CN105583167A - Infrared matrix position identifying and sorting device and sorting method - Google Patents
Infrared matrix position identifying and sorting device and sorting method Download PDFInfo
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- CN105583167A CN105583167A CN201610050447.9A CN201610050447A CN105583167A CN 105583167 A CN105583167 A CN 105583167A CN 201610050447 A CN201610050447 A CN 201610050447A CN 105583167 A CN105583167 A CN 105583167A
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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
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
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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
Abstract
The invention discloses an infrared matrix position identifying and sorting device and a sorting method. The infrared matrix position identifying and sorting device comprises a material placing tray, a sorting mechanism and a control system, wherein the sorting mechanism comprises a base and a steering engine mechanical arm capable of moving in an X-axis direction and a Y-axis direction; a plurality of first infrared radiation tubes and a plurality of second infrared radiation tubes are arranged on the material placing tray; each first infrared radiation tube comprises a first transmitting tube and a first receiving tube which are respectively arranged on two opposite side edges in the X-axis direction of the material placing tray; each second infrared radiation tube comprises a second transmitting tube and a second receiving tube which are respectively arranged on two opposite side edges in the Y-axis direction of the material placing tray. Due to the adoption of the infrared matrix position identifying and sorting device and the sorting method, the specific position of the material can be accurately determined; the operation is simple and convenient; compared with the traditional technology, the manufacturing cost of the is reduced; the capital investment is reduced.
Description
Technical field
The present invention relates to a kind of sorting equipment, in particular a kind of infrared matrix position identification sorting equipment and method for sorting.
Background technology
Along with developing rapidly of processing industry, the variation of material variety, automatic letter sorting machine has become the automated sorting device of generally using in current industrial processes, but the sorting equipment of prior art more single, the relatively immobilization of motion of form substantially, can realize the automatic discrimination of position more expensive again with the sorter price automatically picking up, the scope of identification is little, and operating system again relative complex is a lot, need could go up hand operated through professional training, as image identification system.
Therefore, prior art has yet to be improved and developed.
Summary of the invention
The technical problem to be solved in the present invention is, for the above-mentioned defect of prior art, provides a kind of infrared matrix position identification sorting equipment and method for sorting, and it effectively reduces manufacturing cost, reduces fund input, and simple to operation.
The technical scheme that technical solution problem of the present invention adopts is as follows:
A kind of infrared matrix position identification sorting equipment, comprise discharge plate, mechanism for sorting and the control system being all connected with described discharge plate, mechanism for sorting, the steering wheel manipulator that described mechanism for sorting comprises base and is arranged on base and can moves along X-axis, Y direction, described discharge plate is arranged in the scope of activities of steering wheel manipulator; On described discharge plate, be provided with multiple the first infrared emission pipes and multiple the second infrared emission pipe, each the first infrared emission pipe includes the first transmitting tube and first receiving tube corresponding with the first transmitting tube, and described the first transmitting tube and the first receiving tube are located at respectively on the two opposite sides edge in described discharge plate X-direction; Each the second infrared emission pipe includes the second transmitting tube and second receiving tube corresponding with the second transmitting tube, and described the second transmitting tube and the second receiving tube are located at respectively on the two opposite sides edge in described discharge plate Y direction.
Described infrared matrix position identification sorting equipment, wherein, described mechanism for sorting also comprises X-axis transmission mechanism and Y-axis transmission mechanism; Described X-axis transmission mechanism comprises the X-axis guide rail of being located on base, the X-axis slide block sliding along X-axis guide rail and the X-axis stepper motor for driving X-axis slide block to slide; Described Y-axis transmission mechanism comprises the supporting seat that is connected with X-axis slide block, is arranged on the Y-axis guide rail on supporting seat, the Y-axis slide block sliding along Y-axis guide rail and the y-axis stepper motor for driving Y-axis slide block to slide; Described Y-axis slide block is connected with a support, and described steering wheel manipulator is arranged on support turningly.
Described infrared matrix position identification sorting equipment, wherein, is provided with Tansducer For Color Distiguishing on described steering wheel manipulator, and described Tansducer For Color Distiguishing is connected with control system.
