CN105583167B - A kind of infrared matrix position identification sorting equipment and method for sorting - Google Patents
A kind of infrared matrix position identification sorting equipment and method for sorting Download PDFInfo
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- CN105583167B CN105583167B CN201610050447.9A CN201610050447A CN105583167B CN 105583167 B CN105583167 B CN 105583167B CN 201610050447 A CN201610050447 A CN 201610050447A CN 105583167 B CN105583167 B CN 105583167B
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- reception pipe
- stepper motor
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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
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Abstract
The invention discloses a kind of infrared matrix position identification sorting equipment and method for sorting, the infrared matrix position identification sorting equipment includes discharge plate, mechanism for sorting and control system, and the mechanism for sorting includes base and is arranged at the steering wheel manipulator that can be moved on base and along X-axis, Y direction；Multiple first infrared emission pipes and multiple second infrared emission pipes are provided with discharge plate, each first infrared emission Guan Jun includes the first transmitting tube and the first reception pipe, and first transmitting tube and the first reception pipe are respectively arranged on the two opposite sides edge in the discharge plate X-direction；Each second infrared emission Guan Jun includes the second transmitting tube and the second reception pipe, and second transmitting tube and the second reception pipe are respectively arranged on the two opposite sides edge in the discharge plate Y direction.The particular location of material can be accurately determined using the present invention, it is simple to operate, and for conventional art, the present invention advantageously reduces manufacturing cost, reduces fund input.
Description
Technical field
The present invention relates to a kind of sorting equipment, more particularly to a kind of infrared matrix position identification sorting equipment and sorting
Method.
Background technology
With developing rapidly for processing industry, the variation of material variety, automatic letter sorting machine turns into current industrial processes
The automated sorting device generally used, but the sorting equipment of prior art substantially form is relatively simple, motion ratio is more solid
Fixedization, the automatic discrimination of position and the sorter price picked up automatically can be realized again costly, the scope of identification is small, operation
System is again relative complex much need to pass through professional training ability left-hand seat and operate, such as image identification system.
Therefore, prior art has yet to be improved and developed.
The content of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, there is provided a kind of infrared matrix position
Identification sorting equipment and method for sorting are put, it effectively reduces manufacturing cost, reduces fund input, and simple to operate.
The technical proposal for solving the technical problem of the invention is as follows：
A kind of infrared matrix position identification sorting equipment, including discharge plate, mechanism for sorting and with the discharge plate, sorting
The control system that mechanism is all connected with, the mechanism for sorting include base and are arranged on base and can be transported along X-axis, Y direction
Dynamic steering wheel manipulator, the discharge plate are arranged in the scope of activities of steering wheel manipulator；It is provided with the discharge plate multiple
First infrared emission pipe and multiple second infrared emission pipes, each first infrared emission Guan Jun include the first transmitting tube and with
First reception pipe corresponding to first transmitting tube, first transmitting tube and the first reception pipe are respectively arranged on the discharge plate X-axis side
On upward two opposite sides edge；Each second infrared emission Guan Jun includes the second transmitting tube and corresponding with the second transmitting tube the
Two reception pipes, second transmitting tube and the second reception pipe are respectively arranged on the two opposite sides edge in the discharge plate Y direction
On.
Described infrared matrix position identification sorting equipment, wherein, the mechanism for sorting also include X-axis transmission mechanism and
Y-axis transmission mechanism；The X-axis transmission mechanism includes X-axis guide rail on the base, is slided along X-axis guide rail X-axis slide block and
For the X-axis stepper motor for driving X-axis slide block to slide；The Y-axis transmission mechanism include be connected with X-axis slide block support base, set
Put the Y-axis guide rail on support base, the Y-axis sliding block slided along Y-axis guide rail and the Y-axis stepping for driving Y-axis sliding block to slide
Motor；The Y-axis sliding block is connected with a support, and the steering wheel manipulator is arranged on support turnablely.
Described infrared matrix position identification sorting equipment, wherein, colour recognition biography is provided with the steering wheel manipulator
Sensor, the Tansducer For Color Distiguishing are connected with control system.
