CN114682517A

CN114682517A - Sorting method and device

Info

Publication number: CN114682517A
Application number: CN202210308324.6A
Authority: CN
Inventors: 谢永钦; 陈军; 王东东; 王卫武; 蒋长洪
Original assignee: Shenzhen Sking Intelligent Equipment Co Ltd
Current assignee: Shenzhen Sking Intelligent Equipment Co Ltd
Priority date: 2022-03-24
Filing date: 2022-03-24
Publication date: 2022-07-01

Abstract

The embodiment of the invention discloses a sorting method and a sorting device, which are applied to the technical field of automatic sorting and can solve the problems of influencing the processing efficiency of products and low intelligent degree of mechanical equipment. The method comprises the following steps: placing a tray to be loaded at a material taking position, and placing a plurality of products on the tray to be loaded; moving a plurality of products from a tray to be loaded to a sorting tray by a mechanical arm; acquiring product information of each product on the sorting tray; determining grade information of each product according to the product information and a preset product grading rule; and moving each product to a tray to be loaded corresponding to the grade information according to the grade information to obtain a finished product tray.

Description

Sorting method and device

Technical Field

The embodiment of the invention relates to the technical field of automatic sorting, in particular to a sorting method and a sorting device.

Background

At present, the production, assembly, sorting, packaging and other operations of products are mainly completed manually, and although some mechanical equipment can replace manual operation, when a plurality of operation steps need to be completed, the products cannot be managed in a centralized manner. In the process of feeding and sorting products, the product information is not collected and interacted, the processing efficiency of the products is influenced, and the intelligent degree of mechanical equipment is not high.

Disclosure of Invention

The embodiment of the invention provides a sorting method and a sorting device, which are used for solving the problems that the processing efficiency of products is influenced and the intelligent degree of mechanical equipment is not high in the prior art.

In a first aspect, a sorting method is provided, the method comprising: placing a tray to be loaded at a material taking position, wherein a plurality of products are placed on the tray to be loaded;

moving the plurality of products from the tray to be loaded to a sorting tray by a robotic arm;

obtaining product information of each product on the sorting tray;

determining the grade information of each product according to the product information and a preset product grading rule;

and moving each product to a tray to be loaded corresponding to the grade information according to the grade information to obtain a finished product tray corresponding to the grade information.

As an alternative implementation, in the first aspect of the embodiment of the present invention, the moving the plurality of products from the tray to be loaded to the sorting tray by the robot arm includes:

acquiring tray information of the tray to be loaded and product information of the products;

matching the tray information with the product information;

and if the matching is successful, moving the products from the tray to be loaded to the sorting tray through the mechanical arm.

moving the products from the tray to be loaded to a material receiving carrying platform by the mechanical arm;

acquiring an image through an industrial camera, wherein the image comprises the plurality of products and the material receiving carrying platform;

adjusting the plurality of products to preset positions according to the image;

and moving the products to the sorting tray from the preset positions on the material receiving carrying platform through the mechanical arm.

acquiring product information of each product;

dividing the plurality of products into good products and defective products according to the product information of each product;

moving the defective products to a code spraying position for code spraying to obtain a product after code spraying;

and moving the genuine products and the products after code spraying to the sorting tray through the mechanical arm.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the moving each product to the tray to be loaded corresponding to the grade information according to the grade information to obtain a finished product tray corresponding to the grade information, the method further includes:

moving the sorting tray to a lifting table through a backflow cylinder;

moving the sorting tray to a sorting position through the lifting platform to execute the step of moving the product from the tray to be loaded to the sorting tray through the mechanical arm.

stacking the finished product trays corresponding to the grade information to obtain products to be delivered out of the warehouse;

and moving the product to be delivered to a delivery position.

As an optional implementation manner, in a first aspect of the embodiment of the present invention, the stacking the finished product trays corresponding to the grade information to obtain a product to be delivered from a warehouse includes:

stacking the finished product trays corresponding to the grade information, and detecting the stacking number in real time;

and when the stacking number reaches a preset number, placing an empty tray on the top of the finished product tray corresponding to the grade information through the mechanical arm to obtain the product to be delivered out of the warehouse.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the stacking the finished trays corresponding to the grade information includes:

placing a first finished product tray in a first direction;

placing a second finished product tray on top of the first finished product tray toward a second direction;

wherein the first direction and the second direction are opposite directions; the first finished product tray is any one of the finished product trays corresponding to the grade information, and the second finished product tray is a finished product tray which is adjacently stacked behind the first finished product tray.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the moving the product to be delivered to the delivery location includes:

moving the product to be delivered to a labeling position, and labeling the product to be delivered by a labeling arm to obtain a labeled product to be delivered;

moving the labeled product to be delivered to a belt lacing position, and carrying out belt lacing on the labeled product to be delivered to obtain the product to be delivered after the belt lacing;

and moving the products to be delivered out of the warehouse after the belt to the warehouse-out position.

