TW201910237A - Material sorting device based on TRAY disk and sorting method - Google Patents
Material sorting device based on TRAY disk and sorting method Download PDFInfo
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- TW201910237A TW201910237A TW107127874A TW107127874A TW201910237A TW 201910237 A TW201910237 A TW 201910237A TW 107127874 A TW107127874 A TW 107127874A TW 107127874 A TW107127874 A TW 107127874A TW 201910237 A TW201910237 A TW 201910237A
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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
- B07C3/00—Sorting according to destination
- B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
- B07C3/082—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- Sorting Of Articles (AREA)
Abstract
Description
本發明屬於自動化機械設備領域，有關於一種物料分揀裝置以及分揀方法。The invention belongs to the field of automatic mechanical equipment, and relates to a material sorting device and a sorting method.
TRAY盤，又稱料盤，用於盛放物料的器皿；目前TRAY盤的上下料還通常採用單個TRAY盤進行上下料或者是直接人工把TRAY盤中的物料進行人工放料或者取料的作業方式，其普遍存在以下幾點不足：1. 效率低下，耗時，耗力；2. 需要員工時刻快速供料，對人員的技術，熟練程度依賴性高，提高人力成本，並且勞動強度大，安全係數低。TRAY trays, also known as trays, are used to hold materials. At present, the loading and unloading of TRAY trays usually use a single TRAY tray for loading and unloading, or the manual manual loading or unloading of the materials in the tray tray. Methods, which generally have the following deficiencies: 1. Low efficiency, time-consuming, and labor-intensive; 2. Need employees to quickly feed at all times, rely on personnel's technology, proficiency, increase labor costs, and labor intensity, Low safety factor.
目前，公開號為CN 104960822 A的中國專利公開了一種TRAY盤自動上下料機構以及TRAY盤自動上下料方法，屬於TRAY盤自動化處理設備領域，提供一種可對批量TRAY盤進行自動化上下料的TRAY盤自動上下料機構，包括機架、設置在機架兩側的TRAY盤平臺、設置在兩個TRAY盤平臺之間的移載平臺以及進行轉移TRAY盤的TRAY盤機械手和用於對TRAY盤進行上下料作業的物品機械手。該發明可實現同時對一疊TRAY盤進行上下料作業，並且對一疊TRAY盤的上下料操作過程中只需要作業人員將待處理TRAY盤放入相應的TRAY盤平臺以及從TRAY盤平臺中取出處理好後的TRAY盤即可，其餘過程可完全實現自動化作業，可有效提高工作效率，降低作業人員勞動強度，節約人工成本，並且藉由自動化的作業更可保證上下料操作過程的均勻性；在對物料進行承放的時候，首先是藉由掃碼裝置掃物料上的條碼，從而對物料的優良進行分類，然後再將物料放置到TRAY盤上，但是TRAY盤只對物料進行承放，如此就更需要根據掃碼結果進行後續的二次挑選分類等操作，加工效率低。At present, Chinese patent publication number CN 104960822 A discloses an automatic tray loading and unloading mechanism and a method for automatic loading and unloading of a tray tray, belonging to the field of tray automatic processing equipment, and providing a tray tray that can automatically load and unload batch tray trays. Automatic loading and unloading mechanism, including a rack, a tray tray set on both sides of the rack, a transfer platform set between two tray trays, a tray tray robot for transferring tray trays, and a tray tray for tray trays. Manipulator for loading and unloading items. The invention can realize the loading and unloading operations of a stack of TRAY disks at the same time, and during the loading and unloading operation of a stack of TRAY disks, the operator only needs to place the pending TRAY disks into and remove them from the corresponding TRAY disk platforms. After the TRAY tray is processed, the remaining processes can be fully automated, which can effectively improve the work efficiency, reduce the labor intensity of the operator, save labor costs, and ensure the uniformity of the loading and unloading operations through automated operations. When loading and unloading materials, the barcode on the materials is first scanned by the code scanning device to classify the quality of the materials, and then the materials are placed on the TRAY tray, but the TRAY tray only carries the materials. In this way, it is necessary to perform subsequent secondary selection and classification operations according to the scanning result, and the processing efficiency is low.
本發明的目的在於提供一種基於TRAY盤的物料分揀裝置以及分揀方法，旨在解決加工效率低的問題。The object of the present invention is to provide a material sorting device and a sorting method based on a TRAY tray, which aim to solve the problem of low processing efficiency.
為解決上述技術問題，本發明提供了一種基於TRAY盤的物料分揀裝置，包括用於輸送帶條碼物料的產品輸送線，更包括有：In order to solve the above technical problems, the present invention provides a material sorting device based on a TRAY tray, which includes a product conveying line for conveying a bar coded material, and further includes:
第一機械手和第一放料平臺，所述第一機械手用於將物料從產品輸送線轉移到所述第一放料平臺；A first manipulator and a first discharging platform, the first manipulator being used to transfer material from a product conveying line to the first discharging platform;
物料掃碼件，用於對所述第一機械手轉移的物料進行掃碼，讀取並記錄物料訊息；A material scanning device for scanning the material transferred by the first robot, reading and recording material information;
分揀機構以及複數個不同類型的分揀TRAY盤，所述分揀機構根據所述物料掃碼件生成的掃碼訊息將物料分類放入到對應的分揀TRAY盤中。A sorting mechanism and a plurality of sorting TRAY trays of different types. The sorting mechanism sorts the materials into corresponding sorting TRAY trays according to the scanning information generated by the code scanning parts.
本發明進一步設置為，所述第一放料平臺包括有第一工位和第二工位，其中，所述第一工位靠近所述產品輸送線，所述第二工位靠近所述分揀機構。The invention is further provided that the first loading platform includes a first station and a second station, wherein the first station is near the product conveying line and the second station is near the distributor. Picking agency.
本發明進一步設置為，所述第一放料平臺上設置有驅動機構，所述驅動機構用於將物料傳輸到所述第二工位。The invention is further provided that a driving mechanism is provided on the first discharging platform, and the driving mechanism is used for transferring materials to the second station.
本發明進一步設置為，所述分揀TRAY盤包括有良品TRAY盤以及不良品TRAY盤，所述分揀機構包括有第二機械手，所述第二機械手用於將良品物料放置到所述良品TRAY盤中，不良品物料放置到所述不良品TRAY盤中。The present invention is further configured that the sorting TRAY tray includes a good TRAY tray and a defective TRAY tray, and the sorting mechanism includes a second robot hand for placing good materials on the tray. In the defective product tray, the defective material is placed in the defective product tray.