Described infrared matrix position identification sorting equipment, wherein, the control system includes the first single-chip microcomputer, the second list
Piece machine, the 3rd single-chip microcomputer, three-axis stepping motor controller, X-axis stepper motor driver and y-axis stepper motor driver；Institute
The first single-chip microcomputer is stated with the first infrared emission pipe, the second infrared emission pipe, second singlechip, three-axis stepping motor control to connect
Connect；The second singlechip is all connected with three-axis stepping motor controller, the 3rd single-chip microcomputer, the three-axis stepping motor controller
It is all connected with X-axis stepper motor driver and y-axis stepper motor driver, the X-axis stepper motor driver and Y-axis step
Stepper motor driver is connected with X-axis stepper motor with y-axis stepper motor respectively；3rd single-chip microcomputer and color sensor, three
Shaft step motor controller and second singlechip are all connected with.
Described infrared matrix position identification sorting equipment, wherein, further comprise multiple blanking devices, each blanking dress
Put the material for placing same color.
Described infrared matrix position identification sorting equipment, wherein, it is separately installed with counter on each blanking device.
Described infrared matrix position identification sorting equipment, wherein, further comprise display screen, the display screen and control
System connects, and the display screen is used for the ratio for showing the color of material red, green, blue three.
A kind of method for sorting of infrared matrix position identification sorting equipment as described above, comprises the following steps：
A, the material of various different colours is put into discharge plate；
B, control system penetrates infrared tube and second pair of change in electric for penetrating infrared tube according to first pair, judges the position of material
Put；
C, control system control steering wheel robot movement to the position where material and picks up material, and color sensor is known
The color of other material simultaneously feeds back to control system；
D, material is put into corresponding blanking device by control system control steering wheel manipulator.
Described method for sorting, wherein, the step B specifically includes following steps：
B1, the first transmitting tube and the second transmitting tube emit beam, and the first reception pipe receives corresponding therewith with the second reception pipe
The first transmitting tube and the light that sends of the second transmitting tube；
B2, the first single-chip microcomputer receive the electric signal of the first reception pipe and the second reception pipe, and according to the first reception pipe and the
The change of the electric signal of two reception pipes, X-axis coordinate and Y-axis coordinate where material are judged, so that it is determined that the position where material；
Position where material is sent to three-axis stepping motor controller by B3, the first single-chip microcomputer.
Described method for sorting, wherein, the step C specifically includes following steps：
C1, three-axis stepping motor controller send pulse, X-axis stepping electricity to X-axis step actuator and Y-axis step actuator
Machine and y-axis stepper motor according to the pulse of reception by above the position where steering wheel robot movement to material, it is and single to second
Piece machine sends signal in place；
C2, second singlechip control steering wheel manipulator overturn and pick up material；
C3, color sensor identification material color, and the color of material is exported to the 3rd single-chip microcomputer, the 3rd single-chip microcomputer
By the ratio value of the color of material red, green, blue three in display screen display.
Infrared matrix position identification sorting equipment and method for sorting provided by the present invention, as a result of on discharge plate
It is provided with multiple first infrared emission pipes and multiple second infrared emission pipes, the first transmitting tube is respectively arranged on the first reception pipe
On two opposite sides edge in the discharge plate X-direction, the second transmitting tube and the second reception pipe are respectively arranged on the discharge plate Y
It is simple to operate so as to accurately determine the particular location of material on two opposite sides edge on direction of principal axis, and relative to biography
For system technology, the present invention advantageously reduces manufacturing cost, reduces fund input.
Brief description of the drawings
Fig. 1 is the structural representation of the infrared matrix position identification sorting equipment of the present invention；
Fig. 2 is the structured flowchart of the control system of the present invention；
Fig. 3 is the flow chart of the method for sorting of the present invention；
Fig. 4 is the flow chart of the concrete application embodiment of the method for sorting of the present invention.
Embodiment
The invention provides a kind of infrared matrix position identification sorting equipment and method for sorting, for make the purpose of the present invention,
Technical scheme and advantage are clearer, clear and definite, and the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.Should
Understand, the specific embodiments described herein are merely illustrative of the present invention, is not intended to limit the present invention.
It refer to shown in Fig. 1, the invention provides a kind of infrared matrix position identification sorting equipment, including discharge plate 10,
Mechanism for sorting 20 and the control system being all connected with the discharge plate 10, mechanism for sorting 20, the mechanism for sorting 20 include bottom
Seat 21 and is arranged at the steering wheel manipulator 22 that can be moved on base 21 and along X-axis, Y direction, and the discharge plate 10 is arranged at
In the scope of activities of steering wheel manipulator 22.Multiple first infrared emission pipes and multiple second red are provided with the discharge plate 10
Outside to penetrating pipe, each first infrared emission Guan Jun includes the first transmitting tube 11 and received with the first transmitting tube 11 corresponding first
Pipe 12, the reception pipe 12 of the first transmitting tube 11 and first are respectively arranged on the two opposite sides edge on the discharge plate 10X direction of principal axis
On；Each second infrared emission Guan Jun include the second transmitting tube 13 and with 13 corresponding second reception pipe 14 of the second transmitting tube,
The reception pipe 14 of second transmitting tube 13 and second is respectively arranged on the two opposite sides edge on the discharge plate 10Y direction of principal axis.