In a second aspect, there is provided a sorting apparatus comprising: the processing module is used for placing a tray to be loaded at a material taking position, and a plurality of products are placed on the tray to be loaded;

a moving module for moving the plurality of products from the tray to be loaded to a sorting tray by a robot arm;

the acquisition module is used for acquiring product information of each product on the sorting tray;

the processing module is further used for determining the grade information of each product according to the product information and a preset product grading rule;

and the moving module is further used for moving each product to a tray to be loaded corresponding to the grade information according to the grade information to obtain a finished product tray corresponding to the grade information.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

in the embodiment of the invention, the sorting device can place the tray to be loaded at the material taking position, and a plurality of products are placed on the tray to be loaded; moving a plurality of products from a tray to be loaded to a sorting tray by a mechanical arm; acquiring product information of each product on the sorting tray; determining grade information of each product according to the product information and a preset product grading rule; and moving each product to a tray to be loaded corresponding to the grade information according to the grade information to obtain a finished product tray corresponding to the grade information. According to the scheme, the sorting device can integrate two steps of feeding and sorting into one device, namely the sorting device can directly feed and sort the products, so that the workload of workers is greatly reduced, and the processing efficiency of the products is improved; moreover, the sorting device can determine the grade information of each product according to preset product grading rules and then sort the products, so that the sorting accuracy of the sorting device can be improved, the personalized degree of sorting is improved, and the intelligent degree of the sorting device is effectively improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a first schematic flow chart of a sorting method according to an embodiment of the present invention;

FIG. 2 is a second schematic flow chart of a sorting method according to an embodiment of the present invention;

FIG. 3 is a third schematic flow chart of a sorting method according to an embodiment of the present invention;

FIG. 4 is a fourth schematic flow chart of a sorting method according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a sorting device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first" and "second," and the like, in the description and in the claims of the present invention are used for distinguishing between different objects and not for describing a particular order of the objects.

The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that, in the embodiments of the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

In the related art, operations such as production, assembly, sorting, packaging and the like of products are mainly completed by manpower, and although some mechanical equipment can replace manual operation, when a plurality of operation steps need to be completed, centralized management of the products cannot be realized. In the process of feeding and sorting products, the product information is not collected and interacted, the processing efficiency of the products is influenced, and the intelligent degree of mechanical equipment is not high.

In order to solve the above problems, embodiments of the present invention provide a sorting method and apparatus, in which a tray to be loaded is placed at a material taking position, and a plurality of products are placed on the tray to be loaded; moving a plurality of products from a tray to be loaded to a sorting tray by a mechanical arm; acquiring product information of each product on the sorting tray; determining grade information of each product according to the product information and a preset product grading rule; and moving each product to a tray to be loaded corresponding to the grade information according to the grade information to obtain a finished product tray. According to the scheme, the sorting device can integrate the two steps of feeding and sorting into one device, namely the sorting device can directly feed and sort the products, so that the workload of workers is greatly reduced, and the processing efficiency of the products is improved; moreover, the sorting device can determine the grade information of each product according to preset product grading rules and then sort the products, so that the sorting accuracy of the sorting device can be improved, the personalized degree of sorting is improved, and the intelligent degree of the sorting device is effectively improved.

As shown in fig. 1, an embodiment of the present invention provides a sorting method, which may include the steps of:

101. and placing a tray to be loaded at the material taking position.

In the embodiment of the invention, the sorting device can firstly place the tray to be loaded on the material taking position.

It should be noted that a plurality of products are placed on the tray to be loaded, a plurality of partition plates are arranged on the tray to be loaded, the tray to be loaded is divided into a plurality of compartments by the partition plates, one product is placed in each compartment, and generally, the same product is placed on one tray to be loaded.

Optionally, the sorting device can transport the tray to be loaded to the material taking position through a mechanical trolley or a robot, and can also transport the tray to be loaded to the material taking position through a worker.

Optionally, the tray to be loaded is placed at the material taking position, and the method specifically comprises the following steps: the sorting device stacks a plurality of material loading trays of treating, transports a plurality of material loading trays of treating to the elevating platform simultaneously, places a plurality of material loading trays of treating in proper order on getting the material level through the lifting unit of elevating platform.