本發明進一步設置為，所述良品TRAY盤下方設置有用於轉移和支撐良品TRAY盤的第二放料平臺，所述第二放料平臺包括有良品擺盤位，所述第二機械手將良品物料放至所述良品擺盤位上的所述良品TRAY盤上。The present invention is further provided that a second feeding platform for transferring and supporting the good TRAY disk is provided below the good TRAY disk, the second feeding platform includes a good product swing position, and the second robot hand transfers the good product The material is put on the good product TRAY plate on the good product display position.
本發明進一步設置為，所述第二放料平臺上更包括有空TRAY盤來料位，用於向所述良品擺盤位提供空的所述良品TRAY盤。The present invention is further configured that the second discharging platform further includes an empty TRAY tray incoming position for providing the good TRAY tray to the good tray position.
本發明進一步設置為，所述第二放料平臺上更包括有良品空盤緩衝位，所述良品空盤緩衝位位於所述空TRAY盤來料位與所述良品擺盤位之間，所述良品空盤緩衝位用於堆疊複數個空良品TRAY盤，並向所述良品擺盤位逐個提供空良品TRAY盤。The present invention is further provided that the second discharging platform further includes a good product empty disk buffer position, and the good product empty disk buffer position is located between the empty TRAY disk feed position and the good product swing position, so The good-quality empty tray buffer is used to stack a plurality of empty-good trays, and to provide the good-quality tray trays one by one to the good-quality tray trays.
本發明進一步設置為，所述第二機械手更用於將良品物料放至所述良品空盤緩衝位上的所述良品TRAY盤。The present invention is further configured that the second manipulator is further used to place good-quality materials on the good-quality TRAY disk on the good-quality empty disk buffer.
本發明進一步設置為，所述第二放料平臺上更包括有良品滿盤堆疊位和滿TRAY盤送料位，所述良品擺盤位位於所述空TRAY盤來料位與所述良品滿盤堆疊位之間，所述良品滿盤堆疊位位於所述良品擺盤位與所述滿TRAY盤送料位之間。The present invention is further configured that the second discharging platform further includes a stacking position of full-quality products and a feeding position of full TRAY disks, and the good-product display position is located at the feed position of the empty Tray disk and the full-quality product tray. Between stacking positions, the good product full tray stacking position is located between the good product swing tray position and the full TRAY tray feed position.
本發明進一步設置為，所述不良品TRAY盤包括次品TRAY盤以及重檢TRAY盤。The invention is further provided that the defective TRAY disc includes a defective TRAY disc and a retest TRAY disc.
本發明進一步設置為，所述分揀機構更包括有第三機械手以及位於所述第二放料平臺側部的第三放料平臺，所述第二機械手收到物料掃碼件生成的掃碼訊息並將次品物料和待重新檢測物料放至所述第三放料平臺上，所述第三機械手用於將次品物料放置到所述次品TRAY盤上，將待重新檢測物料放置到所述重檢TRAY盤上。The present invention is further configured that the sorting mechanism further includes a third robot and a third discharging platform located at a side of the second discharging platform, and the second robot receives Scan the code and place the defective material and the material to be re-tested on the third discharging platform. The third robot is used to place the defective material on the defective TRAY disk, and re-detect the material. Material is placed on the retest TRAY tray.
本發明進一步設置為，所述良品空盤緩衝位處設置有TRAY蓋，所述良品擺盤位上的所述良品TRAY盤擺滿之後被運動至所述良品滿盤堆疊位豎直堆疊，當所述良品滿盤堆疊位的所述良品TRAY盤堆疊到一定數量時，所述第三機械手將TRAY蓋轉移至所述良品滿盤堆疊位的所述良品TRAY盤上。The invention is further provided that a TRAY cover is provided at the good product empty tray buffer position, and the good product tray tray on the good product tray position is moved to the good product full tray stacking position and then stacked vertically, When the good-quality TRAY discs in the good-quality full-disc stacking position are stacked to a certain number, the third robot transfers the TRAY cover to the good-quality TRAY discs in the good-quality full-disc stacking position.
本發明進一步設置為，所述第三放料平臺側部更設置有第四放料平臺，用於放置次品物料以及待重新檢測的物料，所述第三機械手更對所述第四放料平臺上的物料進行分揀。The present invention is further provided that a fourth discharging platform is further provided on the side of the third discharging platform for placing defective materials and materials to be re-tested, and the third manipulator is further opposed to the fourth discharging platform. The materials on the material platform are sorted.
本發明進一步設置為，所述第三放料平臺的尺寸與物料相配合，每次只可放置一個物料，當所述第三放料平臺上放有物料的時候，所述第二機械手將新進不良品物料放置到第四放料平臺上。The invention is further configured that the size of the third discharging platform is matched with the material, and only one material can be placed at a time, and when the third discharging platform has materials placed on it, the second manipulator will The newly imported defective materials are placed on the fourth discharging platform.
本發明進一步設置為，所述第三機械手側部設置有第五放料平臺，所述第五放料平臺上設置有不良品空盤送料位和不良品空盤緩衝位，所述第三機械手更用於將不良品緩衝位處的TRAY盤轉移作為次品TRAY盤或者重檢TRAY盤。The present invention is further provided that a fifth discharging platform is provided on the side of the third robot arm, and a defective empty tray feeding position and a defective empty buffer position are provided on the fifth discharging platform, and the third The manipulator is further used to transfer the TRAY disc at the buffer position of the defective product as a defective TRAY disc or a retest TRAY disc.
本發明進一步設置為，所述產品輸送線上設置有限位組件，所述限位組件藉由抵擋所述物料側部，用於校正物料的角度。The invention further provides that a limit position component is provided on the product conveying line, and the limit position component is used to correct the angle of the material by resisting the side of the material.
