CN109692825A - A kind of method for sorting and sorting device of part - Google Patents
A kind of method for sorting and sorting device of part Download PDFInfo
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- CN109692825A CN109692825A CN201910026167.8A CN201910026167A CN109692825A CN 109692825 A CN109692825 A CN 109692825A CN 201910026167 A CN201910026167 A CN 201910026167A CN 109692825 A CN109692825 A CN 109692825A
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- angle information
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Classifications
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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
- B07C5/362—Separating or distributor mechanisms
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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
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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
- B07C5/38—Collecting or arranging articles in groups
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- Sorting Of Articles (AREA)
Abstract
The invention discloses a kind of method for sorting of part and sorting devices, it is related to steel construction part sorting field, this method comprises: obtain the preliminary physical location of part to be sorted, and obtain from presetting database the profile or mark information and planned position information of the part to be sorted；It is moved to the preliminary physical location, the actual position information of part to be sorted is calculated by the parts information in vision system combined data library, and navigate to the practical sort positions of part to be sorted；It is moved to the practical sort positions and draws the part to be sorted；The mobile part to be sorted, is placed on the corresponding position of the planned position information.The present invention is sorted automatically instead of the process of existing manual sorting, is saved time and the physical strength of manual sorting, is alleviated the labor intensity of staff, improve production efficiency.
Description
Technical field
The present invention relates to steel construction part sorting field more particularly to the method for sorting and sorting device of a kind of part.
Background technique
The production process of steel construction part are as follows: multiple steel construction parts are cut on one piece of motherboard, manually by they from
It is sorted out on motherboard after coming, they is needed to carry out reason material according to processing, is put into respective trays, corresponding processing is then transferred into
Place, such as: the mach steel construction part of needs sorted out is managed together one by one, is transferred to mach field
Institute.
The process of the sorting of each steel construction part, reason material that are cut into is carried out separately now, and all using people
Work is completed, and treatment process is laborious, the time is long, inefficiency, and high labor cost.
Summary of the invention
The object of the present invention is to provide a kind of method for sorting of part and sorting devices, are sorted and/or managed material automatically,
Cost of labor is reduced, production efficiency is improved.
Technical solution provided by the invention is as follows:
A kind of method for sorting of part is applied to sorting device, comprising: the preliminary physical location of part to be sorted is obtained,
And the planned position information of the part to be sorted is obtained from presetting database；Be moved to the rough location, and position to
Sort the practical sort positions of part；It is moved to the practical sort positions and draws the part to be sorted；It is mobile described wait divide
Part is picked, the corresponding position of the planned position information is placed on.
In the above-mentioned technical solutions, it instead of the process of existing manual sorting, is sorted automatically, saves artificial point
The time picked and physical strength alleviate the labor intensity of staff, improve production efficiency.And can by part put and part
Next procedure whereabouts combine, together by the placing part of identical whereabouts, eliminate part provide when reason material process.
Further, the practical sort positions of the positioning part to be sorted include: the part picture for obtaining part to be sorted；
The part picture is handled, the parts profile on the part to be sorted is obtained or marks the position angle in the part picture
Spend information；According to the parts profile or mark position angle information, the position angle information in the part picture
Corresponding parts profile or the current location for marking theoretical position angle information and the sorting device in the preset database
The offset information of the part to be sorted is calculated in angle information；According to the offset information and described to be sorted zero
The theoretical sort positions information of part in the preset database, is calculated the practical sort positions of the part to be sorted.
In the above-mentioned technical solutions, it is accurately positioned using the parts profile of part to be sorted or label.
Further, the position angle information according to the parts profile or label in the part picture, institute
It states the corresponding parts profile of position angle information or marks theoretical position angle information in the preset database and the sorting
The current location angle information of equipment, the offset information that the part to be sorted is calculated includes: according to the part wheel
Current location angle information that is wide or marking the position angle information and the sorting device in the part picture, calculates
To parts profile or mark the physical location angle information in physical coordinates system；According to the physical location angle information and institute
Theoretical position angle information is stated, the offset information is calculated.
In the above-mentioned technical solutions, by calculating the offset information of parts profile or label, part to be sorted is obtained
Practical sort positions calculate simple, direct.
Further, the practical sort positions absorption part to be sorted that is moved to includes: to be moved to the reality
Border sort positions, according to the structural information of the part to be sorted, the suction nozzle for controlling corresponding position draws the part to be sorted.
In the above-mentioned technical solutions, guarantee the part that will not be drawn to side when drawing part to be sorted, improve sorting
Accuracy.
Further, it includes: according to sorting device that the suction nozzle of the control corresponding position, which draws the part to be sorted,
Sorting height is calculated in the thickness of height and the part to be sorted；In the sorting height, the suction nozzle of corresponding position is controlled
Draw the part to be sorted.
In the above-mentioned technical solutions, part to be sorted is drawn in reasonable sorting height, it will not can not because of hypertelorism
Be drawn onto part to be sorted, will not allow suction means decline it is too low and damage.
Further, movement part to be sorted, being placed on the corresponding position of the planned position information includes:
The part to be sorted is rotated into the corresponding angle of the planned position information, and the part to be sorted is moved to correspondence
Position place.
In the above-mentioned technical solutions, part to be sorted is accurately placed on planned position, such as transferring pallet, ensure that point
The accuracy picked.