Wherein, the present invention on discharge plate 10 by being provided with multiple first infrared emission pipes and multiple second infrared right
Pipe is penetrated, the first transmitting tube 11 and the first reception pipe 12 are respectively arranged on the two opposite sides edge on the discharge plate 10X direction of principal axis, the
Two transmitting tubes 13 and the second reception pipe 14 are respectively arranged on the two opposite sides edge on the discharge plate 10Y direction of principal axis, so as to
Accurately to determine the particular location of material, and for conventional art, the present invention advantageously reduces manufacturing cost, reduces money
Gold input.
It should be noted that the light that the transmitting tube 13 of each first transmitting tube 11 and second of the present invention is sent is parallel
Light, the light that each first transmitting tube 11 is sent receive by the first reception pipe 12 of corresponding setting, each second transmitting tube
13 light sent receive by the second reception pipe 14 of corresponding setting.In addition, the first infrared emission pipe and second
The quantity and density degree of infrared emission pipe can be configured according to being actually needed, when the volume of material for needing to sort is smaller
When, it can suitably increase the quantity and dense degree of the first infrared emission pipe and the second infrared emission pipe, be sorted when needs
When volume of material is larger, the quantity and dense degree of the first infrared emission pipe and the second infrared emission pipe can be suitably reduced.
Preferably, the discharge plate 10 is shaped as rectangle, and certainly, the shape of the feed table 10 is not limited thereto,
In other embodiments of the invention, the feed table 10 can also be circular or ellipse.
Preferably, the mechanism for sorting 20 also includes X-axis transmission mechanism and Y-axis transmission mechanism；The X-axis transmission mechanism
The X-axis slide block slided including the X-axis guide rail 23 on base 21, along X-axis guide rail 23（Do not show in figure）And for driving X-axis
The X-axis stepper motor 24 that sliding block slides；The Y-axis transmission mechanism include be connected with X-axis slide block support base 25, be arranged on support
Y-axis guide rail 26 on seat 25, the Y-axis sliding block along the slip of Y-axis guide rail 26（Do not show in figure）And slided for driving Y-axis sliding block
Y-axis stepper motor 27；The Y-axis sliding block is connected with a support 28, and the steering wheel manipulator 22 is arranged at support 28 turnablely
On.
Specifically, in the present embodiment, the X-axis transmission mechanism also includes X-axis screw mandrel 29 and X-axis screw mandrel is slided
Block, the X-axis screw mandrel 29 are connected with the rotating shaft of X-axis stepper motor 24, and the support base 25 is connected with X-axis screw mandrel sliding block,
It is and movable with the slip of X-axis screw mandrel sliding block.The Y-axis transmission mechanism also includes Y-axis screw mandrel 291 and Y-axis screw mandrel sliding block, institute
The rotating shaft that Y-axis screw mandrel 291 is stated with y-axis stepper motor 27 is connected, and the support 28 is connected with Y-axis screw mandrel sliding block, and with Y-axis
The slip of screw mandrel sliding block and it is movable.
Preferably, it is provided with Tansducer For Color Distiguishing on the steering wheel manipulator 22（Do not show in figure）, the colour recognition
Sensor is connected with control system.By setting Tansducer For Color Distiguishing on steering wheel manipulator 22, different colours can be identified
Material, so that the material of different colours be made a distinction.
