determine the classification and loading priority of the package, and send control instructions to the robot arm 13 and other execution units. In addition, the host computer 1 also has data storage and statistical functions, and can generate sorting efficiency reports to provide a basis for subsequent system optimization.

[0041] The No. 1 3D camera 3 is mainly responsible for obtaining the size data of the express parcel 10 on the conveyor line 11, including the length, width and height, so as to judge the feasibility of its loading. The camera can capture the three-dimensional shape information of the parcel within milliseconds through high-precision laser scanning technology to ensure the accuracy of the data.

[0042] The second 3D camera 6 is used to monitor the spatial status of the cage 12 and obtain its current loading status and available space. This data is crucial for the decision-making of the host computer 1 to ensure that the package can be effectively and reasonably placed in the cage 12 to avoid space waste and uneven loading.

[0043] The conveyor line 11 is an important part of the entire sorting system. A plurality of express parcels 10 are arranged on its outer surface to form a continuous transport chain. The conveyor line 11 is electrically driven and can stably convey the parcels to the grabbing position, ensuring that the parcels are always in a moving state during the entire sorting process. The design of the conveyor line 11 takes into account the diversity of parcels and can adapt to parcels of different weights and sizes. It is equipped with sensors to monitor the flow of parcels and provide timely feedback to the host computer 1 for adjustment. At the same time, the layout of the conveyor line 11 has been carefully planned to ensure the efficiency and safety of the sorting process, reduce manual intervention, and improve overall operating efficiency.

[0044] A mechanical arm 13 is mounted on the top of the base 14, and a clamp suction cup 5 is provided on the outer side of the mechanical arm 13 for grabbing the express package 10 and placing it in the cage vehicle 12;

[0045] Temporary storage position No. 1 7 and temporary storage position No. 2 9 are respectively used to store express parcels 10 that do not meet the loading rules of the cage truck 12 temporarily;

[0046] A cage car 12, used for loading sorted express parcels 10;

[0047] Specifically, the robot arm 13 is a key component for performing grabbing and placing operations in the system. It is installed on the top of the base 14 and has high flexibility and precision. The robot arm 13 adopts a multi-degree-of-freedom design and can realize a variety of complex movements, including lateral movement, vertical lifting and rotation, to ensure that it can adapt to express parcels 10 at different positions and heights. The outer side of the robot arm 13 is equipped with a clamp suction cup 5, which adopts advanced vacuum technology and can effectively absorb parcels of different materials and shapes to ensure that the parcels will not be damaged during the grabbing and placing process. In addition, the robot arm 13 is equipped with a high-precision sensor to provide real-time feedback on the grabbing force and position to ensure the stability and safety of the grabbing process. Through close cooperation with the host computer 1, the robot arm 13 can respond quickly to sorting instructions and improve overall operational efficiency.

[0048] Temporary storage position No. 1 7 and temporary storage position No. 2 9 are areas in the system designed to store express parcels 10 that temporarily do not meet the loading rules of the cage car 12. The setting of these temporary storage positions allows the system to flexibly handle a variety of parcels, ensuring the continuity and efficiency of the sorting process. When the host computer 1 determines that a parcel does not meet the loading conditions of the current cage car 12 due to size, weight or shape, the robotic arm 13 places the parcel in the temporary storage position No. 1 7 or the temporary storage position No. 2 9 for temporary storage. Each temporary storage position is equipped with a monitoring system that can monitor the status and quantity of the parcel in real time, and feed back the information to the host computer 1 to help with subsequent scheduling and processing. At the same time, this design effectively reduces the operation interruption caused by the parcel not meeting the loading rules, and improves the overall efficiency of the sorting system.

[0049] The cage car 12 is a special equipment for loading sorted express parcels 10. It has a good structural design and load-bearing capacity, and can accommodate parcels of various sizes and weights. The internal design of the cage car 12 adopts flexible partitions, which can be adjusted according to different types of parcels to maximize space utilization. The cage car 12 is equipped with moving wheels, which enables it to be easily moved in the warehouse or loading and unloading area, simplifying the parcel transfer process. During the loading process, the upper computer 1 will monitor the status of the cage car 12 in real time to ensure that its load does not exceed the specified capacity, and issue reminders so that the management personnel can replace or adjust it in time. The design of the cage car 12 not only optimizes the logistics operation process, but also improves the overall operation safety and efficiency.

[0050] The safety fence 4 is used to prevent personnel from accidentally entering the working area.

[0051] The system also includes a position detection module configured to monitor the spatial status of the cage vehicle 12 in real time to ensure that the loading of the express parcels 10 meets the spatial requirements.

[0052] The host computer 1 performs intelligent judgment and scheduling by receiving the express package 10 data and the cage car 12 status data from the 3D camera.

[0053] The robotic arm 13 has multi-degree-of-freedom movement capabilities to achieve precise grasping and placement of the express package 10.