It is further, described that part to be sorted is moved to corresponding position and is placed includes: to move the part to be sorted
The corresponding height of the planned position information is moved, the suction nozzle that the part to be sorted is sucked in control is no longer sucked described to be sorted
Part makes the part to be sorted be placed in the corresponding position of the planned position information.
In the above-mentioned technical solutions, draw part to be sorted in reasonable sorting height, will not make because of hypertelorism to
Position offset is dropped out under sorting part, suction means will not be allowed to damage.
The present invention also provides a kind of sorting devices, comprising: module is obtained, for obtaining the preliminary actual bit of part to be sorted
It sets, and obtains the planned position information of the part to be sorted from presetting database；Locating module, for be moved to it is described
After rough location, the practical sort positions of part to be sorted are positioned；Module is drawn, for being moved to the practical sort positions
Afterwards, the part to be sorted is drawn；Execution module is placed on the planned position for moving the part to be sorted
The corresponding position of information.
In the above-mentioned technical solutions, it instead of the process of existing manual sorting, is sorted automatically, saves artificial point
The time picked and physical strength alleviate the labor intensity of staff, improve production efficiency.
Further, the locating module, the practical sort positions for positioning part to be sorted include: that picture obtains submodule
Block obtains the part picture of part to be sorted；Picture handles submodule, handles the part picture, obtains described to be sorted zero
The position angle information of parts profile or label in the part picture on part；Information computational submodule, according to institute's rheme
Set the corresponding parts profile information of angle information or mark information theoretical position angle information in the preset database and sorting
The offset information of the part to be sorted is calculated in the current location angle information of equipment；And according to the offset
The theoretical sort positions information of information and the part to be sorted in the preset database, is calculated the part to be sorted
Practical sort positions.
Further, the information computational submodule according to the parts profile or marks the position in the part picture
Set the theoretical position angle letter of angle information, the corresponding parts profile of the position angle information or label in the preset database
The current location angle information of breath and sorting device, the offset information that the part to be sorted is calculated includes: the letter
Computational submodule is ceased, according to the parts profile or position angle information and the sorting in the part picture is marked to set
Standby current location angle information is calculated parts profile or marks the physical location angle information in physical coordinates system；
And according to the physical location angle information and the theoretical position angle information, the offset information is calculated.
Further, the absorption module, drawing the part to be sorted includes: the absorption module, according to described wait divide
The structural information for picking part, the suction nozzle for controlling corresponding position draw the part to be sorted.
Further, the absorption module, it includes: the absorption that the suction nozzle for controlling corresponding position, which draws the part to be sorted,
Sorting height is calculated according to the thickness of the height of sorting device and the part to be sorted in module；And at described point
Height is picked, the suction nozzle for controlling corresponding position draws the part to be sorted.
Further, the execution module is placed on the planned position information for moving the part to be sorted
Corresponding position includes: the execution module, and the part to be sorted is rotated to the corresponding angle of the planned position information,
And the part to be sorted is moved to corresponding position and is placed.
Further, the execution module, it includes: the execution mould that part to be sorted, which is moved to corresponding position and is placed,
The part to be sorted is moved to the corresponding height of the planned position information by block, and the part to be sorted is sucked in control
The part to be sorted is no longer sucked in suction nozzle, and the part to be sorted is made to be placed in the corresponding position of the planned position information.
Compared with prior art, the method for sorting of part of the invention and sorting device beneficial effect are:
The present invention is sorted automatically instead of the process of existing manual sorting, save manual sorting time and
Physical strength alleviates the labor intensity of staff, improves production efficiency；And zero can be well placed in advance for subsequent parts dispatching
Part further increases production efficiency to save reason material process.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of method for sorting of part
And above-mentioned characteristic, technical characteristic, advantage and its implementation of sorting device are further described.
Fig. 1 is the flow chart of method for sorting one embodiment of part of the present invention；
Fig. 2 is the flow chart of another embodiment of the method for sorting of part of the present invention；
Fig. 3 is the structural schematic diagram of suction means of the present invention；
Fig. 4 is the structural schematic diagram of each part one embodiment to be sorted on motherboard of the present invention；
Fig. 5 is the structural schematic diagram of present invention sorting pts system one embodiment；
Fig. 6 is the structural schematic diagram of sorting device one embodiment of the present invention；
Fig. 7 is the structural schematic diagram of another embodiment of sorting device of the present invention.
Drawing reference numeral explanation:
1. workbench, 2. motherboards, 3. sorting devices, 4. sorting frames, 5. suction means, 6 suction nozzles, 10. locating modules, 11.
Picture acquisition submodule, 12. pictures handle submodule, and 13. information computational submodules, 20. draw module, and 30. obtain module,
40. execution module.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
In the actual production process, motherboard is placed in (for a cutting) workbench, when be cut into thereon respectively to
After sorting part, each part to be sorted is sorted by sorting device.
Fig. 1 shows one embodiment of the method for sorting of part of the present invention, and the method is applied to sorting device, comprising:
S101 sorting device obtains the preliminary physical location of part to be sorted, and to be sorted zero is obtained from presetting database
The planned position information of part.