It should be noted that should get the material position and can connect the conveyer belt, lifting unit will treat a plurality of material loading tray conveying to get after the material position, can place the material loading tray of treating at the top in getting the material position earlier, wait to get the material and accomplish the back, empty tray will flow back through the conveyer belt, then lifting unit will treat the material loading tray with next and place in getting the material position and circulate to just can obtain a plurality of products and a plurality of empty trays getting the material position.

102. The plurality of products are moved from the tray to be loaded to the sorting tray by the robot arm.

In the embodiment of the invention, after the tray to be loaded reaches the material taking position, a mechanical arm at the material taking position can clamp and take the product on the tray to be loaded and move the product.

Optionally, moving a plurality of products from the tray to be loaded to the sorting tray by a mechanical arm may specifically include: acquiring tray information of a tray to be loaded and product information of a plurality of products; matching the tray information with the product information; and if the matching is successful, moving the plurality of products from the tray to be loaded to the sorting tray through the mechanical arm.

In this implementation, before the sorting device sorts the product, the product needs to be compared, and then the sorting device can simultaneously acquire tray information and product information and match the tray information and the product information, and if the matching is successful, then the product can be correctly placed, and the product needs to be sorted, so that the mechanical arm can move the product to the sorting tray.

The two-dimensional code is adhered to each tray to be loaded, and the tray information of the tray to be loaded can be stored in the two-dimensional code; the sorting device can scan the two-dimensional code on the tray to be loaded to obtain tray information, namely the product information of the product which the tray to be loaded should bear; scanning the two-dimensional code on the product to obtain product information, finally comparing the tray information with the product information, if the matching is successful, the product can be shown to be correct in position, and the product can be matched with the tray to be loaded, so that the mechanical arm can move the product to a sorting tray; if the matching fails, namely the product is incorrectly positioned and is not matched with the tray to be loaded, the mechanical arm can move the product to the area to be processed, so that the worker can place the product in the matched tray to be loaded again.

Through above-mentioned optional implementation, sorting device can verify tray information and product information through the mode of sweeping the sign indicating number, and only the product that verifies the pass through can just continue to sort, can improve sorting device's intelligent degree like this.

Optionally, moving a plurality of products from the tray to be loaded to the sorting tray by a mechanical arm may specifically include: moving a plurality of products from a tray to be loaded to a material receiving carrying platform through a mechanical arm; acquiring an image through an industrial camera, wherein the image comprises a plurality of products and a material receiving carrying platform; adjusting a plurality of products to preset positions according to the images; and moving the products to the sorting tray from the preset positions on the material receiving carrying platform through the mechanical arm.

In this implementation, robotic arm can remove a plurality of products to connect the material microscope carrier from waiting to expect the tray earlier, can use the industry camera to shoot the product on connecing the material microscope carrier, because follow-up when carrying out the letter sorting need put the product in the letter sorting tray to the shape of product and tray is not fixed, and probably is anomalous, consequently probably has the condition that the product can't be placed in the letter sorting tray, consequently need carry out the position through the image and compare, thereby adjust the position direction of product, so that the product can be put into the tray.

Through this optional implementation, the sorting device can shoot the product in advance to according to image adjustment product position, can make the product directly place the letter sorting tray like this, do not need secondary adjustment position, reduce sorting device's work load, improve sorting device's intelligent degree.

Optionally, moving a plurality of products from the tray to be loaded to the sorting tray by a mechanical arm may specifically include: acquiring product information of a plurality of products; dividing a plurality of products into good products and defective products according to the product information; moving the defective products to a code spraying position for code spraying to obtain a product after code spraying; and moving the certified products and the products after code spraying to a sorting tray through a mechanical arm.

In this implementation, it has the two-dimensional code to paste on waiting to feed tray every product on, this two-dimensional code can store the product information of this product, consequently sorting device can scan the two-dimensional code on the product, obtain product information, if there is not two-dimensional code on some products or the two-dimensional code is incomplete has the deformity, then sorting device just can't scan the two-dimensional code, then just can remove this inferior-quality product to spouting the yard position this moment, spout the sign indicating number by the spray gun to the inferior-quality product, will have the two-dimensional code on these inferior-quality products like this, then robotic arm just can remove the certified products and the product after spouting the yard to sorting tray.

Through the optional implementation mode, the complete two-dimension code can be ensured to exist on each product to be sorted, and thus the sorting device can obtain the product information of the product according to the two-dimension code when performing subsequent operation.

Furthermore, after the plurality of products are divided into good products and defective products, all the products can be moved to the alternating carrying platform, the defective products and part of the good products are moved to the second carrying platform, the rest of the good products are moved to the first carrying platform, code spraying positions and spray guns are arranged on the second carrying platform, and code spraying can be carried out on the defective products. For genuine articles, the first stage and the second stage are the same.