[0054] A method for automatically sorting and packing cages by a mechanical arm comprises the following steps:

[0055] S1, conveying the express package 10 from the conveyor line 11 to the grabbing position;

[0056] S2, using the No. 1 3D camera 3 installed on the No. 1 camera bracket 2 to obtain the size and position data of the express package 10;

[0057] S3, before the grabbing position, using the second 3D camera 6 installed on the second camera bracket 8 to obtain the state data of the cage car 12 space;

[0058] S4, determining whether the express parcel 10 complies with the loading rules of the cage truck 12;

[0059] If it is in compliance, the robot arm 13 grabs the express package 10 and places it in the designated position of the cage vehicle 12;

[0060] If not, place the express package 10 in the first temporary storage position 7 and continue to match the next express package 10;

[0061] If the match is successful, place it in the cage trolley 12;

[0062] If the match is unsuccessful, it is placed in the second temporary storage position 9 and continues to match;

[0063] S5. By comparing the status of the express parcel 10 in the No. 1 temporary storage position 7, the No. 2 temporary storage position 9 and the grabbing position, the best express parcel 10 is selected for grabbing, ensuring that the system always has an empty position for circulation.

[0064] The matching basis of the express parcel 10 includes parameters such as the size, weight and shape of the parcel.

[0065] When the cage car 12 is full, the host computer 1 sends a reminder to notify the management personnel to replace the cage car 12.

[0066] In summary: The present invention realizes the rapid identification, grasping and classification of express parcels through automated robotic arms and 3D camera technology, greatly shortening the time required for traditional manual sorting. The multi-degree-of-freedom movement and real-time data processing capabilities of the robotic arm can efficiently adapt to the sizes and shapes of different parcels, thereby ensuring that each parcel can be processed quickly and accurately, improving overall work efficiency. At the same time, through intelligent judgment and scheduling, the host computer can dynamically adjust the placement of the parcel according to the real-time acquired express parcel and cage car status data. The system can not only ensure the maximum space utilization of the cage car, but also reduce space waste and improve the effectiveness of resource management through flexible scheduling of temporary storage locations No. 1 and No. 2. This flexibility allows the system to maintain efficient operation even during peak periods.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robotic arm automatic sorting and cage loading system, characterized in that: include: The host computer (1) is used to manage and control the entire sorting process; A first camera bracket (2) and a second camera bracket (8), wherein a first 3D camera (3) and a second 3D camera (6) are respectively installed on the first camera bracket (2) and the second camera bracket (8), and the first 3D camera (3) and the second 3D camera (6) are used to obtain size and position data of express parcels; A conveyor line (11), wherein a plurality of express parcels (10) are arranged on an outer surface of the conveyor line (11); A mechanical arm (13) is mounted on the top of the base (14), and the outer side of the mechanical arm (13) is provided with a clamp suction cup (5) for grabbing the express package (10) and placing it in the cage vehicle (12); Temporary storage position No. 1 (7) and temporary storage position No. 2 (9) are respectively used to store express parcels (10) that temporarily do not meet the loading rules of the cage truck (12); A cage car (12) for loading sorted express parcels (10); Safety fence (4) is used to prevent people from accidentally entering the working area.

2. A robotic arm automatic sorting and cage loading system according to claim 1, characterized in that: The system also includes a position detection module, which is used to configure real-time monitoring of the spatial status of the cage vehicle (12) to ensure that the loading of the express parcels meets the spatial requirements.

3. The automatic sorting and cage loading system of a robotic arm according to claim 1, characterized in that: The host computer (1) performs intelligent judgment and scheduling by receiving express parcel data and cage vehicle (12) status data from a 3D camera.

4. The automatic sorting and cage loading system of a robotic arm according to claim 1, characterized in that: The robotic arm (13) has multi-degree-of-freedom movement capabilities to achieve accurate grasping and placement of the express package (10).

5. A method for automatic sorting and cage loading by a robot arm, based on a robot arm automatic sorting and cage loading system according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1, conveying the express package (10) from the conveyor line (11) to the grabbing position; S2, using a No. 1 3D camera (3) mounted on a No. 1 camera bracket (2) to obtain size and position data of the express package (10); S3, before the grabbing position, using the second 3D camera (6) installed on the second camera bracket (8) to obtain the state data of the cage car (12) space; S4, determining whether the express parcel (10) complies with the loading rules of the cage truck (12); If the conditions are met, the robot arm (13) grabs the express package (10) and places it at a designated location of the cage vehicle (12); If not, the express package (10) is placed in the first temporary storage position (7) and the next express package (10) is matched; If the match is successful, place it in the cage car (12); If the match is unsuccessful, it is placed in the second temporary storage position (9) and the matching continues; S5. By comparing the status of the express parcels (10) at the No. 1 temporary storage position (7), the No. 2 temporary storage position (9) and the grabbing position, the best express parcel (10) is selected for grabbing, ensuring that the system always has an empty position for circulation.

6. A method for automatic sorting and cage loading by a robot arm according to claim 5, characterized in that: The matching basis of the express parcel (10) includes parameters such as the size, weight and shape of the parcel.

7. A method for automatic sorting and cage loading by a robot arm according to claim 6, characterized in that: The method also includes the upper computer (1) sending out a reminder when the cage car (12) is full, notifying the management personnel to replace the cage car (12).

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