Specifically, sorting device obtains there are many modes of the preliminary physical location of part to be sorted, and such as: by workbench
Or the preliminary physical location of part to be sorted is sent to sorting device by cutting machine；Or, by workbench or cutting machine by motherboard
Physical location is sent to sorting device, and sorting device obtains the theoretical sort positions of the part to be sorted on the motherboard, according to reason
Going out the preliminary physical location of part to be sorted by the actual calculation of location of sort positions and motherboard, (physical location of motherboard is equivalent to
0 point, it is known that preliminary physical location can be obtained according to the theoretical sort positions of sorting part after 0 coordinate) etc..Preliminary actual bit
Setting allows to have certain error, and extended meeting is accurately positioned the practical sort positions of part to be sorted after sorting device.
Each parts information on each motherboard is stored in presetting database, comprising: the theoretical sort positions of each part
Which position of which motherboard (be located at), structural information (such as: size, shape, weight, thickness etc.), planned position information
Deng.
There are many set-up modes of planned position information, and the present embodiment is any setting, realizes automatically by part to be sorted
It sorts out, improves sorting efficiency.Preferably, which can place sorting frame, transferring pallet etc., and part to be sorted is placed in
In sorting frame, transferring pallet, it is readily transported.
In other embodiments, the setting of planned position information is arranged according to the subsequent whereabouts information of part, can go identical
To placing part together；Alternatively, being arranged together according to whereabouts information and the structural information of part.In addition to by identical whereabouts
Placing part distributes specific location, placement angle, height etc. together, according to the structural information of the part.Planned position information
In height limit according to the actual situation.Such as: there is the risk of falling down more than certain altitude, therefore, is provided with one
Highly；If part is placed in sorting frame for another example, sorting cannot be greater than according to the part height of the placement in sorting frame
What the height of frame determined.Specific location and placement angle are according to the size of the placement location, shape of the part of each placement, big
It is small to be calculated according to utilization rate maximization principle.
Such as: if part is placed in sorting frame, and according to the processing type of the subsequent needs of part (i.e. whereabouts information)
When planned position information is arranged with structural information, the height for sorting frame is 20mm, motherboard with a thickness of 3mm, sorting in frame can be with
Arrange 6 layers of part, the planned position information of part to be sorted be sort on the left of the second layer of frame A, with part A point with to sort frame specific
While the angle at 30 degree is placed.The coordinate that these above-mentioned information can directly adopt in physical coordinates system is indicated, such as: X, Y
Indicate that part to be sorted is placed into the position of which sorting frame, Z indicates that the height of sorting device distance sorting frame, angle then indicate
The angle that part is placed.
S102 sorting device is moved to the rough location, and positions the practical sort positions of part to be sorted.
Specifically, the purpose of sorting device is that each part being cut into is sorted to corresponding position, sorting device
On the practical sort positions of part to be sorted are positioned equipped with vision system (such as: industrial camera).
Practical sort positions refer to current on sorting work platform after part to be sorted is cut into from motherboard
Position, although having known the theoretical sort positions of this part to be sorted before cutting, cutting deformation in cutting process,
Place the rolling of workbench etc. of motherboard other extraneous factors can allow the part to be sorted after cutting practical sort positions and
There is certain offset between theoretical sort positions.
The practical sort positions for positioning part to be sorted, that is, allow sorting device to recognize the exact position of equipment to be sorted,
Convenient for subsequent accurate absorption.
S103 sorting device is moved to practical sort positions and draws part to be sorted.
Specifically, drawing part to be sorted using the suction means with suction nozzle, there are many suction means, such as: magnetic
Suction means, the suction means of evacuated air sucker etc. of property, this suction means suction process is simple and convenient.
The mobile part to be sorted of S104 sorting device, is placed on the corresponding position of planned position information.
Specifically, after sorting device has drawn part to be sorted, according to its corresponding planned position information by be sorted zero
Part moves on to corresponding position and places, and realizes the automated sorting of part.
Optionally, when planned position information includes position and angle, the mobile part to be sorted of S104 sorting device will
It includes: that part to be sorted is rotated to the corresponding angle of planned position information that it, which is placed in the corresponding position of planned position information,
And part to be sorted is moved to corresponding position and is placed.
Preferably, part to be sorted is moved to corresponding position and is placed includes: that part to be sorted is moved to planning position
Confidence ceases corresponding height, and the suction nozzle that part to be sorted is sucked in control is no longer sucked the part to be sorted, makes part to be sorted
It is placed in the corresponding position of planned position information.
Specifically, motherboard and place the position of part to be sorted and be different position, and motherboard consider part distribution because
Plain (being cut into each part to be sorted by principle of motherboard peak use rate) and planned position information consider the factor of part distribution
(between guaranteeing that smooth, every layer of dress the part space utilization of every layer of part is maximum, part of upper layer will not be embedded between lower layer's part
Gap etc.) it is different, cause the angle when angle and placement of the part to be sorted after cutting not necessarily identical, therefore, it is necessary to inhale
After having taken part to be sorted, corresponding angle in planned position information is rotated it to.
It in actual use, include the actual angle of part to be sorted in practical sort positions, sorting device is according to reality
The deviation between angle in angle and planned position information is rotated, and part to be sorted is made to rotate to planned position information pair
The angle answered.
The medium-altitude setting of planned position information is to allow sorting device in suitable height control suction nozzle no longer sorption
Part to be sorted is accurately placed in the corresponding position of planned position information and height, avoids sorting device by part to be sorted
The possibility of error, damage.