Optionally, after the plurality of products are moved from the tray to be loaded to the sorting tray by the robot arm, the method may further include: the tray to be loaded is stacked, and the plurality of trays to be loaded are moved to the upper tray position through the conveyor belt.

It should be noted that after the mechanical arm moves a plurality of products from the tray to be loaded to the sorting tray, the tray to be loaded becomes an empty tray, and no product exists above the tray, so that the empty tray can be moved to the conveyor belt at this time, the empty tray is moved to the unified tray position through the conveyor belt, and the next use is waited.

103. Product information is obtained for each product on the sorting tray.

In the embodiment of the invention, each product is adhered with the two-dimensional code, the two-dimensional code can store the product information of the product, and the sorting device can scan the two-dimensional code on the product to obtain the product information.

104. And determining the grade information of each product according to the product information and a preset product grading rule.

In the embodiment of the invention, the staff can preset the product grading rule, so that the sorting device can determine the grade information of each product according to the product grading rule.

It should be noted that the product information may include: the product name, the product purpose, the product origin, the product production date, the product weight and the like, so that different product grading rules can be set by the staff for different product information, and the personalized sorting of the sorting device can be realized.

For example, it is assumed that the worker preset the sorting device to sort according to the product weight of each product, specifically, a product with a weight of 1 gram or less is class a, a product with a weight of 1 gram to 1.5 grams is class B, a product with a weight of 1.5 grams to 3 grams is class C, and a product with a weight of 3 grams or more is class D. The sorting device can acquire the product weight of each product, and then determine the interval in which the weight of each product is located, so as to determine the grade information corresponding to the product.

105. And moving each product to a tray to be loaded corresponding to the grade information according to the grade information to obtain a finished product tray corresponding to the grade information.

In the embodiment of the invention, the sorting device is provided with the corresponding tray to be loaded for each grade, and after the grade information of each product is determined, the product can be moved to the tray to be loaded corresponding to the grade information, so that the finished product tray corresponding to the grade information can be obtained.

It should be noted that each grade corresponds to at least one tray to be loaded, and similarly, each grade may also correspond to at least one finished tray, and each finished tray may have no product thereon or may carry at least one product.

The embodiment of the invention provides a sorting method.A sorting device can place a tray to be loaded at a material taking position, and a plurality of products are placed on the tray to be loaded; moving a plurality of products from a tray to be loaded to a sorting tray by a mechanical arm; acquiring product information of each product on the sorting tray; determining grade information of each product according to the product information and a preset product grading rule; and moving each product to a tray to be loaded corresponding to the grade information according to the grade information to obtain a finished product tray. According to the scheme, the sorting device can integrate the two steps of feeding and sorting into one device, namely the sorting device can directly feed and sort the products, so that the workload of workers is greatly reduced, and the processing efficiency of the products is improved; moreover, the sorting device can determine the grade information of each product according to preset product grading rules and then sort the products, so that the sorting accuracy of the sorting device can be improved, the personalized degree of sorting is improved, and the intelligent degree of the sorting device is effectively improved.

As an optional implementation manner, according to the product information, after each product is moved from the sorting tray to the tray to be loaded corresponding to the product information, and a finished product tray is obtained, the method may further include: moving the sorting tray to a lifting table through a backflow cylinder; and moving the sorting tray to a sorting position through the lifting platform so as to execute the step of moving the product from the tray to be loaded to the sorting tray through the mechanical arm.

In this implementation, robotic arm removes every product from sorting tray to waiting to load the tray after, and the sorting tray has just become empty tray, and above-mentioned does not have the product, just so at this time can remove the sorting tray to the elevating platform through the backward flow cylinder, removes the sorting tray to the letter sorting position through the elevating platform, waits for robotic arm to remove the product from waiting to load the tray to sorting tray once more, of course, in order to raise the efficiency, can pile up empty sorting tray, just so can once only remove a plurality of empty sorting trays to the elevating platform.

Example two

As shown in fig. 2, an embodiment of the present invention provides a sorting method, which may further include the following steps:

201. and placing a tray to be loaded at the material taking position.

202. The plurality of products are moved from the tray to be loaded to the sorting tray by the robot arm.

203. Product information is obtained for each product on the sorting tray.

204. And determining the grade information of each product according to the product information and a preset product grading rule.

205. And moving each product to a tray to be loaded corresponding to the grade information according to the grade information to obtain a finished product tray corresponding to the grade information.