Preferably, as shown in Fig. 2 the control system includes 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 first is single
Piece machine 31 connects with the first infrared emission pipe, the second infrared emission pipe, second singlechip 32, three-axis stepping motor controller 34
Connect, first single-chip microcomputer 31 is used for the electric signal for receiving the first reception pipe 12 and the second reception pipe 14, and is received according to first
The change of the electric signal of the reception pipe 14 of pipe 12 and second, the position where material is determined, and the position where material is passed to
Three-axis stepping motor controller 34.The second singlechip 32 connects with three-axis stepping motor controller 34, the 3rd single-chip microcomputer 33
Connect, the second singlechip 32 is used for the signal in place for receiving three-axis stepping motor controller 34.The three-axis stepping motor control
Device 34 processed is all connected with X-axis stepper motor driver 35 and y-axis stepper motor driver 36, the three-axis stepping motor control
Device 34 sends pulse by programme-control to X-axis stepper motor driver 35 and y-axis stepper motor driver 36.The X-axis
Stepper motor driver 35 and y-axis stepper motor driver 36 connect with X-axis stepper motor 24 and y-axis stepper motor 27 respectively
Connect, for driving X-axis stepper motor 24 to be rotated with y-axis stepper motor 27.3rd single-chip microcomputer 33 and color sensor, three axles
Controllor for step-by-step motor and second singlechip 32 are all connected with, and the 3rd single-chip microcomputer 33 receives the signal of color sensor, and
Export to second singlechip 32, so that second singlechip 32 controls steering wheel manipulator 22 to move.
In the present embodiment, first single-chip microcomputer 31, the 3rd single-chip microcomputer 33 are C51 single-chip microcomputers, second monolithic
Machine 32 is arduino single-chip microcomputers.
Preferably, the infrared matrix position identification sorting equipment further comprises multiple blanking devices（Do not show in figure）,
Each blanking device is used for the material for placing same color.In order to better understand the quantity feelings of the material of each blanking device
Condition, it can also expect to be separately installed with counter on device in each of the lower.
Preferably, the infrared matrix position identification sorting equipment further comprises display screen, the display screen and control
System connects, and the display screen is used for the ratio for showing the color of material red, green, blue three.By display screen, can understand intuitively
Show the ratio value of the color of material red, green, blue three.
It refer to shown in Fig. 3, present invention also offers a kind of method for sorting, comprise the following steps：
S100, the material of various different colours is put into discharge plate.
Sorting equipment before work first has to the material for needing to distinguish color to be put into discharge plate.
S200, control system penetrate infrared tube and second pair of change in electric for penetrating infrared tube according to first pair, judge material
Position.
Preferably, the step S200 specifically includes following steps：
S210, the first transmitting tube and the second transmitting tube emit beam, and it is right therewith that the first reception pipe receives with the second reception pipe
The light that the first transmitting tube and the second transmitting tube answered are sent.
S220, the first single-chip microcomputer receive the electric signal of the first reception pipe and the second reception pipe, and according to the first reception pipe with
The change of the electric signal of second reception pipe, X-axis coordinate and Y-axis coordinate where material are judged, so that it is determined that the position where material
Put.
Position where material is sent to three-axis stepping motor controller by S230, the first single-chip microcomputer.
When to the first mcu programming, the level of each pin of the first single-chip microcomputer is first put into a high position（That is high level）；
When being initially powered up, the light that the first transmitting tube and the second transmitting tube are sent is received by the first reception pipe and the second reception pipe respectively,
Now, the first reception pipe and the second reception pipe are in the conduction state, and the pin of the first single-chip microcomputer is changed into low level from high level, this
Not detect material in discharge plate.When material is placed with discharge plate, because material can stop the first transmitting tube and second
The light that transmitting tube is sent, now, corresponding first reception pipe can not receive light with the second reception pipe, its resistance
Become big, pin level is changed into high level from low level, changes by the height of the first single-chip microcomputer pin level, so as to judge
Go out the X-axis coordinate and Y-axis coordinate of object, so that it is determined that the particular location of material.
S300, control system control steering wheel robot movement to the position where material and pick up material, color sensing
The color of device identification material simultaneously feeds back to control system.
Preferably, the step S300 specifically includes following steps：
S310, three-axis stepping motor controller send pulse, X-axis stepping to X-axis step actuator and Y-axis step actuator
Motor and y-axis stepper motor according to the pulse of reception by above the position where steering wheel robot movement to material, and to second
Single-chip microcomputer sends signal in place.
When the pulse of three-axis stepping motor controller is sent, X-axis stepper motor is rotated in place with y-axis stepper motor,
Three-axis stepping motor controller sends signal in place to second singlechip.
S320, second singlechip control steering wheel manipulator overturn and pick up material.
S330, color sensor identification material color, and the color of material is exported to the 3rd single-chip microcomputer, the 3rd monolithic
Machine is by the ratio value of the color of material red, green, blue three in display screen display.