Such as: a part to be sorted is placed in the 3rd layer of a certain position, the upper surface distance sorting of the second layer is set
A standby permanent datum (such as: the highest point of suction head apparatus) is highly 15cm, when the 2nd of sorting device and this sorting frame the
When the upper surface distance 15cm of layer, the lower surface for the part to be sorted being sucked just touch the 2nd layer of upper surface, Neng Gouping
Surely, it accurately places.If part to be sorted is just no longer sucked apart from too far, such as: 18cm, part to be sorted have a freedom
The process of falling bodies, the case where having positional shift generation；If distance is too small low, such as: 13cm, the 2nd layer of part can stop point
The possibility that equipment continues decline is picked, leads to system fault, possibly even damage.
It should be noted that part to be sorted is rotated to the corresponding angle of planned position information, is moved to corresponding position
Set, height they between be not intended to limit specific sequencing, as long as part to be sorted can be placed into according to corresponding angle
The correct position of corresponding sorting frame.
In the present embodiment, sorting device is sorted automatically instead of the process of existing manual sorting, is saved artificial
The time of sorting and physical strength alleviate the labor intensity of staff, improve production efficiency.
In other embodiments, it when planned position information is arranged according to the subsequent whereabouts information of part, is directly realized certainly
It is strong to save manual sorting, the time of reason material and physical strength, the labour for significantly reducing staff for the process of dynamic sorting and reason material
Degree, further improves production efficiency.
Fig. 2 shows the embodiments of the method for sorting of another part of the invention, comprising:
S201 sorting device obtains the preliminary physical location of part to be sorted, and to be sorted zero is obtained from presetting database
The planned position information of part.
S202 sorting device is moved to rough location, and the practical sort positions for positioning part to be sorted include:
S212 sorting device obtains the part picture of part to be sorted；
S222 sorting device parts processed picture obtains the parts profile of part to be sorted or the label on part in part
Position angle information in picture；
S232 sorting device is according to parts profile or marks position angle information in the part picture, position angle
The corresponding parts profile of information or the current location for marking theoretical position angle information and sorting device in the preset database
Offset information (the i.e. offset of the offset of X, Y both direction and rotation angle of part to be sorted is calculated in angle information
Amount)；
S242 sorting device is believed according to the theoretical sort positions of offset information and part to be sorted in the preset database
Breath, is calculated the practical sort positions (practical X, Y coordinates and actual angle i.e. in physical coordinates system) of part to be sorted.
Specifically, theoretical sort positions information refers to that (standard state is set according to actual conditions, and female in normal conditions
Planning when plate is cut in relation to) X, Y coordinates of fixed point on part to be sorted (such as: center of gravity, central point etc.) and to point
Any one vertex is picked on part to the angle of fixed point.
The label being coated on parts profile or part using each part to be sorted, sorting device pass through vision system
The part picture that (such as: industrial camera) obtains part to be sorted is identified in part picture by image processing techniques
The position angle information of parts profile or label.The position angle information of parts profile or label refers to the parts profile or label
Physical location (such as: practical X, Y coordinates) and actual angle in physical coordinate system.
The shape of label and position are not construed as limiting, and the mark shape on each part can be different, can also be identical；Each part subscript
The position of note can be different, can also be identical, determine according to actual needs.
The selection of parts profile and label can be determined according to the actual situation, label has recognition accuracy high but needs
The cost and reality to make marks, parts profile are self-assembling formation after part cutting, but the visual field to video camera, precision, algorithm
It is more demanding.
When parts processed picture, when obtaining the position angle information of parts profile, just calling should be wait divide in presetting database
Pick the theoretical position angle information of the parts profile of part；When the position angle information marked, preset data is just called
The theoretical position angle information of the label of the part to be sorted of this in library carries out subsequent calculating.
Optionally, S232 according to parts profile or marks position angle information in the part picture, position angle
The corresponding parts profile of information or the current location for marking theoretical position angle information and sorting device in the preset database
Angle information, the offset information that part to be sorted is calculated include:
According to the current location of the position angle information and sorting device of parts profile or label in the part picture
Angle information is calculated parts profile or marks the physical location angle information in physical coordinates system；According to physical location
Angle information and theoretical position angle information, are calculated offset information.
Specifically, the parts profile of each part or the theoretical position angle information of label are stored in presetting database,
After parts profile is calculated or marks the physical location angle information in physical coordinates system, the two is compared, and is calculated
Offset information is obtained, is laid the foundation for the subsequent practical sort positions for calculating part to be sorted in physical coordinates system.
The accurate positioning that part to be sorted is carried out using vision system and parts profile, label realizes that process is convenient, fast
It is prompt.
It includes: that S213 is moved to practical sorting position that S203 sorting device, which is moved to practical sort positions and draws part to be sorted,
It sets, according to the structural information (shape, size, weight, thickness etc.) of part to be sorted, the suction nozzle for controlling corresponding position is drawn wait divide
Pick part.
Specifically, sorting device can be moved to the preliminary physical location of part to be sorted when positioning part to be sorted,
After practical sort positions are calculated, it can adjust to practical sort positions.