In the embodiment of the present invention, for the description of steps 201 to 205, please refer to the detailed description of steps 101 to 105 in the first embodiment, which is not repeated herein.

206. And stacking the finished product trays to obtain the product to be delivered out of the warehouse.

In the embodiment of the invention, the sorting device can stack a plurality of finished product trays to obtain products to be delivered from a warehouse.

It should be noted that the sorting device can stack the finished trays according to product specifications. If one set of products only comprises the same product, the sorting device can stack a plurality of identical finished product trays to obtain the products to be delivered out of the warehouse; if a plurality of products are included in a set of products, the sorting device needs to acquire finished product trays for each product and then stack the product trays to obtain the products to be delivered.

Optionally, stacking a plurality of finished trays may specifically include: placing a first finished product tray in a first direction; and placing the second finished product tray on the top of the first finished product tray towards the second direction.

It should be noted that, since each finished product tray may not be of a regular shape, the sorting device may stack the finished product trays alternately, i.e. one finished product tray facing the first direction, the next finished product tray facing the second direction, the next finished product tray facing the first direction again, and so on.

Through the optional implementation mode, the finished product trays are alternately stacked towards opposite directions, so that the space utilization rate can be improved, and the occupied space of the trays is reduced.

207. And moving the product to be delivered to a delivery position.

In the embodiment of the invention, the sorting device can move the packed products to be delivered to the delivery position, and then the products can be delivered by staff or a mechanical trolley.

The embodiment of the invention provides a sorting method.A sorting device can place a tray to be loaded at a material taking position, and a plurality of products are placed on the tray to be loaded; moving a plurality of products from a tray to be loaded to a sorting tray by a mechanical arm; acquiring product information of each product on the sorting tray; determining grade information of each product according to the product information and a preset product grading rule; according to the grade information, moving each product to a tray to be loaded corresponding to the grade information to obtain a finished product tray corresponding to the grade information; and then stacking the finished product trays, and finally taking the finished product trays out of the warehouse. By the scheme, the sorting device can integrate the steps of feeding, sorting and packaging into one device, namely the sorting device can directly feed, sort and package the products, so that the workload of workers is greatly reduced, and the processing efficiency of the products is improved; moreover, the sorting device can determine the grade information of each product according to preset product grading rules and then sort the products, so that the sorting accuracy of the sorting device can be improved, the personalized degree of sorting is improved, and the intelligent degree of the sorting device is effectively improved.

EXAMPLE III

As shown in fig. 3, an embodiment of the present invention provides a discharging method, which may further include the following steps:

301. and placing a tray to be loaded at the material taking position.

302. The plurality of products are moved from the tray to be loaded to the sorting tray by the robot arm.

In the embodiment of the present invention, for the description of steps 301 to 302, please refer to the detailed description of steps 101 to 102 in the first embodiment, which is not repeated herein.

303. And putting the tray to be filled into a material receiving position.

In an embodiment of the invention, the sorting device may place a tray to be filled, which is an empty tray, into the receiving position.

304. Product information is obtained for each product on the sorting tray.

305. And determining the grade information of each product according to the product information and a preset product grading rule.

306. And moving each product to a tray to be loaded corresponding to the grade information according to the grade information to obtain a finished product tray corresponding to the grade information.

In the embodiment of the present invention, for the description of the steps 304 to 306, please refer to the detailed description of the steps 103 to 105 in the first embodiment, which is not repeated herein.

307. And stacking the finished product trays to obtain the product to be delivered out of the warehouse.

308. And moving the product to be delivered to a delivery position.

In the embodiment of the present invention, for the descriptions of steps 307 to 308, please refer to the detailed descriptions of steps 206 to 207 in the second embodiment, which will not be described again.

Example four

As shown in fig. 4, an embodiment of the present invention provides a discharging method, which may further include the following steps:

401. and placing a tray to be loaded at the material taking position.

402. The plurality of products are moved from the tray to be loaded to the sorting tray by the robot arm.

403. Product information is obtained for each product on the sorting tray.

404. And determining the grade information of each product according to the product information and a preset product grading rule.

405. And sorting each product according to the grade information to obtain a plurality of products to be palletized.

In the embodiment of the present invention, for the description of steps 401 to 405, please refer to the detailed description of steps 101 to 105 in the first embodiment, which is not repeated herein.

406. Whether the sponge reaches a preset position is detected.

In the embodiment of the invention, the sorting device can detect the position of the sponge in real time so as to determine whether the sponge reaches the preset position.

It should be noted that, the sorting device may detect the position of the sponge through the sensor, or may acquire an image of the sponge through the industrial camera to determine the position of the sponge, which is not limited in the embodiment of the present invention.