一種基於TRAY盤的物料分揀方法，包括以下步驟：A method for sorting materials based on a TRAY tray includes the following steps:
S1，物料沿產品輸送線活動到下料工位；S1, the material moves along the product conveying line to the cutting station;
S2，第一機械手從下料工位抓取物料，至物料掃碼件處，物料掃碼件掃取物料的條碼，掃碼訊息傳輸給控制中心，然後將物料放置於第一放料平臺上；S2, the first manipulator grabs the material from the unloading station to the material scanning part, the material scanning part scans the barcode of the material, the scanning information is transmitted to the control center, and then the material is placed on the first discharging platform on;
S3，第二機械手動作，根據物料掃碼訊息，將良品物料擺放至第二放料平臺上的良品擺盤位的良品TRAY盤內，將不良品物料擺放在第三放料平臺上，當第三放料平臺上已承載物料時，則將新進不良品物料放置到第四放料平臺上；S3. The second manipulator moves. According to the material scanning information, the good materials are placed in the good product tray tray of the good product tray on the second loading platform, and the bad materials are placed on the third loading platform. , When the third discharging platform has already carried materials, the newly imported defective materials are placed on the fourth discharging platform;
S4，第三放料平臺或第四放料平臺的不良品物料由第三機械手根據物料掃碼訊息，將物料擺放到次品TRAY盤或重檢TRAY盤內；S4. The defective material on the third or fourth unloading platform is placed by the third manipulator into the defective TRAY tray or re-checked TRAY tray according to the code scanning information of the material.
S5，當良品TRAY盤擺滿物料時，該良品TRAY盤被運動至良品滿盤堆疊位豎直堆疊，同時，良品空盤緩衝位上的良品TRAY盤被運動至良品擺盤位；S5. When the good TRAY plate is full of materials, the good TRAY plate is moved to the good product full tray stacking position and stacked vertically. At the same time, the good TRAY plate on the good empty tray buffer position is moved to the good product tray position;
S6，當良品滿盤堆疊位的良品TRAY盤堆疊到一定數量之後，第三機械手運動，將TRAY蓋轉移到良品滿盤堆疊位的良品TRAY盤上，同時向控制中心發出訊息，提醒取盤；S6. After the good Tray trays in the full product stacking position are stacked to a certain number, the third robot moves to transfer the TRAY cover to the good Tray trays in the full product stacking position, and send a message to the control center to remind you to take the disc. ;
S7，當次品TRAY盤或重檢TRAY盤擺滿物料時，該次品TRAY盤或重檢TRAY盤相應被運動至次品滿盤堆疊位或重檢滿盤堆疊位豎直堆疊，同時，設置於所述第三機械手側部的第五放料平臺上的不良品空盤緩衝位上的TRAY盤藉由第三機械手轉移作為新的次品TRAY盤或重檢TRAY盤；S7, when the defective TRAY tray or retest tray is full of materials, the defective TRAY tray or retest tray is moved to the full tray stacking position or the full tray stacking tray, and at the same time, The TRAY disc on the defective product empty disc buffer position on the fifth discharging platform on the side of the third robot is transferred by the third robot as a new defective TRAY disc or a retest TRAY disc;
S8，當不良品空盤緩衝位無空TRAY盤時，不良品空盤送料位及時向不良品空盤緩衝位提供一空TRAY盤，不良品空盤送料位上的空TRAY盤減少到一定數量時，向控制中心發出訊息，提醒補盤；S8, when there is no empty TRAY disk in the defective product empty disk buffer position, the defective product empty disk feeding position provides an empty TRAY disk to the defective product empty disk buffer position in time, and the empty TRAY disk on the defective product empty disk feeding position is reduced to a certain amount. Send a message to the control center to remind you to make up the order;
S9，當次品滿盤堆疊位或重檢滿盤堆疊位的TRAY盤堆疊到一定數量時，向控制中心發出訊息，提醒取盤，給次品滿盤堆疊位或重檢滿盤堆疊位的TRAY盤蓋上TRAY蓋，掃描TRAY蓋條碼。S9, when the defective full tray stacking position or the re-check full tray stacking position is stacked to a certain number, a message is sent to the control center to remind the picking of the disk to the defective full tray stacking position or the recheck full tray stacking position. Cover the tray tray with the TRAY cover and scan the barcode on the tray cover.
本發明進一步設置為，當良品擺盤位無TRAY盤時第二放料平臺活動並將一TRAY盤從良品空盤緩衝位移動至良品擺盤位，當良品空盤緩衝位無TRAY盤時，空TRAY盤來料位向良品空盤緩衝位提供複數個TRAY盤。The present invention is further configured that when the good product is placed without a tray tray, the second discharging platform is moved and a TRAY plate is moved from the good product empty tray buffer position to the good product tray position, and when the good product empty tray buffer position does not have a tray tray, The empty tray tray provides multiple tray trays to the good empty tray buffer.
本發明進一步設置為，良品擺盤位的TRAY盤擺滿物料之後在良品滿盤堆疊位豎直堆疊，直到堆疊到一定數量之後，轉移至滿TRAY盤送料位，同時向控制中心發出訊息，提醒取盤。The invention is further arranged that after the TRAY plate of the good product position is filled with materials, it is vertically stacked in the good product full plate stacking position, and after a certain amount is stacked, it is transferred to the full TRAY plate feed position, and a message is sent to the control center to remind Take the disk.
本發明進一步設置為，在物料沿產品輸送線活動到下料工位中，當物料隨著產品輸送線活動到限位組件時，限位組件作用於物料側部，並校正物料的角度。The invention is further arranged that when the material moves along the product conveying line to the unloading station, when the material moves along the product conveying line to the limit component, the limit component acts on the side of the material and corrects the angle of the material.
本發明進一步設置為，所述第一放料平臺上設置有驅動機構，所述第一放料平臺接收到物料後將物料推動到第一放料平臺靠近第二放料平臺的端部。The invention is further provided that the first discharging platform is provided with a driving mechanism, and after receiving the material, the first discharging platform pushes the material to an end of the first discharging platform near the second discharging platform.
本發明進一步設置為，所述第三放料平臺呈活動狀，所述第三放料平臺接收到物料後將靠近第二機械手端的物料轉移至靠近第三機械手端。The invention further provides that the third discharging platform is movable, and the third discharging platform transfers the material near the second robot end to the third robot end after receiving the material.
本發明進一步設置為，所述第三放料平臺每次只可承放一個物料。The invention further provides that the third discharging platform can only carry one material at a time.