Suction means 5 is equipped with multiple suction nozzles 6, as shown in figure 3, according to the structural information of part to be sorted (such as: geometry
Shape, size, weight, thickness etc.) its position of centre of gravity is calculated, so that it is determined that the sorting angle of suction means and specific inhaling
Head, it is ensured that while sufficient amount of suction nozzle participates in drawing part to be sorted, be not drawn onto the other parts in side.
Suction means controls the enabled of different suction nozzles, the suction nozzle absorption part to be sorted being enabled, and the suction nozzle being enabled
Without departing from the parts profile to be sorted, it would not also be drawn onto adjacent part.
As shown in figure 4, having cross shape marks on each part (in figure not to be cut into multiple parts on a motherboard
Show), the circle in figure, which represents this position and has a corresponding suction nozzle, to be drawn, and circle is not physical presence, is only
Drop point when facilitating the suction nozzle for illustrating corresponding position to draw part to be sorted is schematically drawn.
Optionally, it includes: according to the height of sorting device and wait divide that the suction nozzle for controlling corresponding position, which draws part to be sorted,
Sorting height is calculated in the thickness for picking part；In sorting height, the suction nozzle for controlling corresponding position draws part to be sorted.
Specifically, the height of workbench and the height of sorting device are usually fixed, and it is placed in the mother on workbench
The thickness variable of plate, the thickness of part to be sorted are determined based on motherboard, therefore, sort to be sorted zero on different motherboards
When part, sorting height is different, according to the actual sorting height of the THICKNESS CALCULATION of the height of sorting device and part to be sorted, sorting
After equipment controls suction means arrival sorting height, to the suction nozzle excitation of corresponding position, part to be sorted is drawn.
The calculating for sorting height makes suction nozzle be enabled in accurate position, accurately draw part to be sorted, will not because away from
Part to be sorted can not be drawn too far from part to be sorted, will not cause to sort because being pressed onto after part to be sorted constantly decline
The case where equipment damage.
The mobile part to be sorted of S204 sorting device, being placed on the corresponding position of planned position information includes:
Part to be sorted is rotated to the corresponding angle of planned position information by S214, and be moved into corresponding position and
Corresponding height, the suction nozzle that part to be sorted is sucked in control are no longer sucked part to be sorted, part to be sorted are made to be placed in planning
The corresponding position of location information.
The explanation of the present embodiment part same as the previously described embodiments refers to above-described embodiment, and in this not go into detail.
The present embodiment is accurately positioned part to be sorted by vision system, can rationally control when drawing part to be sorted
The suction nozzle of each position can either successfully draw part to be sorted, be not in again the case where drawing adjacent part, ensure that point
The accurate absorption for picking part, is put into suitable position.It realizes automated sorting, reason material, improves the production efficiency of part.
Fig. 6 shows a kind of embodiment of sorting device of the present invention, comprising:
Module 30 is obtained, for obtaining the preliminary physical location of part to be sorted, and from presetting database described in acquisition
The planned position information of part to be sorted.
Specifically, sorting device obtains there are many modes of the preliminary physical location of part to be sorted, and such as: by workbench
Or the preliminary physical location of part to be sorted is sent to sorting device by cutting machine；Or, by workbench or cutting machine by motherboard
Physical location is sent to sorting device, and sorting device obtains the theoretical sort positions of the part to be sorted on the motherboard, according to reason
Going out the preliminary physical location of part to be sorted by the actual calculation of location of sort positions and motherboard, (physical location of motherboard is equivalent to
0 point, it is known that preliminary physical location can be obtained according to the theoretical sort positions of sorting part after 0 coordinate) etc..Preliminary actual bit
Setting allows to have certain error, and extended meeting is accurately positioned the practical sort positions of part to be sorted after sorting device.
Each parts information on each motherboard is stored in presetting database, comprising: the theoretical sort positions of each part
Which position of which motherboard (be located at), structural information (such as: size, shape, weight, thickness etc.), planned position information
Deng.
There are many set-up modes of planned position information, and the present embodiment is any setting, realizes automatically by part to be sorted
It sorts out, improves sorting efficiency.Preferably, which can place sorting frame, transferring pallet etc., and part to be sorted is placed in
In sorting frame, transferring pallet, it is readily transported.
In other embodiments, the setting of planned position information is arranged according to the subsequent whereabouts information of part, can will be identical
The placing part of whereabouts is together；Alternatively, being arranged together according to whereabouts information and the structural information of part.In addition to by identical whereabouts
Placing part together, distribute specific location, placement angle, height etc. according to the structural information of the part.Planned position letter
Height in breath limits according to the actual situation.Such as: there is the risk of falling down more than certain altitude, therefore, is provided with one
A height；If part is placed in sorting frame for another example, it cannot be greater than according to the part height of the placement in sorting frame and be divided
Pick the height determination of frame.Specific location and placement angle be according to the size of placement location, the shape of the part of each placement,
Size is calculated according to utilization rate maximization principle.
Locating module 10, for after being moved to the rough location, positioning the practical sort positions of part to be sorted.
Specifically, the purpose of sorting device is that each part being cut into is sorted to corresponding planned position, sorting
The practical sort positions of part to be sorted are positioned in equipment equipped with vision system (such as: industrial camera).