Optionally, the sponge can be transported through the mechanical trolley, the sponge can also be carried by workers, the cylinder is arranged in the sorting device, the workers or the mechanical trolley can place the sponge in the cylinder, the cylinder can drive the sponge to reach the sponge moving position, the moving assembly of the sponge moving position can clamp the sponge, and the sponge is moved to the preset position.

407. When the sponge is detected to reach the preset position, the sponge is placed in the tray, and the tray to be loaded is obtained.

In the embodiment of the invention, when the sorting device detects that the sponge reaches the preset position, the sponge can be placed in the empty tray to obtain the tray to be loaded, and the sponge can play a role in buffering and protecting products because the products need to be placed on the tray to be loaded.

Optionally, when detecting that the sponge reaches preset position, place the sponge in the tray, obtain waiting to charge the tray, specifically can include: when the sponge is detected to reach the preset position, the sponge is separated from the sponge supporting plate through the air blowing nozzle; and putting the sponge into the tray to obtain the tray to be loaded.

In this implementation, because the sponge is placed and is carried out the removal on the sponge layer board, consequently before putting into the tray with the sponge, still need separate sponge and sponge layer board through the blowing nozzle, this blowing nozzle sets up at sponge and sponge layer board side.

408. And putting the tray to be filled into a material receiving position.

In the embodiment of the present invention, for the description of step 407, please refer to the detailed description of step 303 in the third embodiment, which is not repeated herein.

409. And clamping the product to be palletized by a mechanical arm.

In the embodiment of the invention, the sorting device can clamp the products to be palletized by a mechanical arm.

410. And scanning and matching the products to be palletized.

In the embodiment of the invention, each product to be packaged with the tray is adhered with the two-dimensional code, so that the sorting device can scan the two-dimensional code to obtain the product information of the product to be packaged with the tray, and the product information is matched with the tray information.

411. And if the code scanning matching is successful, placing the product to be palletized into a pallet to be palletized to obtain a finished product pallet.

In the embodiment of the invention, if the product information is successfully matched with the tray information, which indicates that the product to be palletized should be placed in the tray to be palletized, the sorting device can place the product to be palletized in the tray to be palletized through the mechanical arm, so as to obtain the finished tray.

The material loading tray is divided into a plurality of compartments by the partition plates, one product can be placed in each compartment, and generally, the same product is placed on one material loading tray, namely, the same product is placed on the plurality of products on the finished product tray.

Optionally, if sweep the sign indicating number and match successfully, will wait to coil the product and place in waiting to feed the tray, obtain the finished product tray, specifically can include: if the code scanning matching is successful, shooting the product to be packaged and the tray to be packaged by an industrial camera; adjusting the products to be palletized according to the position of the pallets to be palletized; and placing the adjusted product to be palletized into a pallet to be palletized to obtain a finished product pallet.

In this implementation manner, if the product information is successfully matched with the tray information, which indicates that the product to be palletized should be placed in the tray to be palletized, the product to be palletized and the tray to be palletized may be photographed by using an industrial camera, and since the product to be palletized needs to be placed in the tray to be palletized and the shapes of the product to be palletized and the tray to be palletized are not fixed and may be irregular, there may be a case that the product to be palletized cannot be placed in the tray to be palletized, so that position comparison needs to be performed through images, and thus the position direction of the product to be palletized is adjusted, so that the product to be palletized may be placed in the tray to be palletized.

Through this optional implementation, the sorting device can treat the sabot product in advance and wait to load the tray and shoot to wait to the position of sabot product according to the image adjustment, can so that wait to set the product and directly place and wait to load the tray in, do not need secondary adjustment position, reduce sorting device's work load, improve sorting device's intelligent degree.

412. And stacking a plurality of finished product trays, and detecting the stacking number in real time.

In the embodiment of the invention, the sorting device can stack a plurality of finished product trays and detect the number of the stacked finished product trays in real time.

It should be noted that the sorting device can stack the finished trays according to product specifications. If a set of products includes only one product, the sorting device may stack a plurality of identical finished trays; if a plurality of products are included in a set of products, the sorting apparatus is required to take finished product trays for each product and then stack the product trays.

413. When the stacking number reaches the preset number, the empty trays are placed at the tops of the finished product trays through the mechanical arms, and products to be delivered out of the warehouse are obtained.

In an embodiment of the invention, when the sorting device detects that the number of stacks reaches a preset number, an empty tray can be placed on top of all finished product trays, so that the empty tray can be equivalent to a tray cover, and a product to be delivered is obtained.

