CN109433648B - Automatic flow sorting working method - Google Patents
Automatic flow sorting working method Download PDFInfo
- Publication number
- CN109433648B CN109433648B CN201811429261.XA CN201811429261A CN109433648B CN 109433648 B CN109433648 B CN 109433648B CN 201811429261 A CN201811429261 A CN 201811429261A CN 109433648 B CN109433648 B CN 109433648B
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- clamping jaw
- jaw
- materials
- clamping
- coded information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
Landscapes
- Sorting Of Articles (AREA)
- Specific Conveyance Elements (AREA)
- Discharge Of Articles From Conveyors (AREA)
Abstract
The invention relates to automation equipment, in particular to an automatic flow sorting working method, which comprises the following steps: generating control information according to the coded information read by the detection device positioned at the entrance of the main conveyor belt through the main control module; when the coded information judges that the material carried by the material tray is a special-shaped material, the clamping jaw device controls the clamping jaw on the clamping jaw to move the material in a clamping mode; when the coded information judges that the materials carried by the material tray are planar materials, the clamping jaw device controls the sucker assembly on the clamping jaw to move the materials in a material sucking mode; when the claw device moves materials, the detection device is suitable for erasing the coding information stored in the material tray; the invention moves different types of materials through the jaw device controlled by the main control module, thereby realizing the technical effect of automatic flow operation.
Description
Technical Field
The invention relates to automation equipment, in particular to an automatic assembly line automatic sorting system and a working method.
Background
In industrial material transport, the conveyor belt conveys the material forward by means of a rotary or reciprocating movement of the working member or by means of a flow of a medium in the pipe. For example, the working member of a roller conveyor is a series of rollers that rotate to convey material; the working member of the spiral conveyor is a spiral, and the spiral rotates in the trough to push materials along the trough; the working member of the vibrating conveyor is a chute which reciprocates to convey materials and the like placed therein.
However, in the new mechanized flow generation process, it is necessary to be able to identify the objects on the conveyor belt. The objects on the conveyor belt, besides the conventionally produced objects, have a lot of non-conventional objects, and some objects are placed on the conveyor belt with a package, and when the objects reach the machining center, the robot takes out the objects. Conventional optical recognition can be subject to errors.
Therefore, an automatic flow sorting work method needs to be designed.
Disclosure of Invention
The invention aims to provide an automatic flow sorting working method.
In order to solve the technical problem, the invention provides an automatic flow sorting working method, which comprises the following steps: generating control information according to the coded information read by the detection device positioned at the entrance of the main conveyor belt through the main control module; when the coded information judges that the material carried by the material tray is a special-shaped material, the clamping jaw device controls the clamping jaw on the clamping jaw to move the material in a clamping mode; when the coded information judges that the materials carried by the material tray are planar materials, the clamping jaw device controls the sucker assembly on the clamping jaw to move the materials in a material sucking mode; when the claw device moves the materials, the detection device is suitable for erasing the coding information stored in the material tray.
Further, when the detection device fails to detect the material tray; the main control module generates control information through the coded information read by the auxiliary detection device positioned at the outlet of the main conveyor belt; when the coded information judges that the material carried by the material tray is a special-shaped material, the auxiliary jaw device controls the clamping jaw on the clamping jaw to move the material in a clamping mode; when the coded information judges that the materials carried by the material tray are planar materials, the auxiliary clamping jaw device controls the sucker assembly on the clamping jaw to move the materials in a material sucking mode.
The invention has the beneficial effects that the material tray is transported by the main conveyor belt; the main control module sends control information to the jaw device according to the coded information read by the detection device; the claw device moves materials in different clamping modes according to the control information; the function of identifying the material type by the pipeline is realized; the jaw devices controlled by the main control module move different types of materials, so that the technical effect of automatic flow operation is achieved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a functional block diagram of the automated, in-line automated sorting system of the present invention;
FIG. 2 is a block diagram of the automated in-line automated sorting system of the present invention;
fig. 3 is a structural view of a claw device of the automatic in-line automatic sorting system of the present invention.