Material is put into corresponding blanking device by S400, control system control steering wheel manipulator.
Preferably, the step S400 specifically includes following steps：
S410, second singlechip are identical to color therewith according to the material color received, control steering wheel robot movement
Blanking device above.
Material is put into blanking device by S420, second singlechip control steering wheel manipulator.
Finally, above-mentioned steps S100 to S400 is circulated, until the material in feed table is finished by all sortings.
As shown in figure 4, present invention also offers the concrete application embodiment of method for sorting, including step：
S10, control system start to initialize；
Whether S20, the first monolithic dynamoelectric signal change；If so, then enter step S30, if it is not, then terminating；
Whether S30, the first single-chip microcomputer only have a change in electric；If so, then performing step S40, and jump to step
S70；If it is not, then perform step S50;
S40, the X-axis for calculating this position, Y-axis coordinate；
S50, linear precedence scanning is carried out to discharge plate；
First S60, keeping records scan position；
Positional information is sent to three-axis stepping motor controller by S70, the first single-chip microcomputer；
S80, three-axis stepping motor controller send the pulse 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 X-axis stepper motor, Y-axis stepping electricity respectively
Machine rotates；
S91, three-axis stepping motor controller send signal in place, second singlechip control steering wheel machinery to second singlechip
Hands movement simultaneously 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 send the pulse to X-axis stepper motor driver and y-axis stepper motor driver,
And X-axis stepper motor driver drives X-axis stepper motor, y-axis stepper motor to rotate respectively with y-axis stepper motor driver；
S94, three-axis stepping motor controller send signal in place, second singlechip control steering wheel machinery to second singlechip
Hand puts down material, and returns to step S20.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved or converted according to the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect scope.
Claims (8)
1. a kind of infrared matrix position identification sorting equipment, including discharge plate, mechanism for sorting and with the discharge plate, sorter
The control system that structure is all connected with, the mechanism for sorting include base and are arranged on base and can be moved along X-axis, Y direction
Steering wheel manipulator, the discharge plate is arranged in the scope of activities of steering wheel manipulator；Characterized in that, set on the discharge plate
Multiple first infrared emission pipes and multiple second infrared emission pipes are equipped with, each first infrared emission Guan Jun includes the first transmitting
Pipe and the first reception pipe corresponding with the first transmitting tube, first transmitting tube and the first reception pipe are respectively arranged on the blowing
On two opposite sides edge in disk X-direction；Each second infrared emission Guan Jun include the second transmitting tube and with the second transmitting tube
Corresponding second reception pipe, second transmitting tube and the second reception pipe are respectively arranged on two in the discharge plate Y direction
In opposite side edges；
The mechanism for sorting also includes X-axis transmission mechanism and Y-axis transmission mechanism；The X-axis transmission mechanism includes being located at base
On X-axis guide rail, along X-axis guide rail slide X-axis slide block and for drive X-axis slide block slide X-axis stepper motor；The Y
Shaft transmission includes the support base being connected with X-axis slide block, the Y-axis guide rail being arranged on support base, the Y slided along Y-axis guide rail
Axle sliding block and the y-axis stepper motor for driving Y-axis sliding block to slide；The Y-axis sliding block is connected with a support, the steering wheel machine
Tool hand is arranged on support turnablely；
The X-axis transmission mechanism also includes X-axis screw mandrel and X-axis screw mandrel sliding block, the X-axis screw mandrel and X-axis stepper motor
Rotating shaft connects, and the support base is connected with X-axis screw mandrel sliding block, and movable with the slip of X-axis screw mandrel sliding block；
The Y-axis transmission mechanism also includes Y-axis screw mandrel and Y-axis screw mandrel sliding block, and the Y-axis screw mandrel and y-axis stepper motor turn
Axis connection, the support are connected with Y-axis screw mandrel sliding block, and movable with the slip of Y-axis screw mandrel sliding block.
2. infrared matrix position identification sorting equipment according to claim 1, it is characterised in that on the steering wheel manipulator
Tansducer For Color Distiguishing is provided with, the Tansducer For Color Distiguishing is connected with control system.
3. infrared matrix position identification sorting equipment according to claim 2, it is characterised in that the control system includes
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；First single-chip microcomputer and the first infrared emission pipe, the second infrared emission pipe, second singlechip, three axles
Controllor for step-by-step motor is all connected with；The 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, the X-axis stepping
Motor driver and y-axis stepper motor driver are connected with X-axis stepper motor with y-axis stepper motor respectively；Described 3rd is single
Piece machine is all connected with color sensor, three-axis stepping motor controller and second singlechip.