Practical sort positions refer to current on sorting work platform after part to be sorted is cut into from motherboard
Position, although having known the theoretical sort positions of this part to be sorted before cutting, cutting deformation in cutting process,
Place the rolling of workbench etc. of motherboard other extraneous factors can allow the part to be sorted after cutting practical sort positions and
There is certain offset between theoretical sort positions.
The practical sort positions for positioning part to be sorted, that is, allow sorting device to recognize the exact position of equipment to be sorted,
Convenient for subsequent accurate absorption.
Module 20 is drawn, for drawing part to be sorted after being moved to practical sort positions.
Specifically, drawing part to be sorted using the suction means with suction nozzle, there are many suction means, such as: magnetic
Suction means, the suction means of evacuated air sucker etc. of property, this suction means suction process is simple and convenient.
Execution module 40 is placed on the corresponding position of planned position information for moving part to be sorted.
Specifically, after sorting device has drawn part to be sorted, according to its corresponding planned position information by be sorted zero
Part moves on to corresponding position and places, and realizes the automated sorting of part.
Optionally, when planned position information includes position and angle, execution module 40, for moving to be sorted zero
Part, being placed on the corresponding position of planned position information includes: execution module 40, and part to be sorted is rotated to planned position
The corresponding angle of information, and part to be sorted is moved to corresponding position and is placed.
Preferably, execution module 40, it includes: execution module 40 that part to be sorted, which is moved to corresponding position and is placed, will
Part to be sorted is moved to the corresponding height of planned position information, the suction nozzle that part to be sorted is sucked in control be no longer sucked it is described to
Part is sorted, part to be sorted is made to be placed in the corresponding position of planned position information.
Specifically, the position of motherboard and placement part to be sorted is different two positions, and motherboard considers part distribution
Factor (being cut into each part to be sorted by principle of motherboard peak use rate) and planned position information consider part distribution
Factor (guarantees that smooth, every layer of dress the part space utilization of every layer of part is maximum, part of upper layer will not be embedded between lower layer's part
Gap etc.) it is different, the angle when angle and placement of the part to be sorted after leading to cutting is not necessarily identical, therefore, it is necessary to
After having drawn part to be sorted, corresponding angle in planned position information is rotated it to.
It in actual use, include the actual angle of part to be sorted in practical sort positions, sorting device is according to reality
The deviation between angle in angle and planned position information is rotated, and part to be sorted is made to rotate to planned position information pair
The angle answered.
The medium-altitude setting of planned position information is to allow sorting device in suitable height control suction nozzle no longer sorption
Part to be sorted is accurately placed position corresponding in planned position information by part to be sorted, avoids sorting device error, damage
Bad possibility.Specific example refers to corresponding embodiment of the method, and details are not described herein.
It should be noted that part to be sorted is rotated to the corresponding angle of planned position information, is moved to corresponding position
Set, height they between be not intended to limit specific sequencing, as long as part to be sorted can be placed into according to corresponding angle
The correct position of corresponding sorting frame.
In the present embodiment, sorting device is sorted automatically instead of the process of existing manual sorting, is saved artificial
The time of sorting and physical strength alleviate the labor intensity of staff, improve production efficiency.
In other embodiments, it when planned position information is arranged according to the subsequent whereabouts information of part, is directly realized certainly
It is strong to save manual sorting, the time of reason material and physical strength, the labour for significantly reducing staff for the process of dynamic sorting and reason material
Degree, further improves production efficiency.
Fig. 7 shows a kind of another embodiment of sorting device, comprising:
Module 30 is obtained, for obtaining the preliminary physical location of part to be sorted, and from presetting database described in acquisition
The planned position information of part to be sorted.
Locating module 10, for after being moved to the rough location, positioning the practical sort positions packet of part to be sorted
It includes:
Picture acquisition submodule 11 obtains the part picture of part to be sorted；
Picture handles submodule 12, and parts processed picture obtains the parts profile on part to be sorted or marks in part
Position angle information in picture；
Information computational submodule 13 according to parts profile or marks position angle information, position angle in part picture
It spends the corresponding parts profile of information or marks the present bit of theoretical position angle information and sorting device in the preset database
Set angle information, be calculated part to be sorted offset information (i.e. the offset of X, Y both direction and rotation angle it is inclined
Shifting amount)；
And the theoretical sort positions information according to offset information and part to be sorted in the preset database, it calculates
Obtain the practical sort positions (practical X, Y coordinates and actual angle i.e. in physical coordinates system) of part to be sorted.
Specifically, using each part to be sorted parts profile or above the label that sprays, sorting device pass through vision
The part picture that system (such as: industrial camera) obtains part to be sorted is identified by image processing techniques in part picture
In parts profile or mark position angle information.The position angle information of parts profile or label refers to the parts profile or mark
Note physical location (such as: practical X, Y coordinates) and actual angle in physical coordinate system.
The shape of label and position are not construed as limiting, and the mark shape on each part can be different, can also be identical；Each part subscript
The position of note can be different, can also be identical, determine according to actual needs.
The selection of parts profile and label can be determined according to the actual situation, label has recognition accuracy high but needs
The cost and reality to make marks, parts profile are self-assembling formation after part cutting, but the visual field to video camera, precision, algorithm
It is more demanding.
When parts processed picture, when obtaining the position angle information of parts profile, just calling should be wait divide in presetting database
Pick the theoretical position angle information of the parts profile of part；When the location information marked, just call in presetting database
The theoretical position angle information of the label of the part to be sorted carries out subsequent calculating.