與習知技術相比，本發明提供了一種基於TRAY盤的物料分揀裝置以及分揀方法，在對不同類型的物料進行分揀的時候，將物料從產品輸送線上取下的同時就能夠進行分別並且記錄，然後在後續的擺放過程中，分別藉由第二機械手和第三機械手就能夠將不同的物料擺放到不同物料的擺放TRAY盤上，如此就不需要後續再單獨的對分了類的物料進行分揀，而在這個擺放的過程中就能夠直接的完成了對物料的分揀，節省了後續步驟；同時分揀TRAY盤的放置，以及分揀TRAY盤上物料的擺放等都是藉由機械手以及放料台自動化進行的，只有在取盤等操作的時候才需要人工進行，這樣不僅節省了人工成本，同時也提高了分揀的穩定性以及分揀的效率和質量。Compared with the conventional technology, the present invention provides a TRAY tray-based material sorting device and a sorting method. When sorting different types of materials, the materials can be removed while being removed from the product conveying line. Separate and record, and then in the subsequent placement process, the second robot and the third robot can be used to place different materials on different materials placement TRAY tray, so there is no need to follow up separately Sorting the sorted materials, and in this placement process, the material can be directly sorted, saving subsequent steps; at the same time, the placement of the sorting tray and the sorting of the tray The placement of materials is automated by a robotic hand and a loading table. Manual operations are only required when taking out trays and other operations. This not only saves labor costs, but also improves the stability of the sorting and the separation. Picking efficiency and quality.
以下結合圖式和實施例對本發明提出的一種基於TRAY盤的物料分揀裝置以及分揀方法作進一步詳細說明。根據下面說明和申請專利範圍，本發明的優點和特徵將更清楚。需說明的是，圖式均採用非常簡化的形式且均使用非精准的比例，僅用以方便、明晰地輔助說明本發明實施例的目的。In the following, a material sorting device and a sorting method based on the tray tray proposed by the present invention are further described in detail with reference to the drawings and embodiments. The advantages and features of the present invention will become clearer from the following description and the scope of patent application. It should be noted that the drawings are all in a very simplified form and all use inaccurate proportions, which are only used to facilitate and clearly explain the purpose of the embodiments of the present invention.
一種基於TRAY盤的物料分揀裝置，包括用於輸送帶條碼物料1的產品輸送線2，更包括有：A material sorting device based on a TRAY tray includes a product conveying line 2 for conveying a bar coded material 1 and further includes:
第一機械手3和第一放料平臺4，所述第一機械手3用於將物料1從產品輸送線2轉移到所述第一放料平臺4；A first manipulator 3 and a first discharging platform 4, the first manipulator 3 is used to transfer material 1 from a product conveying line 2 to the first discharging platform 4;
所述產品輸送線2上設置有限位組件22，所述限位組件22藉由抵擋所述物料1側部，用於校正物料1的角度；A limit position component 22 is provided on the product conveying line 2, and the limit position component 22 is used to correct the angle of the material 1 by resisting the side of the material 1;
物料掃碼件5，其中所述物料掃碼件5可以設置在物料1所經過的路徑之上或者之下或者一側，根據物料1條碼的位置可以配置不同的方位，用於對所述第一機械手3轉移的物料1進行掃碼，讀取並記錄物料1訊息，較佳的，物料掃碼件5位於所述產品輸送線2與所述第一放料平臺4之間，亦或位於所述產品輸送線2與第一機械手3拾取物料1的位置之間，所述物料掃碼件5的設置不影響到第一機械手3的工作即可；Material scanning part 5, wherein the material scanning part 5 can be set above or below or on one side of the path that the material 1 passes through. Different positions can be configured according to the position of the barcode of the material 1 for A robot arm 3 transfers the material 1 to scan the code, reads and records the information of the material 1, preferably, the material scanning member 5 is located between the product conveying line 2 and the first discharging platform 4, or It is located between the product conveying line 2 and the position where the first robot 3 picks up the material 1, and the setting of the material scanning member 5 does not affect the work of the first robot 3;
分揀機構以及複數個不同類型的分揀TRAY盤，所述分揀機構根據所述物料掃碼件5生成的掃碼訊息將物料1分類放入到對應的分揀TRAY盤中。The sorting mechanism and a plurality of sorting TRAY trays of different types, the sorting mechanism sorts the material 1 into the corresponding sorting TRAY tray according to the code scanning information generated by the material scanning part 5.
所述第一放料平臺4包括有兩個工位，分別為第一工位和第二工位，其中所述第一工位位於靠近所述產品輸送線2的所述第一放料平臺4的一端，所述第二工位位於靠近所述分揀機構的所述第一放料平臺4的另一端，所述第一放料平臺4上設置有驅動機構，所述驅動機構用於將物料1推送到所述第一放料平臺4上靠近所述分揀機構的所述第二工位，從而便於所述分揀機構獲取所述物料，也可以是所述第一放料平臺4自身轉動而對物料1進行傳輸/傳送。The first discharging platform 4 includes two stations, a first station and a second station, respectively, wherein the first station is located on the first discharging platform near the product conveying line 2. One end of 4, the second station is located at the other end of the first feeding platform 4 near the sorting mechanism, and a driving mechanism is provided on the first feeding platform 4, and the driving mechanism is used for Push the material 1 to the second station near the sorting mechanism on the first unloading platform 4, so that the sorting mechanism can easily obtain the material, or it can be the first unloading platform 4 It rotates itself to transfer / transmit material 1.
所述分揀TRAY盤包括有良品TRAY盤6以及不良品TRAY盤，所述分揀機構包括有第二機械手9，所述第二機械手9用於將良品物料放置到所述良品TRAY盤6中，不良品物料放置到不良品TRAY盤中。The sorting TRAY tray includes a good TRAY tray 6 and a defective TRAY tray. The sorting mechanism includes a second robot hand 9 for placing good materials on the good TRAY tray. In 6, the defective product is placed in the defective product tray.
所述良品TRAY盤6下方設置有用於轉移和支撐良品TRAY盤6的第二放料平臺10，所述第二放料平臺10包括有良品擺盤位13，所述第二機械手9用於將物料1放置到位於所述良品擺盤位13的所述良品TRAY盤6中，所述第二放料平臺10上更包括有空TRAY盤來料位11，用於向所述良品擺盤位13提供空的所述良品TRAY盤6，所述空TRAY盤來料位11與所述良品擺盤位13之間設置有良品空盤緩衝位12，所述良品空盤緩衝位12用於堆疊複數個空TRAY盤，並向所述良品擺盤位13逐個提供空TRAY盤。在此，所述空TRAY盤來料位11上的空TRAY盤經過所述良品空盤緩衝位12提供給所述良品擺盤位13。進一步的，所述空TRAY盤自所述空TRAY盤來料位11移動至所述良品空盤緩衝位12、再自所述良品空盤緩衝位12移動至所述良品擺盤位13的過程可由所述第二放料平臺10的運動實現，也可由所述第二機械手9的操作實現，則此時，所述第二機械手9可兼顧物料和空TRAY盤的放置。A second discharging platform 10 for transferring and supporting the high-quality TRAY plate 6 is arranged below the good-quality TRAY plate 6, the second discharging platform 10 includes a good-quality swing plate position 13, and the second robot 9 is used for The material 1 is placed in the good product TRAY plate 6 located in the good product display position 13, and the second discharge platform 10 further includes an empty TRAY plate feed position 11 for placing the product into the good product. Bit 13 provides the good Tray disc 6 which is empty. A good product empty disc buffer position 12 is provided between the empty TRAY disc incoming position 11 and the good product swing position 13 and the good product empty disc buffer position 12 is used for A plurality of empty TRAY plates are stacked, and the empty TRAY plates are provided one by one to the good product tray position 13. Here, the empty TRAY tray on the empty TRAY tray incoming level 11 is provided to the good product tray position 13 through the good quality empty tray buffer position 12. Further, the process of moving the empty TRAY disc from the empty TRAY disc incoming position 11 to the good product empty disc buffer position 12 and then moving from the good product empty disc buffer position 12 to the good product swing position 13 It can be realized by the movement of the second unloading platform 10 or by the operation of the second manipulator 9. At this time, the second manipulator 9 can take care of both the material placement and the empty TRAY tray.