In the figure:
1 is a main conveyor belt; 101 is an inlet; 102 is an outlet; 103 is a sub-conveyor belt; 2 is a detection device; 3 is a material tray;
4 is a jaw device; 401 is a clamping jaw assembly; 402 is a chuck assembly; 403 is a snap fastener; 404 is a telescopic rod; 405 is a jaw beam; 406 is a fixing rod;
5 is an auxiliary detection device; and 6, an auxiliary jaw device.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example 1
FIG. 1 is a functional block diagram of the automated, in-line automated sorting system of the present invention;
FIG. 2 is a block diagram of the automated in-line automated sorting system of the present invention;
as shown in fig. 1 and fig. 2, the present embodiment provides an automated flow sorting method, including: generating control information from the encoded information read by the detection means 2 located at the entrance 101 of the main conveyor 1 by means of the main control module; namely, when the coded information judges that the material carried by the material tray 3 is a special-shaped material, the jaw device 4 controls the clamping jaw on the jaw to move the material in a clamping manner; when the coded information judges that the material carried by the material tray 3 is a plane material, the jaw device 4 controls the sucker component 402 on the jaw to move the material in a material sucking mode; when the claw device moves materials, the detection device is suitable for erasing the coding information carried by the material tray 3, so that the phenomenon that the claw device is not grabbed by the claw device due to the fact that the follow-up auxiliary detection device repeatedly reads empty material trays is avoided; the coded information stored in the material tray 3 is erased to indicate that the material is moved once, so that the technical effect that the claw device 4 is controlled by the main control module to move different types of objects is achieved.
In the present embodiment, when the detecting device 2 misses the material tray 3; the main control module generates control information through the coded information read by the auxiliary detection device 5 positioned at the outlet 102 of the main conveyor belt 1; when the coded information judges that the material carried by the material tray 3 is a special-shaped material, the auxiliary jaw device 6 controls the clamping jaw on the jaw to move the material in a clamping mode; when the coded information judges that the material carried by the material tray 3 is a plane material, the auxiliary jaw device 6 controls the sucker component 402 on the jaw to move the material in a material sucking mode; when the claw device moves materials, the auxiliary detection device can also erase the coding information carried by the material tray 3; the material moving is finished by erasing the coding information stored in the material tray 3; the coding information of the material tray 3 read by the auxiliary detection device in the embodiment is used for identifying the materials missed by the current tray, so that the accuracy of the automatic flow automatic sorting system is improved.
Specifically, the automatic flow sorting method is suitable for adopting an automatic flow sorting system, and comprises the following steps: a main conveyor belt adapted to convey material trays 3, and detection means 2, jaw means 4 mounted at an entrance 101 of the main conveyor belt 1; the material tray 3 is adapted to carry material; the detection device 2 is suitable for reading the coding information in the material tray 3 and erasing the coding information of the material tray 3 after the coding information is sent to the main control module; the main control module identifies the material type according to the coding information and sends corresponding control information to the jaw device 4; the jaw device 4 is suitable for moving materials by adopting a corresponding clamping mode according to the types of the materials; the main control module identifies the material type according to the coding information read by the detection device 2, and then controls the jaw device 4 to move the material in different clamping modes, so that the purpose of identifying the material type by the automatic assembly line is achieved, and the technical effect of moving various types of materials by the automatic assembly line is realized.
Fig. 3 is a structural view of a claw device 4 of the automatic in-line automatic sorting system of the present invention.