Described infrared matrix position identification sorting equipment, wherein, described control system comprises the first single-chip microcomputer, second singlechip, the 3rd single-chip microcomputer, three-axis stepping motor controller, X-axis stepper motor driver and y-axis stepper motor driver; Described the first single-chip microcomputer is all connected with the first infrared emission pipe, the second infrared emission pipe, second singlechip, three-axis stepping motor control; Described second singlechip is all connected with three-axis stepping motor controller, the 3rd single-chip microcomputer, described three-axis stepping motor controller is all connected with X-axis stepper motor driver and y-axis stepper motor driver, and described X-axis stepper motor driver and y-axis stepper motor driver are connected with y-axis stepper motor with X-axis stepper motor respectively; Described the 3rd single-chip microcomputer is all connected with color sensor, three-axis stepping motor controller and second singlechip.
Described infrared matrix position identification sorting equipment, wherein, further comprises multiple blanking devices, and each blanking device is for placing the material of same color.
Described infrared matrix position identification sorting equipment, wherein, is separately installed with counter on each blanking device.
Described infrared matrix position identification sorting equipment, wherein, further comprises display screen, and described display screen is connected with control system, and described display screen is for showing the ratio of material red, green, blue three colors.
A method for sorting for infrared matrix position identification sorting equipment as above, comprises the following steps:
A, the material of various different colours is put into discharge plate;
B, control system, according to the change in electric of the first correlation infrared tube and the second correlation infrared tube, judge the position of material;
C, control system control steering wheel robot movement is to the position at material place and material is picked up, and the color of color sensor identification material also feeds back to control system;
Corresponding blanking device put into by material by D, control system control steering wheel manipulator.
Described method for sorting, wherein, described step B specifically comprises the following steps:
B1, the first transmitting tube and the second transmitting tube emit beam, and the first receiving tube and the second receiving tube receive the light that corresponding the first transmitting tube and the second transmitting tube send with it;
B2, the first single-chip microcomputer receive the signal of telecommunication of the first receiving tube and the second receiving tube, and according to the variation of the signal of telecommunication of the first receiving tube and the second receiving tube, judge X-axis coordinate and the Y-axis coordinate at material place, thereby determine the position at material place;
The position at material place is sent to three-axis stepping motor controller by B3, the first single-chip microcomputer.
Described method for sorting, wherein, described step C specifically comprises the following steps:
C1, three-axis stepping motor controller are to X-axis step actuator and Y-axis step actuator transmitted, X-axis stepper motor and y-axis stepper motor according to the pulse receiving by steering wheel robot movement the position top to material place, and to the second singlechip transmission signal that puts in place;
C2, the upset of second singlechip control steering wheel manipulator also pick up material;
The color of C3, color sensor identification material, and the color of material is exported to the 3rd single-chip microcomputer, the 3rd single-chip microcomputer by the ratio value of material red, green, blue three colors in showing screen display.
Infrared matrix position identification sorting equipment provided by the present invention and method for sorting, on discharge plate, be provided with multiple the first infrared emission pipes and multiple the second infrared emission pipe owing to having adopted, the first transmitting tube and the first receiving tube are located at respectively on the two opposite sides edge in described discharge plate X-direction, the second transmitting tube and the second receiving tube are located at respectively on the two opposite sides edge in described discharge plate Y direction, thereby can accurately determine the particular location of material, simple to operation, and with respect to conventional art, the present invention is conducive to reduce manufacturing cost, reduce fund input.
Brief description of the drawings
Fig. 1 is the structural representation of infrared matrix position identification sorting equipment of the present invention;
Fig. 2 is the structured flowchart of control system of the present invention;
Fig. 3 is the flow chart of method for sorting of the present invention;
Fig. 4 is the flow chart of the concrete Application Example of method for sorting of the present invention.