在本申請的其他實施例中，所述第二機械手9更可以用於將良品物料放至所述良品空盤緩衝位12上的所述良品TRAY盤6。由此，若出現所述良品擺盤位13的所述良品TRAY盤6已擺滿物料且未被及時移走，同時，又有新的良品物料（自產品輸送線2）轉移過來需要擺放時，新的良品物料同樣能夠被給予準確擺放。In other embodiments of the present application, the second manipulator 9 may be further used to place a good product on the good product TRAY tray 6 on the good product empty tray buffer 12. Therefore, if the good product tray 6 of the good product display position 13 is full of materials and has not been removed in time, at the same time, a new good product (from the product conveying line 2) is transferred and needs to be placed At the same time, new good materials can also be accurately placed.
所述第二放料平臺10上更包括有良品滿盤堆疊位14和滿TRAY盤送料位15，所述良品擺盤位13位於所述空TRAY盤來料位11與所述良品滿盤堆疊位14之間，進一步的，所述良品擺盤位13位於所述良品空盤緩衝位12與所述良品滿盤堆疊位14之間，所述良品滿盤堆疊位14位於所述良品擺盤位13與所述滿TRAY盤送料位15之間。The second loading platform 10 further includes a good product full tray stacking position 14 and a full TRAY tray feed position 15, and the good product display tray position 13 is located at the empty TRAY tray feed level 11 and the good product full tray stacking. Between position 14, further, the good product display position 13 is located between the good product empty position buffer position 12 and the good product full position stack position 14, and the good product full position stack position 14 is located at the good product position Between bit 13 and the full tray feed position 15.
所述不良品TRAY盤包括次品TRAY盤7以及重檢TRAY盤8，所述分揀機構更包括有第三機械手16以及位於所述第二放料平臺10側部的第三放料平臺17，所述第二機械手9收到物料掃碼件5的掃碼訊息並將次品物料和待重新檢測物料放至第三放料平臺17上，所述第三機械手16用於將次品物料放置到次品TRAY盤7上，將待檢測物料放置到重檢TRAY盤8上。The defective product tray includes a defective product tray 7 and a re-testing tray tray 8. The sorting mechanism further includes a third robot 16 and a third discharging platform located at a side of the second discharging platform 10. 17. The second robot 9 receives the code scanning message of the material scanning part 5 and places the defective material and the material to be re-tested on the third discharging platform 17. The third robot 16 is used for Defective materials are placed on the defective TRAY disc 7, and the materials to be tested are placed on the retest TRAY disc 8.
進一步的，在所述第三機械手16的活動範圍內設置有TRAY蓋，例如，所述良品空盤緩衝位12處設置有TRAY蓋，所述良品擺盤位13上的所述良品TRAY盤6擺滿之後被運動至所述良品滿盤堆疊位14豎直堆疊，當所述良品滿盤堆疊位14的所述良品TRAY盤6堆疊到一定數量時，所述第三機械手16將TRAY蓋轉移至所述良品滿盤堆疊位14的頂部，將TRAY蓋蓋在所述良品滿盤堆疊位14的良品TRAY盤6上，即第三機械手16既能夠將TRAY蓋轉移到良品滿盤堆疊位14，也能夠對不良品進行分類轉移，同時更能夠將空TRAY盤轉移成為次品TRAY盤7或者重檢TRAY盤8。Further, a TRAY cover is provided in the movable range of the third robot 16, for example, a TRAY cover is provided at the good product empty disk buffer position 12, and the good product TRAY plate on the good product display position 13 is provided. After being filled, 6 is moved to the good product full tray stacking position 14 to be vertically stacked. When the good product TRAY tray 6 of the good product full tray stacking position 14 is stacked to a certain number, the third robot 16 will TRAY The cover is transferred to the top of the good quality full tray stacking position 14, and the TRAY cover is covered on the good quality tray 6 of the good quality full tray stacking position 14, that is, the third robot 16 can transfer the TRAY cover to the good quality full tray. The stacking position 14 can also classify and transfer the defective products, and can also transfer the empty TRAY disk into a defective TRAY disk 7 or a re-test TRAY disk 8.
所述第三放料平臺17側部更設置有第四放料平臺18，用於放置次品以及待重新檢測的物料，所述第三機械手16可對第四放料平臺18上的物料進行分揀，所述第三放料平臺17的寬度與物料相配合，長度略大於物料的長度，但第三放料平臺17上每次只可放置一個物料，從而極大的保證了分揀的準確，當所述第三放料平臺17上放有物料的時候第二機械手9將新進不良品物料放置到第四放料平臺18上。A fourth discharging platform 18 is further provided on the side of the third discharging platform 17 for placing defective products and materials to be re-tested. The third robot 16 can load the materials on the fourth discharging platform 18. For sorting, the width of the third discharge platform 17 is matched with the material, and the length is slightly longer than the length of the material. However, only one material can be placed on the third discharge platform 17 at a time, thereby greatly ensuring the sorting. Precisely, when the third discharging platform 17 is loaded with materials, the second manipulator 9 places the newly imported defective materials on the fourth discharging platform 18.