Optionally, information computational submodule 13, according to parts profile or mark position angle information in part picture,
The corresponding parts profile of position angle information or label theoretical position angle information in the preset database and sorting device
Current location angle information, the offset information that part to be sorted is calculated include:
Information computational submodule 13 according to parts profile or marks position angle information and sorting in part picture to set
The physical location angle information marked in physical coordinates system is calculated in standby current location angle information；And according to reality
Border position angle information and theoretical position angle information, are calculated offset information.
Specifically, the parts profile of each part or the theoretical position angle information of label are stored in presetting database,
After parts profile is calculated or marks the physical location angle information in physical coordinates system, the two is compared, and is calculated
Offset information is obtained, is laid the foundation for the subsequent practical sort positions for calculating part to be sorted in physical coordinates system.
The accurate positioning that part to be sorted is carried out using vision system and parts profile or label realizes that process is convenient, fast
It is prompt.
Module 20 is drawn, includes: absorption module, root for after being moved to practical sort positions, drawing part to be sorted
According to the structural information (shape, size, weight, thickness etc.) of part to be sorted, the suction nozzle for controlling corresponding position draws to be sorted zero
Part.
Specifically, sorting device can be moved to the preliminary physical location of part to be sorted when positioning part to be sorted,
After practical sort positions are calculated, it can adjust to practical sort positions.
Suction means is equipped with multiple suction nozzles, according to the structural information of part to be sorted (such as: geometry, size, again
Amount, thickness etc.) position of centre of gravity that calculates it, so that it is determined that the sorting angle of suction means and specific suction nozzle, it is ensured that number enough
While the suction nozzle of amount participates in drawing part to be sorted, it is not drawn onto the other parts in side.
Suction means controls the enabled of different suction nozzles, the suction nozzle absorption part to be sorted being enabled, and the suction nozzle being enabled
Without departing from the parts profile to be sorted, it would not also be drawn onto adjacent part.It is real that specific example refers to corresponding method
Example is applied, details are not described herein.
Optionally, module 20 is drawn, it includes: to draw module 20, root that the suction nozzle for controlling corresponding position, which draws part to be sorted,
According to the height of sorting device and the thickness of part to be sorted, sorting height is calculated；And in sorting height, control is corresponding
The suction nozzle of position draws part to be sorted.
Specifically, the height of workbench and the height of sorting device are usually fixed, and it is placed in the mother on workbench
The thickness variable of plate, the thickness of part to be sorted are determined based on motherboard, therefore, sort to be sorted zero on different motherboards
When part, sorting height is different, according to the actual sorting height of the THICKNESS CALCULATION of the height of sorting device and part to be sorted, sorting
It is enabled to the suction nozzle of corresponding position after equipment controls suction means arrival sorting height, draw part to be sorted.
Sort height calculating, so that suction nozzle is enabled in accurate position and accurately draw part to be sorted, will not because away from
Part to be sorted can not be drawn too far from part to be sorted, will not cause to sort because being pressed onto after part to be sorted constantly decline
The case where equipment damage.
Execution module 40, for moving part to be sorted, being placed on the corresponding position of planned position information includes: to hold
Part to be sorted is rotated to the corresponding angle of planned position information and corresponding height by row module 40, and control is sucked to be sorted
Part to be sorted is no longer sucked in the suction nozzle of part, and part to be sorted is made to be placed in the corresponding position of planned position information.
The explanation of the present embodiment and above-mentioned sorting device embodiment same section refers to above-described embodiment, herein no longer in detail
Carefully repeat.
The present embodiment is accurately positioned part to be sorted by vision system, can rationally control when drawing part to be sorted
The suction nozzle of each position can either successfully draw part to be sorted, be not in again the case where drawing adjacent part, ensure that point
The accurate absorption for picking part, is put into suitable position.It realizes automated sorting, reason material, improves the production efficiency of part.
As shown in figure 5, placed a motherboard 2 on workbench 1 (lathe in other words), have on motherboard 2 be cut into it is each
Part to be sorted, motherboard top are equipped with sorting device 3, are placed with multiple sorting frames 4 beside workbench 1, sort out for placing
The part come, each sorting frame 4 are placed on designated position, that is to say, that the coordinate of each sorting frame is fixed.Sorting is set
After standby 3 recognize the practical sort positions an of part to be sorted, it is moved to this sort positions, decline suction means to sorting
Highly, according to the structural information of part to be sorted, the suction nozzle for controlling corresponding position on suction means draws the part to be sorted, on
Suction means is risen, part to be sorted is moved on the corresponding position of the corresponding sorting frame 4 of planned position information by sorting device 3
Side, rotate part to be sorted to corresponding angle, drop to the corresponding height of planned position information, part to be sorted is sucked in control
Suction nozzle part to be sorted is no longer sucked, make part to be sorted be placed in sorting frame 4 in.
It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (14)
1. a kind of method for sorting of part, which is characterized in that be applied to sorting device, comprising:
The preliminary physical location of part to be sorted is obtained, and obtains the planned position of the part to be sorted from presetting database
Information；
It is moved to the rough location, and positions the practical sort positions of part to be sorted；
It is moved to the practical sort positions and draws the part to be sorted；
The mobile part to be sorted, is placed on the corresponding position of the planned position information.