In the present embodiment, the jaw device 4 comprises a clamping jaw assembly 401 and a suction cup assembly 402 controlled by a main control module; the material types comprise special-shaped materials and plane materials; the jaw device 4 is suitable for clamping the special-shaped material by adopting a clamping jaw assembly 401; the sucker assembly 402 is arranged in the claw center part of the clamping jaw assembly 401 so as to suck plane materials after the clamping jaw assembly 401 is unfolded; the clamping jaw assembly 401 is suitable for clamping special-shaped materials so as to move the materials; when the extension area of the material (plane material) exceeds the area covered by the maximum opening angle of the clamping jaw assembly 401 and the clamping jaw cannot be used, the clamping jaw device 4 controls the clamping jaw assembly 401 to be unfolded and then adopts the sucker assembly 402 to suck the material; when the surface of a material is smooth and is difficult to clamp by the jaw device 4, the jaw device 4 controls the jaw assembly 401 to be unfolded and then adopts the sucker assembly 402 to suck the material; the technical effect of moving various types of materials on an automatic assembly line is achieved through the jaw device 4.
Specifically, the clamping jaw assembly 401 is clamped on a telescopic rod 404 of the power mechanism through a clamping buckle 403; the main control module controls the power mechanism to drive the telescopic rod 404 to extend and retract, and further controls the clamping jaw assembly 401 to open and close;
the suction cup assembly 402 is mounted through a jaw cross-beam 405 by a hollow rod securing bar 406; one end of the hollow rod fixing rod 406 is connected with an air pump, and the other end of the hollow rod fixing rod is connected with the sucker component 402; the main control module controls the air pump to suck and release air, and further controls the suction cup assembly 402 to suck and release materials.
The power mechanism can be driven by adopting an air cylinder but not limited to be driven by adopting a screw rod motor.
In the present embodiment, the main belt 1 connects two sub belts 103; the sub-conveyor belt 103 is adapted to transport different types of material to the main conveyor belt 1; the material trays 3 are adapted to be transported from the warehouse to the main conveyor 1 by means of the sub-conveyor 103.
In this embodiment, a near field communication chip is arranged inside the material tray 3; the entrance communication chip is provided with an induction antenna; data transmission between the near-field communication chip and the sub-conveyor belt 103 and between the near-field communication chip and the detection device 2 is achieved through the induction antenna; a code writing device is arranged at the position of the sub-conveyor belt 103; when the material tray 3 is conveyed by the sub-conveyor belt 103, the code writing device writes the code information into the near-field communication chip inside the material tray 3, and writes the code information into the material tray 3, so that the detection device 2 at the inlet of the main conveyor belt (1) can scan.
In the embodiment, the nfc chip may be, but not limited to, a Mifare 1S 70 wireless nfc chip, and may also be a Mifare 1S 50 chip.
In this embodiment, the detection device 2 includes a near field read-write chip inside; the near-field read-write chip is electrically connected with the main control module through a serial port; the near-field read-write chip is suitable for reading the coded information stored in the material tray 3 and sending the coded information to the main control module; the near-field read-write chip is suitable for erasing the stored coding information after reading the coding information of the material tray 3; the detection device 2 is suitable for reading the coded information stored in the material tray 3 and sending the coded information to the main control module; the main control module generates a feature code according to the received coding information, and judges the material type through the feature code.
In this embodiment, the near field read/write chip may be, but is not limited to, a PN532 chip, and may also be a read/write chip such as an RC 522.
The main control module may be but not limited to an STM32F407 processor, and may also be a programmable controller, an industrial control board, or a PC controller.
In this embodiment, the main control module sends corresponding control information to the jaw device 4 according to the feature code; the jaw device 4 moves materials in a corresponding clamping mode according to the control information; the technical effect of moving various types of objects in an automatic assembly line is achieved.
In the embodiment, the structures of the auxiliary detection device 5 and the auxiliary jaw device 6 are the same as the structures of the detection device 2 and the jaw device 4; the automatic in-line sorting system further comprises an auxiliary detection device 5 and an auxiliary jaw device 6 at the outlet 102 of the main conveyor belt 1; the auxiliary detection device 5 is suitable for reading the coded information stored in the material tray 3 which is positioned at the outlet 102 and is missed to be read by the detection device 2, and sending the coded information to the main control module; the main control module generates control information to the auxiliary clamping jaw device 6 according to the coding information; the auxiliary jaw device 6 moves materials in a corresponding clamping mode according to the control information; the auxiliary material moving is realized through the auxiliary detection device 5 and the auxiliary jaw device 6, and omission is avoided when the jaw device 4 moves the material.