所述第三機械手16側部設置有第五放料平臺19，所述第五放料平臺19上設置有不良品空盤送料位20和不良品空盤緩衝位21，所述第三機械手16更用於將不良品緩衝位處的TRAY盤轉移作為次品TRAY盤7或者重檢TRAY盤8。具體的，所述第三機械手16可藉由轉動運動將不良品緩衝位處的TRAY盤轉移作為次品TRAY盤7或者重檢TRAY盤8。A fifth discharging platform 19 is provided on the side of the third robot 16, and a defective material empty tray feeding position 20 and a defective empty disk buffer position 21 are provided on the fifth discharging platform 19. The hand 16 is further used to transfer the TRAY disc at the defective product buffer position as a defective TRAY disc 7 or to recheck the TRAY disc 8. Specifically, the third robot 16 may transfer the TRAY disc at the buffer position of the defective product as a defective TRAY disc 7 or re-examine the TRAY disc 8 by a rotating motion.
一種基於TRAY盤的物料分揀方法，包括以下步驟：A method for sorting materials based on a TRAY tray includes the following steps:
S1，物料1沿產品輸送線2由上游檢測步驟活動到下料工位，在物料1沿產品輸送線2活動到下料工位中，限位組件22可作用於物料1側部，以校正物料1在產品輸送線2上的角度，隨後物料1移動到下料工位；S1, material 1 moves to the blanking station from the upstream detection step along the product conveying line 2. When material 1 moves to the blanking station along the product conveying line 2, the limit assembly 22 can act on the side of the material 1 to correct The angle of the material 1 on the product conveying line 2, and then the material 1 moves to the unloading station;
S2，第一機械手3從下料工位抓取物料1，物料掃碼件5掃取物料1的編碼訊息，該編碼可以是二維碼、條形碼或其他形式，掃碼訊息傳輸給控制中心，然後將物料1放置於第一放料平臺4上；S2, the first manipulator 3 grabs the material 1 from the unloading station, and the material scanning part 5 scans the encoded information of the material 1. The encoding may be a two-dimensional code, a barcode, or other forms, and the scanning information is transmitted to the control center. , And then place the material 1 on the first discharging platform 4;
S3，第二機械手9動作，根據物料1掃碼訊息，將良品物料擺放至第二放料平臺10上的良品擺盤位13的良品TRAY盤6內，將不良品物料擺放在第三放料平臺17上，當第三放料平臺17上已承載物料時，則將新進不良品物料放置到第四放料平臺18上；S3, the second manipulator 9 moves, and according to the code scanning information of the material 1, the good material is placed in the good product tray 6 of the good product position 13 on the second discharge platform 10, and the bad product is placed in the first On the third unloading platform 17, when the third unloading platform 17 is already carrying materials, the newly-injected defective materials are placed on the fourth unloading platform 18;
S4，第三放料平臺17或第四放料平臺18的不良品物料由第三機械手16根據物料掃碼訊息，將物料擺放到次品TRAY盤7或重檢TRAY盤8內；S4. The third unloading material of the third unloading platform 17 or the fourth unloading platform 18 is placed by the third manipulator 16 into the defective TRAY tray 7 or the recheck TRAY tray 8 according to the code scanning information of the material;
S5，當良品TRAY盤6擺滿物料時，該良品TRAY盤6被運動至良品滿盤堆疊位14豎直堆疊，同時，良品空盤緩衝位12上的良品TRAY盤6被運動至良品擺盤位13；S5, when the good Tray tray 6 is full of materials, the good Tray tray 6 is moved to the good full tray stacking position 14 and stacked vertically, and at the same time, the good TRAY tray 6 on the good empty tray buffer position 12 is moved to the good tray Bit 13
S6，當良品滿盤堆疊位14的良品TRAY盤6堆疊到一定數量之後，第三機械手16運動，將TRAY蓋轉移到良品滿盤堆疊位14的良品TRAY盤6上，同時向控制中心發出訊息，提醒取盤，例如，要求人工過來取盤或者天車取盤；S6. After the good quality tray 6 of good quality full tray stacking position 14 is stacked to a certain number, the third robot 16 moves to transfer the TRAY cover to the good quality tray 6 of good quality full tray stacking position 14, and send it to the control center at the same time. Message to remind you to take the order, for example, asking to come over to take the order manually or to take the order;
S7，當次品TRAY盤7或重檢TRAY盤8擺滿物料時，該次品TRAY盤或重檢TRAY盤相應被運動至次品滿盤堆疊位23或重檢滿盤堆疊位24豎直堆疊，同時，不良品空盤緩衝位21上的TRAY盤藉由第三機械手16轉移作為次品TRAY盤7或重檢TRAY盤8；S7, when the defective TRAY tray 7 or the recheck tray 8 is full of materials, the defective TRAY tray or recheck tray is moved to the defective full tray stacking position 23 or the recheck full tray stacking position 24 vertically. Stacked, at the same time, the TRAY disk on the empty disk buffer position 21 of the defective product is transferred by the third robot 16 as a defective TRAY disk 7 or a recheck TRAY disk 8;
S8，當不良品空盤緩衝位21無空TRAY盤時，不良品空盤送料位20及時向不良品空盤緩衝位21提供一空TRAY盤，不良品空盤送料位20空TRAY盤減少到一定數量時，向控制中心發出訊息，提醒人工補盤或者天車補盤；S8, when the defective product empty tray buffer position 21 has no empty TRAY disk, the defective product empty tray feeding position 20 provides an empty TRAY disk to the defective product empty tray buffer position 21 in time, and the defective product empty tray feeding position 20 empty TRAY disk is reduced to a certain level When the quantity is reached, send a message to the control center to remind you to make a manual or overhead crane;
S9，當次品滿盤堆疊位23或重檢滿盤堆疊位24的TRAY盤堆疊到一定數量時，向控制中心發出訊息，提醒人工取盤或者天車取盤，給次品滿盤堆疊位或重檢滿盤堆疊位的TRAY盤蓋上TRAY蓋，掃描TRAY蓋條碼。S9, when the defective tray full stacking position 23 or recheck full tray stacking position 24 is stacked to a certain number, a message is sent to the control center to remind the manual or overhead crane to pick up the tray, and to give the defective full tray stacking position Or recheck the tray tray of the full tray stacking position and close the tray cover and scan the tray cover barcode.
