The invention relates to a scroll unstacking system and an unstacking method thereof. An industrial robot replaces manual work to complete the work of grabbing and hanging silk rolls, the manual workonly needs to unpack the silk rolls which are stacked on a tray and are unpacked, and then the silk rolls are placed on a conveying line, so that the production efficiency is improved. The conveying line is designed into an annular shape, so that the conveying line has a smaller occupied space compared with a traditional linear assembly line, meanwhile, the circulating transmission design of the conveying line can enable a mechanical arm to be more comprehensively arranged when grabbing materials, and the grabbing rhythm is not influenced due to too fast or too slow transmission. In addition,an environment model is established, rasterization treatment is carried out on the scroll hanging frame, the mounting path is calculated and the optimal path is planned before the scroll is grabbed from the conveying line, the path distance and the mounting number of each hook on the current scroll hanging frame are considered, the mounting balance of the scroll hanging frame and the optimal selection of the mounting path are guaranteed, and the unstacking efficiency is further improved.

    本发明涉及一种丝盘拆垛系统及其拆垛方法,由工业机器人代替人工完成丝绸卷的抓取以及挂架的工作,人工只需要将托盘上码垛好的为拆包装的丝绸卷进行拆包,然后放在输送线上即可,提高生产效率。通过将传输线设计成环形,相比于传统的直线流水线拥有更小的占地空间,同时其循环往复的传动设计能够使得机械臂在抓取物料时更加统筹安排,不至于因传动过快或过慢影响抓取节奏。此外,本发明通过建立环境模型,并对丝盘挂架进行栅格化处理,在从传输线上抓取丝盘前对挂载路径进行计算并规划最优路线,兼顾路径距离和当前丝盘挂架上的每个挂钩的挂载数量,保证了丝盘挂架的挂载均衡以及挂载路径的最优选择,进一步提高了拆垛效率。


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    Titel :

    Scroll unstacking system and unstacking method thereof


    Weitere Titelangaben:

    一种丝盘拆垛系统及其拆垛方法


    Beteiligte:
    QIAO HUI (Autor:in) / GAO QIANG (Autor:in) / ZHANG ZHAODONG (Autor:in) / YU MEIQIANG (Autor:in) / ZHANG LIANG (Autor:in) / HUANG YAONAN (Autor:in) / ZHOU TONG (Autor:in) / CHEN BO (Autor:in)

    Erscheinungsdatum :

    2020-06-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen / B62B Von Hand bewegte Fahrzeuge, z.B. Handkarren oder Kinderwagen , HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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