4. infrared matrix position identification sorting equipment according to claim 2, it is characterised in that further comprise it is multiple under
Expect device, each blanking device is used for the material for placing same color.
5. infrared matrix position identification sorting equipment according to claim 4, it is characterised in that divide on each blanking device
Counter is not installed.
6. infrared matrix position identification sorting equipment according to claim 5, it is characterised in that further comprise showing
Screen, the display screen are connected with control system, and the display screen is used for the ratio for showing the color of material red, green, blue three.
7. a kind of method for sorting of infrared matrix position identification sorting equipment as described in claim any one of 1-6, its feature
It is, comprises the following steps：
A, the material of various different colours is put into discharge plate；
B, control system penetrates infrared tube and second pair of change in electric for penetrating infrared tube according to first pair, judges the position of material；
C, control system control steering wheel robot movement to the position where material and picks up material, color sensor identification thing
The color of material simultaneously feeds back to control system；
D, material is put into corresponding blanking device by control system control steering wheel manipulator；
The step B specifically includes following steps：
B1, the first transmitting tube and the second transmitting tube emit beam, and the first reception pipe and the second reception pipe receive corresponding the
The light that one transmitting tube and the second transmitting tube are sent；
B2, the first single-chip microcomputer receive the electric signal of the first reception pipe and the second reception pipe, and are connect according to the first reception pipe and second
The change of the electric signal of closed tube, X-axis coordinate and Y-axis coordinate where material are judged, so that it is determined that the position where material；
Position where material is sent to three-axis stepping motor controller by B3, the first single-chip microcomputer；
When to the first mcu programming, the level of each pin of the first single-chip microcomputer is first put into a high position；When being initially powered up, first
The light that transmitting tube and the second transmitting tube are sent is received by the first reception pipe and the second reception pipe respectively, now, the first reception pipe
In the conduction state with the second reception pipe, the pin of the first single-chip microcomputer is changed into low level from high level, and this is not have in discharge plate
Detect material；
When material is placed with discharge plate, the first reception pipe corresponding with the light that the second transmitting tube is sent with the first transmitting tube with
Second reception pipe can not receive light, and its resistance becomes big, and pin level is changed into high level from low level, passes through the first monolithic
The height change of machine pin level, the X-axis coordinate and Y-axis coordinate of object are judged, so that it is determined that the particular location of material.
8. method for sorting according to claim 7, it is characterised in that the step C specifically includes following steps：
C1, three-axis stepping motor controller send pulse to X-axis step actuator and Y-axis step actuator, X-axis stepper motor with
Y-axis stepper motor according to the pulse of reception by above the position where steering wheel robot movement to material, and to second singlechip
Send signal in place；
C2, second singlechip control steering wheel manipulator overturn and pick up material；
C3, color sensor identification material color, and the color of material is exported to the 3rd single-chip microcomputer, the 3rd single-chip microcomputer is by thing
Expect the ratio value of the color of red, green, blue three in display 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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| ZA200704772B (en) * | 2004-11-17 | 2008-08-27 | De Beers Cons Mines Ltd | An apparatus for and method of sorting objects using reflectance spectroscopy |
| CN101807437B (en) * | 2009-02-12 | 2013-01-23 | 深圳市江波龙电子有限公司 | Automatic scanning and sorting system and automatic scanning method for flash memories |
| CN102364415B (en) * | 2011-06-28 | 2013-08-21 | 广东威创视讯科技股份有限公司 | Infrared touch screen multi-touch-point recognition method and device |
| CN203993881U (en) * | 2014-06-18 | 2014-12-10 | 宁波伟立机器人科技有限公司 | A kind of novel five degree of freedom manipulator |
| CN104525502A (en) * | 2014-12-03 | 2015-04-22 | 重庆理工大学 | Intelligent sorting system and sorting method |
| CN104589334B (en) * | 2014-12-22 | 2016-06-08 | 湖北文理学院 | A kind of five shaft multifunctional machinery handss |
| CN205362014U (en) * | 2016-01-26 | 2016-07-06 | 河源职业技术学院 | Infrared matrix position discernment sorting device |
-
2016
- 2016-01-26 CN CN201610050447.9A patent/CN105583167B/en not_active Expired - Fee Related
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