2. the method for sorting of part as described in claim 1, which is characterized in that the practical sorting of the positioning part to be sorted
Position includes:
Obtain the part picture of part to be sorted；
The part picture is handled, the parts profile on the part to be sorted is obtained or marks the position in the part picture
Set angle information；
According to the parts profile or mark position angle information, the position angle information in the part picture corresponding
Parts profile or label theoretical position angle information in the preset database and the sorting device current location angle
The offset information of the part to be sorted is calculated in information；
According to the theoretical sort positions information of the offset information and the part to be sorted in the preset database, calculate
To the practical sort positions of the part to be sorted.
3. the method for sorting of part as claimed in claim 2, which is characterized in that described according to the parts profile or label
Position angle information, the corresponding parts profile of the position angle information or label in the part picture is in preset data
The current location angle information of theoretical position angle information and the sorting device in library, is calculated the part to be sorted
Offset information include:
According to the parts profile or mark the current of position angle information in the part picture and the sorting device
Position angle information is calculated parts profile or marks the physical location angle information in physical coordinates system；
According to the physical location angle information and the theoretical position angle information, the offset information is calculated.
4. the method for sorting of part as described in claim 1, which is characterized in that described to be moved to the practical sort positions suction
The part to be sorted is taken to include:
The practical sort positions are moved to, according to the structural information of the part to be sorted, the suction nozzle for controlling corresponding position is inhaled
Take the part to be sorted.
5. the method for sorting of part as claimed in claim 4, which is characterized in that the suction nozzle of the control corresponding position is drawn
The part to be sorted includes:
According to the thickness of the height of sorting device and the part to be sorted, sorting height is calculated；
In the sorting height, the suction nozzle for controlling corresponding position draws the part to be sorted.
6. the method for sorting of part as described in claim 1, which is characterized in that movement part to be sorted is put
Being placed in the corresponding position of the planned position information includes:
The part to be sorted is rotated into the corresponding angle of the planned position information, and the part to be sorted is moved to
It places corresponding position.
7. the method for sorting of part as claimed in claim 6, which is characterized in that described that part to be sorted is moved to correspondence
Position place include:
The part to be sorted is moved to the corresponding height of the planned position information, the part to be sorted is sucked in control
The part to be sorted is no longer sucked in suction nozzle, and the part to be sorted is made to be placed in the corresponding position of the planned position information.
8. a kind of sorting device characterized by comprising
Module is obtained, for obtaining the preliminary physical location of part to be sorted, and is obtained from presetting database described to be sorted
The planned position information of part；
Locating module, for after being moved to the rough location, positioning the practical sort positions of part to be sorted；
Module is drawn, for drawing the part to be sorted after being moved to the practical sort positions；
Execution module is placed on the corresponding position of the planned position information for moving the part to be sorted.
9. sorting device as claimed in claim 8, which is characterized in that the locating module, for positioning part to be sorted
Practical sort positions include:
Picture acquisition submodule obtains the part picture of part to be sorted；
Picture handles submodule, handles the part picture, obtains the parts profile on the part to be sorted or marks in institute
State the position angle information in part picture；
Information computational submodule according to the parts profile or marks position angle information in the part picture, described
The corresponding parts profile of position angle information or label theoretical position angle information in the preset database and sorting device
The offset information of the part to be sorted is calculated in current location angle information；
And the theoretical sort positions information according to the offset information and the part to be sorted in the preset database,
The practical sort positions of the part to be sorted are calculated.
10. sorting device as claimed in claim 9, which is characterized in that the information computational submodule, according to the part wheel
Position angle information, the corresponding parts profile of the position angle information or label wide or that label is in the part picture exist
The current location angle information of theoretical position angle information and sorting device in presetting database is calculated described to be sorted
The offset information of part includes:
The information computational submodule, according to the parts profile or mark position angle information in the part picture and
The current location angle information of the sorting device is calculated parts profile or marks the physical location in physical coordinates system
Angle information；
And according to the physical location angle information and the theoretical position angle information, the offset letter is calculated
Breath.
11. sorting device as claimed in claim 8, which is characterized in that the absorption module draws the part packet to be sorted
It includes:
The absorption module, according to the structural information of the part to be sorted, the suction nozzle absorption for controlling corresponding position is described wait divide
Pick part.
12. sorting device as claimed in claim 11, which is characterized in that the absorption module controls the suction nozzle of corresponding position
Drawing the part to be sorted includes:
Sorting height is calculated according to the thickness of the height of sorting device and the part to be sorted in the absorption module；With
And in the sorting height, the suction nozzle for controlling corresponding position draws the part to be sorted.
13. sorting device as claimed in claim 8, which is characterized in that the execution module, for moving described to be sorted zero
Part, being placed on the corresponding position of the planned position information includes:
The part to be sorted is rotated to the corresponding angle of the planned position information by the execution module, and will it is described to
Sorting part is moved to corresponding position and places.
14. sorting device as claimed in claim 13, which is characterized in that part to be sorted is moved to by the execution module
It places corresponding position
The part to be sorted is moved to the corresponding height of the planned position information by the execution module, and institute is sucked in control
The part to be sorted is no longer sucked in the suction nozzle for stating part to be sorted, and the part to be sorted is made to be placed in the planned position letter
Cease corresponding position.
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