In summary, in this embodiment, the main control module receives the coded information read by the detection device 2, and then sends the control information to the jaw device 4 to move the object in the corresponding clamping manner, so that different types of objects can be moved efficiently, and the working efficiency is improved; the technical effect of moving various types of objects in an automatic assembly line is achieved.
In summary, the automatic flow sorting method can write in the code information corresponding to the material and the material tray through the code writing device located at the sub-conveyor belt 103, and automatically classifies the code information after reading the code information at the entrance of the main conveyor belt 1, that is, the main control module sends the control information to the jaw device 4 according to the code information; the jaw device 4 adopts different clamping modes to move the object according to the control information; the technical effect that the assembly line automatically identifies the object type is achieved, and the purpose of automatic line production is achieved; the auxiliary detection device 5 is arranged at the outlet of the main conveyor belt 1, so that the missed material tray can be detected again, and the possibility of classification errors is reduced.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (1)
1. An automatic flow sorting working method is characterized by comprising the following steps:
generating control information by a main control module according to the coded information read by a detection device (2) positioned at the entrance (101) of the main conveyor belt (1); namely, it is
When the coded information judges that the material carried by the material tray (3) is a special-shaped material, the jaw device controls the jaw assembly to move the material in a clamping mode;
when the coded information judges that the material carried by the material tray (3) is a plane material, the jaw device controls the sucker assembly to move the material in a material sucking mode; wherein
The sucker component is arranged in the claw center part of the clamping jaw component to suck and hold plane materials after the clamping jaw component is unfolded;
when the extension area of the plane material exceeds the area covered by the maximum opening angle of the clamping jaw assembly and the clamping jaw cannot be used, the clamping jaw device controls the clamping jaw assembly to be unfolded and then adopts the sucker assembly to suck the material;
when the surface of a material is smooth and is difficult to clamp by the clamping jaw device, the clamping jaw device controls the clamping jaw assembly to expand and then adopts the sucker assembly to suck the material;
when the claw device moves materials, the detection device is suitable for erasing the coding information stored in the material tray (3);
when the detection device (2) fails to detect the material tray (3);
the main control module generates control information through the coded information read by the auxiliary detection device (5) positioned at the outlet (102) of the main conveyor belt (1);
when the coded information judges that the material carried by the material tray (3) is a special-shaped material, the auxiliary jaw device (6) controls the clamping jaw on the jaw to move the material in a clamping mode;
when the coded information judges that the materials carried by the material tray (3) are planar materials, the auxiliary jaw device (6) controls the sucker assembly on the jaw to move the materials in a material sucking mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811429261.XA CN109433648B (en) | 2018-11-27 | 2018-11-27 | Automatic flow sorting working method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811429261.XA CN109433648B (en) | 2018-11-27 | 2018-11-27 | Automatic flow sorting working method |
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| CN109433648A CN109433648A (en) | 2019-03-08 |
| CN109433648B true CN109433648B (en) | 2021-09-14 |
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| FR3031046B1 (en) * | 2014-12-24 | 2018-06-29 | Solystic | INSTALLATION FOR THE SEPARATION AND INDIVIDUALIZATION OF HETEROGENEOUS POSTAL OBJECTS |
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| JP2007155986A (en) * | 2005-12-02 | 2007-06-21 | Mitsubishi Heavy Ind Ltd | Voice recognition device and robot equipped with the same |
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| CN109433648A (en) | 2019-03-08 |
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Effective date of registration: 20221221 Address after: 210094 No. 200 Xiaolingwei street, Xuanwu District, Jiangsu, Nanjing Patentee after: NANJING University OF SCIENCE AND TECHNOLOGY Address before: 215600 No. 10, Chang Jing Road, Yang She Town, Zhangjiagang City, Suzhou, Jiangsu Patentee before: NANJING UNIVERSITY OF SCIENCE AND TECHNOLOGY ZHANGJIAGANG ENGINEERING INSTITUTE CO.,LTD. |
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