所述第二放料平臺10更包括有空TRAY盤來料位11和良品空盤緩衝位12，當良品擺盤位13無TRAY盤時第二放料平臺10活動並將一TRAY盤從良品空盤緩衝位12移動至良品擺盤位13，當良品空盤緩衝位12無TRAY盤時，空TRAY盤來料位11向良品空盤緩衝位12提供複數個TRAY盤，所述第二放料平臺10更包括有良品滿盤堆疊位14和滿TRAY 盤送料位，良品擺盤位13的TRAY盤擺滿之後在良品滿盤堆疊位14豎直堆疊，直到堆疊到一定數量之後，轉移至滿TRAY盤送料位15，同時向控制中心發出訊息，提醒人工取盤或者天車取盤，較佳為人工，因為所需TRAY 盤量多，一般一次補盤可以完成很長時間的供給量。The second unloading platform 10 further includes an empty TRAY plate incoming material level 11 and a good product empty plate buffer position 12. When the good product display position 13 does not have a TRAY plate, the second discharge platform 10 is activated and a TRAY plate is removed from the good product. The empty disk buffer position 12 is moved to the good product display position 13. When the good product empty disk buffer position 12 has no TRAY disk, the empty tray supply position 11 provides a plurality of TRAY disks to the good empty disk buffer position 12. The material platform 10 further includes a full product stacking position 14 and a full tray feed position. After the full product trays at the good product position 13 are full, they are stacked vertically at the full product stack position 14 until they are stacked to a certain amount and transferred to When the tray is full, the feed level is 15 and at the same time, a message is sent to the control center to remind the manual tray or overhead crane to pick up the tray, preferably manual, because the required tray volume is large, and it can generally complete the supply for a long time.
所述第一放料平臺4上設置有驅動機構，用於將位於第一放料平臺4上的物料1推動到第一放料平臺4靠近第二放料平臺10的端部，所述第三放料平臺17呈活動狀，用於將靠近第二機械手9端的物料1轉移至靠近第三機械手16端，所述第三放料平臺17每次只可承放一個物料，當第三放料平臺17上已承載物料時，第二機械手9將新進不良品物料放置到第四放料平臺18上。The first discharge platform 4 is provided with a driving mechanism for pushing the material 1 located on the first discharge platform 4 to an end of the first discharge platform 4 near the second discharge platform 10, and the first The three discharging platform 17 is movable and is used to transfer the material 1 near the end of the second robot 9 to the end of the third robot 16. The third discharging platform 17 can only hold one material at a time. When the material is already carried on the three-discharging platform 17, the second robot hand 9 places the newly-incoming defective material on the fourth-discharging platform 18.
綜上所述，本發明提供的一種基於TRAY盤的物料1分揀裝置以及分揀方法，在對物料1進行分揀的時候，首先是物料1在產品輸送線2的輸送作用下到達下料工位，此時限位組件22可抵觸到物料1的側部，物料1受到了限位組件22的限位，物料1隨著產品輸送線2的繼續活動而使得方向校正，此時方便第一機械手3對物料進行獲取；第一機械手3獲得物料之後將物料轉移到所述第一放料平臺4上，在物料轉移的過程中經過物料掃碼件5並受到了掃碼與訊息獲取；物料轉移到所述第一放料平臺4上之後，受到了驅動機構的推送，使得物料更為接近第二放料平臺10，其中驅動機構可以是普通的傳送帶或者電機帶動的推送杆，如此物料在受到第二機械手9的作用的時候，就能夠減小第二機械手9的長度，從而減少第二機械手9的投入成本。In summary, the present invention provides a TRAY tray-based material 1 sorting device and a sorting method. When sorting material 1, the material 1 first reaches the unloading material under the transportation of the product conveying line 2. Work station, at this time, the limiting component 22 can abut the side of the material 1, the material 1 is limited by the limiting component 22, and the direction of the material 1 is corrected as the product conveyor line 2 continues to move. The manipulator 3 obtains the materials; after the first manipulator 3 obtains the materials, it transfers the materials to the first unloading platform 4, passes through the material scanning part 5 during the material transfer process, and receives the code scanning and information acquisition. After the material is transferred to the first discharging platform 4, it is pushed by the driving mechanism, so that the material is closer to the second discharging platform 10, where the driving mechanism may be a common conveyor or a push rod driven by a motor, so When the material is subjected to the action of the second robot arm 9, the length of the second robot arm 9 can be reduced, thereby reducing the input cost of the second robot arm 9.
第二機械手9將物料抓起之後，同時也接收到物料掃碼件5的掃碼訊息，並根據掃碼訊息決定將抓起的物料1放到第二放料平臺10或者第三放料平臺17上，當物料1為良品的時候，第二機械手9將物料1放置到位於第二放料平臺10上良品擺盤位13處的TRAY盤上，當不是良品的時候，物料1被放置到第三放料平臺17上，然後第三機械手16藉由掃碼訊息對第三放料平臺17上的物料1進行區分之後，將該物料1放置到次品TRAY盤7或者重檢TRAY盤8上，由於次品和重檢的物料1都不會很多，如此同時公用一個第三機械手16也使得成本更低，同時也使得加工空間也更為節省，總體投入少，且能夠減小發生意外的發生。After the second manipulator 9 picks up the material, it also receives the code scanning message of the material scanning member 5 and decides to place the picked material 1 on the second discharging platform 10 or the third discharging according to the code scanning message. On the platform 17, when the material 1 is a good product, the second manipulator 9 places the material 1 on a TRAY plate located at the good product display position 13 on the second discharging platform 10. When it is not a good product, the material 1 is Place it on the third discharging platform 17, and then the third robot 16 distinguishes the material 1 on the third discharging platform 17 by scanning the code, and then place the material 1 on the defective tray 7 or re-check. On the TRAY disc 8, because there are not many defectives and re-inspected materials 1, so the use of a third robot 16 also reduces the cost, and also saves processing space. The overall investment is small, and Reduce accidents.
在一個TRAY盤上良品擺滿之後，良品擺盤位13的TRAY盤向上移動並在良品滿盤堆疊位14豎直堆疊，然後良品空盤緩衝位12在第二放料平臺10的作用下向良品擺盤位13輸送一個空的TRAY盤，用於接受下一輪擺放良品物料，如此不需要人工進行，減少了人工投入成本，同時也使得TRAY盤的擺放質量更高，在接受物料的時候也能夠更為穩定的進行；當良品空盤緩衝位12無空TRAY盤時，空TRAY盤來料位11向良品空盤緩衝位12提供一摞固定數量的空TRAY盤，同時，向控制中心發出訊息，要求人工送料，所以在這個過程中也不需要人工時刻看護，可自動進行。After a good tray is filled on a tray, the tray on tray 13 is moved upwards and stacked vertically on the tray on tray 14. The tray tray 12 on the tray is moved under the action of the second loading platform 10. The good product display position 13 conveys an empty TRAY plate for receiving the next round of good material. This does not require manual work, which reduces labor investment costs, and also makes the quality of the TRAY plate higher. The time can also be carried out more stably; when the good product empty disk buffer position 12 has no empty TRAY disk, the empty TRAY disk feed position 11 provides a fixed number of empty TRAY disks to the good product empty disk buffer position 12, and at the same time, the control The center sends a message requiring manual feeding, so there is no need for manual care at all times in this process, it can be performed automatically.