414. And moving the product to be delivered to the labeling position, and labeling the product to be delivered by the labeling arm to obtain the labeled product to be delivered.

In the embodiment of the invention, because the product needs to be pasted with the label before being delivered out of the warehouse, the sorting device can move the product to be delivered out of the warehouse to the labeling position, and then the product to be delivered out of the warehouse is labeled by the labeling arm, so that the labeled product to be delivered out of the warehouse is obtained.

It should be noted that a printer is arranged at the labeling position, the printer can print out corresponding labels, then a labeling arm takes the printed labels away from the printer and pastes the labels on products to be delivered, and each product to be delivered is pasted with one label.

415. And moving the labeled product to be delivered to a belt lacing position, and carrying out belt lacing on the labeled product to be delivered to obtain the product to be delivered after the belt lacing.

In the embodiment of the invention, because the bundling belt is required to be packaged before the products are delivered out of the warehouse to prevent the products from scattering, the sorting device can move the labeled products to be delivered out of the warehouse to the bundling belt position, and then perform bundling belt on the labeled products to be delivered out of the warehouse to obtain the products to be delivered out of the warehouse after the bundling belt.

Optionally, the product of waiting to leave warehouse after will pasting the mark removes to the band position to waiting to leave warehouse after to pasting the mark and carrying out the band, waiting to leave warehouse after obtaining the band product specifically can include: carrying out primary belt bundling on the labeled product to be delivered out of the warehouse to obtain the product to be delivered out of the warehouse after primary belt bundling; and rotating the products to be delivered out of the warehouse after the primary belt is tied, and tying the products to be delivered out of the warehouse after the belt is tied again to obtain the products to be delivered out of the warehouse after the belt is tied.

In this implementation, robotic arm can remove the product of waiting to leave warehouse after the subsides mark to the band position, then the banding machine can carry out first band, this first band is treated the product of leaving warehouse in the third direction and is carried out the band, then robotic arm can press from both sides the product of waiting to leave warehouse after getting first band, and rotate 90 degrees, the banding machine can carry out the band once more, this time band is treated the product of leaving warehouse in the fourth direction and is carried out the band, this third direction and fourth direction are mutually perpendicular's direction.

Through this optional implementation, sorting device can treat the product of leaving warehouse and carry out twice band to twice band is the cross, can prevent like this that the product from taking place to remove the condition such as coming off after leaving warehouse.

Optionally, before moving the labeled product to be delivered from the warehouse to the belt position, the method may further include: the desiccant was placed on each finished tray by vibrating the tray.

It should be noted that, because the product to be delivered from the warehouse is formed by stacking a plurality of finished product trays, a drying agent needs to be placed on each finished product tray before the belt is bound, a vibration disc is arranged in the sorting device, a worker or a mechanical trolley can place the drying agent on the vibration disc, and then the vibration disc can place the drying agent on each finished product tray according to the set dosage, so that the product quality is prevented from being affected by moisture and the like in the transportation process.

416. And moving the products to be delivered out of the warehouse to a delivery position after the belt is tied.

In the embodiment of the invention, the sorting device can move the products to be delivered out of the warehouse after being banded to the delivery position, and then the products can be delivered out of the warehouse by workers or mechanical trolleys.

The embodiment of the invention provides a sorting method, wherein a sorting device can integrate four steps of feeding, sorting, palletizing and packing into one device, so that a worker can directly obtain a packed product after putting the product into the sorting device and then directly take the packed product out of a warehouse, the workload of the worker is greatly reduced, the processing efficiency of the product is improved, and the intelligent degree of the sorting device is effectively improved.

EXAMPLE five

As shown in fig. 5, an embodiment of the present invention provides a sorting apparatus, including:

the processing module 501 is used for placing a tray to be loaded at a material taking position, and a plurality of products are placed on the tray to be loaded;

a moving module 502 for moving the plurality of products from the tray to be loaded to a sorting tray by a robot arm;

an obtaining module 503, configured to obtain product information of each product on the sorting tray;

the processing module 501 is further configured to determine, according to the product information and according to a preset product classification rule, the grade information of each product;

the moving module 502 is further configured to move each product to a tray to be loaded corresponding to the grade information according to the grade information, so as to obtain a finished tray corresponding to the grade information.

Optionally, the obtaining module 503 is specifically configured to obtain tray information of a tray to be loaded and product information of a plurality of products;

the processing module 501 is specifically configured to match the tray information with the product information;

the moving module 502 is specifically configured to, if the matching is successful, move the plurality of products from the tray to be loaded to the sorting tray by the robot arm.