Detailed description of the invention
The invention provides a kind of infrared matrix position identification sorting equipment and method for sorting, for making object of the present invention, technical scheme and advantage clearer, clear and definite, developing simultaneously referring to accompanying drawing, the present invention is described in more detail for embodiment. Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Please refer to shown in Fig. 1, the invention provides a kind of infrared matrix position identification sorting equipment, comprise discharge plate 10, mechanism for sorting 20 and the control system being all connected with described discharge plate 10, mechanism for sorting 20, the steering wheel manipulator 22 that described mechanism for sorting 20 comprises base 21 and is arranged on base 21 and can moves along X-axis, Y direction, described discharge plate 10 is arranged in the scope of activities of steering wheel manipulator 22. On described discharge plate 10, be provided with multiple the first infrared emission pipes and multiple the second infrared emission pipe, each the first infrared emission pipe includes the first transmitting tube 11 and first receiving tube 12 corresponding with the first transmitting tube 11, and described the first transmitting tube 11 and the first receiving tube 12 are located at respectively on the two opposite sides edge on described discharge plate 10X direction of principal axis; Each the second infrared emission pipe includes the second transmitting tube 13 and second receiving tube 14 corresponding with the second transmitting tube 13, and described the second transmitting tube 13 and the second receiving tube 14 are located at respectively on the two opposite sides edge on described discharge plate 10Y direction of principal axis.
Wherein, the present invention by being provided with multiple the first infrared emission pipes and multiple the second infrared emission pipe on discharge plate 10, the first transmitting tube 11 and the first receiving tube 12 are located at respectively on the two opposite sides edge on described discharge plate 10X direction of principal axis, the second transmitting tube 13 and the second receiving tube 14 are located at respectively on the two opposite sides edge on described discharge plate 10Y direction of principal axis, thereby can accurately determine the particular location of material, and with respect to conventional art, the present invention is conducive to reduce manufacturing cost, reduces fund input.
Should be noted that, the light that each the first transmitting tube 11 of the present invention and the second transmitting tube 13 send is directional light, the light that each the first transmitting tube 11 sends receives by the first receiving tube 12 of setting corresponding to it, and the light that each the second transmitting tube 13 sends receives by the second receiving tube 14 of setting corresponding to it. In addition, quantity and the density degree of described the first infrared emission pipe and the second infrared emission pipe can arrange according to actual needs, when the volume of material of needs sortings hour, can suitably increase quantity and the dense degree of the first infrared emission pipe and the second infrared emission pipe, in the time that the volume of material of needs sortings is larger, can suitably reduce quantity and the dense degree of the first infrared emission pipe and the second infrared emission pipe.
Preferably, described discharge plate 10 be shaped as rectangle, certainly, the shape of described feed table 10 is not limited to this, in other embodiments of the invention, described feed table 10 can also be circle or oval.
Preferably, described mechanism for sorting 20 also comprises X-axis transmission mechanism and Y-axis transmission mechanism; Described X-axis transmission mechanism comprises the X-axis guide rail 23 of being located on base 21, the X-axis slide block (not shown) sliding along X-axis guide rail 23 and the X-axis stepper motor 24 for driving X-axis slide block to slide; Described Y-axis transmission mechanism comprises the supporting seat 25 that is connected with X-axis slide block, is arranged on the Y-axis guide rail 26 on supporting seat 25, the Y-axis slide block (not shown) sliding along Y-axis guide rail 26 and the y-axis stepper motor 27 for driving Y-axis slide block to slide; Described Y-axis slide block is connected with a support 28, and described steering wheel manipulator 22 is arranged on support 28 turningly.
Particularly, in the present embodiment, described X-axis transmission mechanism also includes X-axis screw mandrel 29 and X-axis screw mandrel slide block, and described X-axis screw mandrel 29 is connected with the rotating shaft of X-axis stepper motor 24, described supporting seat 25 is connected and fixed with X-axis screw mandrel slide block, and the activity with the slip of X-axis screw mandrel slide block. Described Y-axis transmission mechanism also comprises Y-axis screw mandrel 291 and Y-axis screw mandrel slide block, and described Y-axis screw mandrel 291 is connected with the rotating shaft of y-axis stepper motor 27, and described support 28 is connected and fixed with Y-axis screw mandrel slide block, and the activity with the slip of Y-axis screw mandrel slide block.
Preferably, on described steering wheel manipulator 22, be provided with Tansducer For Color Distiguishing (not shown), described Tansducer For Color Distiguishing is connected with control system. By Tansducer For Color Distiguishing being set on steering wheel manipulator 22, can identifying the material of different colours, thereby the material of different colours is distinguished.