同樣，次品和重檢物料藉由第三機械手16也可以自動進行，由於次品TRAY盤7和重檢TRAY盤8使用的是同一個不良品空盤緩衝位21，這樣就使得投入成本進一步的縮小；由於第三放料平臺17上只能放置一個物料，所以每次第三機械手16在獲取第三放料平臺17上的物料的時候，就能夠更為精准的進行，而當不良品物料偶然較多的時候，這部分物料也能夠藉由第四放料平臺18進行暫時的承放，然後藉由第三機械手16進行獲取。Similarly, defective products and re-inspected materials can also be performed automatically by the third robot 16 because the defective TRAY disk 7 and the re-tested TRAY disk 8 use the same defective empty disk buffer position 21, which makes the investment cost Further reduction; because only one material can be placed on the third discharging platform 17, each time the third robot 16 obtains the material on the third discharging platform 17, it can perform more accurately, and when When there are occasional bad materials, this part of the material can also be temporarily held by the fourth discharging platform 18 and then obtained by the third robot 16.
當良品滿盤堆疊位14、次品滿盤堆疊位23以及重檢滿盤堆疊位24堆疊完成之後分別需要蓋上帶碼的TRAY蓋，這樣在後續進行區分的時候，就能夠直接藉由掃碼完成，即簡單又快速。When the stacking position of good product full tray 14, stacking position of defective full tray 23, and stacking position of rechecking full tray 24 are completed, it is necessary to cover the TRAY cover with a code, so that when the subsequent distinction is made, it can be directly scanned by Code completion is simple and fast.
其中，物料1藉由驅動機構活動到第一放料平臺4靠近第二放料平臺10的端部，如此第二機械手9在取物料1的時候就能夠具有較小的活動範圍，如此就減少了第二機械手10的投入成本；同時當不良品到第三放料平臺17上之後，第三放料平臺17對物料產生一定的距離移動，同時第三機械手16在第三放料平臺17遠離第二機械手9的一端將物料取走，如此藉由第三放料平臺17就防止了第二機械手9和第三機械手16之間發生碰撞等情況，提高了加工的安全性。Among them, the material 1 is moved to the end of the first discharging platform 4 close to the second discharging platform 10 by the driving mechanism, so that the second robot 9 can have a smaller range of movement when taking the material 1, Reduced the input cost of the second robot 10; meanwhile, when the defective product is on the third discharging platform 17, the third discharging platform 17 moves a certain distance to the material, and the third robot 16 is in the third discharging The end of the platform 17 away from the second robot 9 removes the material. Thus, the third discharging platform 17 prevents a collision between the second robot 9 and the third robot 16 and improves the processing safety. Sex.
需要說明的是，本說明書中各個實施例採用遞進的方式描述，每個實施例重點說明的都是與其他實施例的不同之處，各個實施例之間相同相似部分互相參見即可。對於實施例公開的測試方法而言，由於其採用的測試裝置與實施例公開的裝置部分相對應，所以對其中涉及的測試裝置描述的比較簡單，相關之處參見裝置部分說明即可。It should be noted that each embodiment in this specification is described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments may refer to each other. As for the test method disclosed in the embodiment, since the test device adopted by the embodiment corresponds to the device portion disclosed in the embodiment, the description of the test device involved therein is relatively simple. For the relevant part, refer to the description of the device portion.
上述描述僅是對本發明較佳實施例的描述，並非對本發明範圍的任何限定，本發明領域的具通常知識者根據上述揭示內容做的任何變更、修飾，均屬於申請專利範圍的保護範圍。The above description is only a description of a preferred embodiment of the present invention, and does not limit the scope of the present invention. Any changes and modifications made by those with ordinary knowledge in the field of the present invention based on the above disclosure shall fall into the protection scope of the patent application scope.
1‧‧‧物料1‧‧‧ materials
10‧‧‧第二放料平臺10‧‧‧Second loading platform
11‧‧‧空TRAY盤來料位11‧‧‧ empty Tray tray incoming position
12‧‧‧良品空盤緩衝位12‧‧‧Good product empty disk buffer
13‧‧‧良品擺盤位13‧‧‧Good Product Placement
14‧‧‧良品滿盤堆疊位14‧‧‧Good product full tray stacking position
15‧‧‧滿TRAY盤送料位15‧‧‧Full Tray tray feeding position
16‧‧‧第三機械手16‧‧‧ the third robot
17‧‧‧第三放料平臺17‧‧‧ the third discharge platform
18‧‧‧第四放料平臺18‧‧‧Fourth unloading platform
19‧‧‧第五放料平臺19‧‧‧The fifth unloading platform
2‧‧‧產品輸送線2‧‧‧ Product Conveying Line
20‧‧‧不良品空盤送料位20‧‧‧ Defective product empty tray feeding position
21‧‧‧不良品空盤緩衝位21‧‧‧ Defective product empty disk buffer
22‧‧‧限位組件22‧‧‧ limit components
23‧‧‧次品滿盤堆疊位23‧‧‧ Defective full tray stacking position
24‧‧‧重檢滿盤堆疊位24‧‧‧Recheck full stack stacking position
3‧‧‧第一機械手3‧‧‧first manipulator
4‧‧‧第一放料平臺4‧‧‧The first discharge platform
5‧‧‧物料掃碼件5‧‧‧Material scanning
6‧‧‧良品TRAY盤6‧‧‧Good Tray
7‧‧‧次品TRAY盤7‧‧‧ defective Tray plate
8‧‧‧重檢TRAY盤8‧‧‧Recheck TRAY disk
9‧‧‧第二機械手9‧‧‧Second robot
第1圖是本發明實施例中基於TRAY盤的物料分揀裝置的結構示意圖。FIG. 1 is a schematic structural diagram of a material sorting device based on a TRAY tray in an embodiment of the present invention.
Claims (23)
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| CN201710687067.0 | 2017-08-11 | ||
| CN201710687067.0A CN109382331B (en) | 2017-08-11 | 2017-08-11 | Material sorting device and sorting method based on TRAY disc |
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