Optionally, the moving module 502 is specifically configured to move a plurality of products from the tray to be loaded to the material receiving platform by a mechanical arm;

an obtaining module 503, specifically configured to obtain an image through an industrial camera, where the image includes a plurality of products and a material receiving platform;

a moving module 502, specifically configured to adjust a plurality of products to preset positions according to the image;

the moving module 502 is specifically configured to move a plurality of products from preset positions on the material receiving carrying platform to a sorting tray through a mechanical arm.

Optionally, the obtaining module 503 is specifically configured to obtain product information of a plurality of products;

the processing module 501 is specifically configured to divide a plurality of products into good products and defective products according to the product information;

the moving module 502 is specifically configured to move the defective product to a code spraying position for code spraying to obtain a product after code spraying;

the moving module 502 is specifically configured to move the genuine products and the code-sprayed products to a sorting tray through a robot arm.

Optionally, the moving module 502 is further configured to move the sorting tray to the lifting table through the backflow cylinder;

the moving module 502 is further configured to move the sorting tray to the sorting position through the lifting table, so as to perform the step of moving the product from the tray to be loaded to the sorting tray through the robot arm.

Optionally, the processing module 501 is further configured to stack a plurality of finished product trays to obtain products to be delivered from a warehouse;

the moving module 502 is further configured to move the product to be delivered to the delivery location.

Optionally, the processing module 501 is specifically configured to stack a plurality of finished trays, and detect the number of stacked finished trays in real time;

the moving module 502 is specifically configured to, when the stacking number reaches a preset number, place the empty tray on the top of the plurality of finished product trays by using a mechanical arm, so as to obtain a product to be delivered from the warehouse.

Optionally, the moving module 502 is specifically configured to place the first finished product tray toward the first direction;

a moving module 502, specifically configured to place a second finished product tray on top of the first finished product tray toward a second direction;

Optionally, the processing module 501 is specifically configured to move the product to be delivered to the labeling position, and label the product to be delivered by using a labeling arm to obtain a labeled product to be delivered;

the processing module 501 is specifically configured to move the labeled product to be delivered to a bundling position, and perform bundling on the labeled product to be delivered to the warehouse to obtain the product to be delivered to the warehouse after bundling;

the moving module 502 is specifically configured to move the products to be delivered from the warehouse after the belt to a delivery location.

In the embodiment of the present invention, each module can implement the sorting method provided in the above method embodiment, and can achieve the same technical effect, and for avoiding repetition, the details are not described here.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are exemplary and alternative embodiments, and that the acts and modules illustrated are not required in order to practice the invention.

In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.

It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.

Claims

1. A sorting method is characterized by being applied to a sorting device, and the method comprises the following steps:

placing a tray to be loaded at a material taking position, wherein a plurality of products are placed on the tray to be loaded;

obtaining product information of each product on the sorting tray;

determining grade information of each product according to the product information and a preset product grading rule;

2. The method of claim 1, wherein said moving the plurality of products from the tray to be loaded to a sorting tray by a robotic arm comprises:

matching the tray information with the product information;

and if the matching is successful, the mechanical arm moves the products from the tray to be loaded to the sorting tray.

3. The method of claim 1, wherein said moving the plurality of products from the tray to be loaded to a sorting tray by a robotic arm comprises:

adjusting the plurality of products to preset positions according to the image;

4. The method of claim 1, wherein said moving the plurality of products from the tray to be loaded to a sorting tray by a robotic arm comprises:

acquiring product information of each product;

5. The method according to any one of claims 1 to 4, wherein after the each product is moved to a tray to be loaded corresponding to the grade information according to the grade information, and a finished tray corresponding to the grade information is obtained, the method further comprises:

moving the sorting tray to a lifting table through a backflow cylinder;

6. The method according to any one of claims 1 to 4, wherein after moving each product to a tray to be loaded corresponding to the grade information according to the grade information to obtain a finished product tray corresponding to the grade information, the method further comprises:

and moving the product to be delivered to a delivery position.

7. The method according to claim 6, wherein the stacking the finished product trays corresponding to the grade information to obtain the products to be delivered from the warehouse comprises:

and when the stacking number reaches a preset number, placing the empty tray on the top of the finished product tray corresponding to the grade information through the mechanical arm to obtain the product to be delivered out of the warehouse.

8. The method of claim 6, wherein said stacking the finished trays corresponding to the grade information comprises:

placing a first finished product tray in a first direction;

9. The method of claim 6, wherein said moving said product to be delivered to a delivery location comprises:

10. A sorting device, comprising:

the processing module is used for placing a tray to be loaded at a material taking position, and a plurality of products are placed on the tray to be loaded;