Preferably, as shown in Figure 2, described control system comprises the first single-chip microcomputer 31, second singlechip 32, the 3rd single-chip microcomputer 33, three-axis stepping motor controller 34, X-axis stepper motor driver 35 and y-axis stepper motor driver 36. Described the first single-chip microcomputer 31 is all connected with the first infrared emission pipe, the second infrared emission pipe, second singlechip 32, three-axis stepping motor controller 34, described the first single-chip microcomputer 31 is for receiving the signal of telecommunication of the first receiving tube 12 and the second receiving tube 14, and according to the variation of the signal of telecommunication of the first receiving tube 12 and the second receiving tube 14, determine the position at material place, and the position at material place is passed to three-axis stepping motor controller 34. Described second singlechip 32 is all connected with three-axis stepping motor controller 34, the 3rd single-chip microcomputer 33, and described second singlechip 32 is for receiving the signal that puts in place of three-axis stepping motor controller 34. Described three-axis stepping motor controller 34 is all connected with X-axis stepper motor driver 35 and y-axis stepper motor driver 36, described three-axis stepping motor controller 34 is by programme-control, to X-axis stepper motor driver 35 and y-axis stepper motor driver 36 transmitteds. Described X-axis stepper motor driver 35 and y-axis stepper motor driver 36 are connected with y-axis stepper motor 27 with X-axis stepper motor 24 respectively, for driving X-axis stepper motor 24 and y-axis stepper motor 27 to rotate. Described the 3rd single-chip microcomputer 33 is all connected with color sensor, three-axis stepping motor controller and second singlechip 32, described the 3rd single-chip microcomputer 33 receives the signal of color sensor, and export to second singlechip 32, move thereby make second singlechip 32 control steering wheel manipulator 22.
In the present embodiment, described the first single-chip microcomputer 31, the 3rd single-chip microcomputer 33 are C51 single-chip microcomputer, and described second singlechip 32 is arduino single-chip microcomputer.
Preferably, described infrared matrix position identification sorting equipment further comprises multiple blanking device (not shown), and each blanking device is for placing the material of same color. In order to better understand the quantity situation of material of each blanking device, can also on each blanking device, be separately installed with counter.
Preferably, described infrared matrix position identification sorting equipment further comprises display screen, and described display screen is connected with control system, and described display screen is for showing the ratio of material red, green, blue three colors. By display screen, can know the ratio value that demonstrates intuitively material red, green, blue three colors.
Please refer to shown in Fig. 3, the present invention also provides a kind of method for sorting, comprises the following steps:
S100, the material of various different colours is put into discharge plate.
Sorting equipment, before work, first will be put into the material that need to distinguish color in discharge plate.
S200, control system, according to the change in electric of the first correlation infrared tube and the second correlation infrared tube, judge the position of material.
Preferably, described step S200 specifically comprises the following steps:
S210, the first transmitting tube and the second transmitting tube emit beam, and the first receiving tube and the second receiving tube receive the light that corresponding the first transmitting tube and the second transmitting tube send with it.
S220, the first single-chip microcomputer receive the signal of telecommunication of the first receiving tube and the second receiving tube, and according to the variation of the signal of telecommunication of the first receiving tube and the second receiving tube, judge X-axis coordinate and the Y-axis coordinate at material place, thereby determine the position at material place.
The position at material place is sent to three-axis stepping motor controller by S230, the first single-chip microcomputer.
When to the first mcu programming, first the level of each pin of the first single-chip microcomputer is set high to position (being high level); While starting to switch on, the light that the first transmitting tube and the second transmitting tube send is received by the first receiving tube and the second receiving tube respectively, and now, the first receiving tube and the second receiving tube are in conducting state, the pin of the first single-chip microcomputer becomes low level from high level, and this does not detect material in discharge plate. While being placed with material in discharge plate, because material can stop the light that the first transmitting tube and the second transmitting tube send, now, corresponding the first receiving tube and the second receiving tube cannot receive light with it, it is large that its resistance becomes, and pin level becomes high level from low level, changes by the height of the first single-chip microcomputer pin level, thereby can judge X-axis coordinate and the Y-axis coordinate of object, thereby determine the particular location of material.
S300, control system control steering wheel robot movement is to the position at material place and material is picked up, and the color of color sensor identification material also feeds back to control system.
Preferably, described step S300 specifically comprises the following steps:
S310, three-axis stepping motor controller are to X-axis step actuator and Y-axis step actuator transmitted, X-axis stepper motor and y-axis stepper motor according to the pulse receiving by steering wheel robot movement the position top to material place, and to the second singlechip transmission signal that puts in place.
When the pulse of three-axis stepping motor controller is sent, X-axis stepper motor and y-axis stepper motor are rotated in place, and three-axis stepping motor controller sends to second singlechip the signal that puts in place.
S320, the upset of second singlechip control steering wheel manipulator also pick up material.
The color of S330, color sensor identification material, and the color of material is exported to the 3rd single-chip microcomputer, the 3rd single-chip microcomputer by the ratio value of material red, green, blue three colors in showing screen display.
Corresponding blanking device put into by material by S400, control system control steering wheel manipulator.
Preferably, described step S400 specifically comprises the following steps:
S410, second singlechip, according to the material color receiving, are controlled steering wheel robot movement above the blanking device that color is identical with it.
S420, second singlechip control steering wheel manipulator are put into material in blanking device.
Finally, circulation above-mentioned steps S100 to S400, until that the material in feed table is all sorted is complete.
As shown in Figure 4, the present invention also provides the concrete Application Example of method for sorting, comprises step:
S10, control system start to initialize;
Whether S20, the first single-chip microcomputer signal of telecommunication change; If so, enter step S30, if not, finish;
Whether S30, the first single-chip microcomputer only have a change in electric; If so, perform step S40, and jump to step S70; If not, perform step S50;
S40, the X-axis of calculating this position, Y-axis coordinate;
S50, discharge plate is carried out to linear precedence scanning;
S60, first scanning position of keeping records;
Positional information is sent to three-axis stepping motor controller by S70, the first single-chip microcomputer;
S80, three-axis stepping motor controller transmitted are to X-axis stepper motor driver and y-axis stepper motor driver;
S90, X-axis stepper motor driver and y-axis stepper motor driver drive respectively X-axis stepper motor, y-axis stepper motor to rotate;
S91, three-axis stepping motor controller send to second singlechip the signal that puts in place, and second singlechip control steering wheel robot movement also picks up material, and color sensor judges material color;
Material color signal is passed to three axle step-by-step controllers by S92, the 3rd single-chip microcomputer;
S93, three-axis stepping motor controller transmitted be to X-axis stepper motor driver and y-axis stepper motor driver, and X-axis stepper motor driver and y-axis stepper motor driver drive respectively X-axis stepper motor, y-axis stepper motor to rotate;
S94, three-axis stepping motor controller send to second singlechip the signal that puts in place, and second singlechip control steering wheel manipulator puts down material, and turns back to step S20.
Should be understood that, application of the present invention is not limited to above-mentioned giving an example, and for those of ordinary skills, can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (10)
1. one kind infrared matrix position identification sorting equipment, comprise discharge plate, mechanism for sorting and the control system being all connected with described discharge plate, mechanism for sorting, the steering wheel manipulator that described mechanism for sorting comprises base and is arranged on base and can moves along X-axis, Y direction, described discharge plate is arranged in the scope of activities of steering wheel manipulator; It is characterized in that, on described discharge plate, be provided with multiple the first infrared emission pipes and multiple the second infrared emission pipe, each the first infrared emission pipe includes the first transmitting tube and first receiving tube corresponding with the first transmitting tube, and described the first transmitting tube and the first receiving tube are located at respectively on the two opposite sides edge in described discharge plate X-direction; Each the second infrared emission pipe includes the second transmitting tube and second receiving tube corresponding with the second transmitting tube, and described the second transmitting tube and the second receiving tube are located at respectively on the two opposite sides edge in described discharge plate Y direction.
2. infrared matrix position identification sorting equipment according to claim 1, is characterized in that, described mechanism for sorting also comprises X-axis transmission mechanism and Y-axis transmission mechanism; Described X-axis transmission mechanism comprises the X-axis guide rail of being located on base, the X-axis slide block sliding along X-axis guide rail and the X-axis stepper motor for driving X-axis slide block to slide; Described Y-axis transmission mechanism comprises the supporting seat that is connected with X-axis slide block, is arranged on the Y-axis guide rail on supporting seat, the Y-axis slide block sliding along Y-axis guide rail and the y-axis stepper motor for driving Y-axis slide block to slide; Described Y-axis slide block is connected with a support, and described steering wheel manipulator is arranged on support turningly.
3. infrared matrix position identification sorting equipment according to claim 2, is characterized in that, on described steering wheel manipulator, be provided with Tansducer For Color Distiguishing, described Tansducer For Color Distiguishing is connected with control system.
4. infrared matrix position identification sorting equipment according to claim 3, it is characterized in that, described control system comprises the first single-chip microcomputer, second singlechip, the 3rd single-chip microcomputer, three-axis stepping motor controller, X-axis stepper motor driver and y-axis stepper motor driver; Described the first single-chip microcomputer is all connected with the first infrared emission pipe, the second infrared emission pipe, second singlechip, three-axis stepping motor controller; Described second singlechip is all connected with three-axis stepping motor controller, the 3rd single-chip microcomputer, described three-axis stepping motor controller is all connected with X-axis stepper motor driver and y-axis stepper motor driver, and described X-axis stepper motor driver and y-axis stepper motor driver are connected with y-axis stepper motor with X-axis stepper motor respectively; Described the 3rd single-chip microcomputer is all connected with color sensor, three-axis stepping motor controller and second singlechip.
5. infrared matrix position identification sorting equipment according to claim 3, is characterized in that, further comprise multiple blanking devices, each blanking device is for placing the material of same color.
6. infrared matrix position identification sorting equipment according to claim 5, is characterized in that, on each blanking device, is separately installed with counter.
7. infrared matrix position identification sorting equipment according to claim 6, is characterized in that, further comprise display screen, described display screen is connected with control system, and described display screen is for showing the ratio of material red, green, blue three colors.
8. a method for sorting for the infrared matrix position identification sorting equipment as described in claim 1-7 any one, is characterized in that, comprises the following steps:
A, the material of various different colours is put into discharge plate;
B, control system, according to the change in electric of the first correlation infrared tube and the second correlation infrared tube, judge the position of material;
C, control system control steering wheel robot movement is to the position at material place and material is picked up, and the color of color sensor identification material also feeds back to control system;
Corresponding blanking device put into by material by D, control system control steering wheel manipulator.
9. method for sorting according to claim 8, is characterized in that, described step B specifically comprises the following steps:
B1, the first transmitting tube and the second transmitting tube emit beam, and the first receiving tube and the second receiving tube receive the light that corresponding the first transmitting tube and the second transmitting tube send with it;
B2, the first single-chip microcomputer receive the signal of telecommunication of the first receiving tube and the second receiving tube, and according to the variation of the signal of telecommunication of the first receiving tube and the second receiving tube, judge X-axis coordinate and the Y-axis coordinate at material place, thereby determine the position at material place;
The position at material place is sent to three-axis stepping motor controller by B3, the first single-chip microcomputer.
10. method for sorting according to claim 9, is characterized in that, described step C specifically comprises the following steps:
C1, three-axis stepping motor controller are to X-axis step actuator and Y-axis step actuator transmitted, X-axis stepper motor and y-axis stepper motor according to the pulse receiving by steering wheel robot movement the position top to material place, and to the second singlechip transmission signal that puts in place;
C2, the upset of second singlechip control steering wheel manipulator also pick up material;
The color of C3, color sensor identification material, and the color of material is exported to the 3rd single-chip microcomputer, the 3rd single-chip microcomputer by the ratio value of material red, green, blue three colors in showing screen display.
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| CN201610050447.9A CN105583167B (en) | 2016-01-26 | 2016-01-26 | A kind of infrared matrix position identification sorting equipment and method for sorting |
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| CN201610050447.9A CN105583167B (en) | 2016-01-26 | 2016-01-26 | A kind of infrared matrix position identification sorting equipment and method for sorting |
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| CN204566131U (en) * | 2014-12-22 | 2015-08-19 | 湖北文理学院 | A kind of five shaft multifunctional machinery hands |
| CN205362014U (en) * | 2016-01-26 | 2016-07-06 | 河源职业技术学院 | Infrared matrix position discernment sorting device |
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