CN105728331A - Full-automatic material detecting and sorting system and material detecting and sorting method - Google Patents
Full-automatic material detecting and sorting system and material detecting and sorting method Download PDFInfo
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- CN105728331A CN105728331A CN201610168810.7A CN201610168810A CN105728331A CN 105728331 A CN105728331 A CN 105728331A CN 201610168810 A CN201610168810 A CN 201610168810A CN 105728331 A CN105728331 A CN 105728331A
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- crawl section
- storehouse
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
The invention relates to a device for sorting objects or materials according to the characteristics or features of the objects or the materials, in particular to a full-automatic material detecting and sorting system. The system comprises a rack, a workpiece storing and taking part, mechanical grabbing parts, an annular railway, workpiece detectors and a control system. Workpieces are transferred through cooperation of the mechanical grabbing parts, the annular railway and the control system. Workpiece bins comprise the to-be-detected workpiece bin, the qualified workpiece bin and the unqualified workpiece bin. The workpieces are grabbed and stored in a classified manner through cooperation of a transverse moving assembly, a lifting mechanism and the front mechanical grabbing part. The rear mechanical grabbing part is used for transferring the workpieces between workpiece seats and the workpiece detectors, locating the workpiece seats through a locating assembly, preventing the workpiece seat stop positions from skewing due to the inertia effect and putting the detected workpieces into the proper workpiece bins according to the detection results. The invention further provides a material detecting and sorting method based on the full-automatic material detecting and sorting system, large batches of workpieces can be detected quickly, detection cost is lowered, and manpower is saved.
Description
Technical field
The present invention relates to a kind of feature according to object or material or characteristic carries out the device that sorts, be specifically related to one and automatically drive material sorting system and drive material method for sorting.
Background technology
Along with development of machinery industry, each bound pair workpiece accuracy requires more and more higher, and many enterprises need every workpiece is detected, and the method for traditional manual operation workpiece detector cannot meet the quickly detection to high-volume workpiece and sorting；Simultaneously being significantly increased of cost of labor, makes the production cost that workpiece sensing is brought more and more higher.
Summary of the invention
For solving above-mentioned technical problem, it is an object of the invention to: provide one automatically to drive material sorting system, can be used for the quickly detection of high-volume workpiece and sorting, reduce testing cost, there is provided one to drive material method for sorting, it is achieved detection automatically and the sorting of high-volume workpiece, save manpower.
The present invention solves that the technical scheme that its technical problem adopts is:
nullDescribed automatically drive material sorting system，Including frame、Workpiece access portion、Machinery crawl section、Circular orbit、Workpiece detector and control system，Described circular orbit is arranged on frame centre position，Described workpiece access portion is arranged on the side of frame，Workpiece access portion includes at least three workpiece storehouse，Workpiece storehouse is correspondingly provided with lifting assembly and traversing assembly，Described machinery crawl section includes front machinery crawl section and rear machinery crawl section，Machinery crawl section before arranging between described workpiece storehouse and circular orbit，Described circular orbit opposite side arranges workpiece detector，Workpiece detector is at least provided with one，Corresponding workpiece detector and circular orbit be mechanical crawl section after arranging，Circular orbit arranges some workseats，Each workseat is correspondingly arranged identification piece，On circular orbit, corresponding workseat arranges positioning component，Described lifting assembly、Traversing assembly、Front machinery crawl section、Rear machinery crawl section、Circular orbit is all connected with control system with positioning component.
nullIn the present invention, identification piece can be position sensor，It can also be radio-frequency card etc.，The number information of its corresponding workseat can be sent to control system，Front machinery position, crawl section is set to circular orbit starting point，On selected circular orbit, arbitrary workseat is initial workseat，During reset，Initial workseat overlaps with circular orbit starting point，When starting working，First system carries out initial point reset，Control each workseat position on system-computed circular orbit，And by positioning component, workseat is positioned，Then，Whether the initial workseat of detection has workpiece，If no，Front machinery crawl section captures and is placed into initial workseat from workpiece access portion grabbing workpiece，If having，Front machinery crawl section is put back to workpiece access portion by detecting workpiece and is placed into initial workseat from workpiece access portion crawl workpiece to be detected，Meanwhile，After detection, whether workseat corresponding to machinery crawl section and workpiece detector there is workpiece，If both not having，It is failure to actuate in rear machinery crawl section，If workseat has the workpiece not detected，Without workpiece on workpiece detector，Rear machinery crawl section is by the workpiece transfer that do not detect to workpiece detector；If workseat has the workpiece not detected, workpiece detector detected workpiece, rear machinery crawl section can be put on workpiece detector the workpiece not detected, the workpiece detected is put on workseat, if only having the workpiece detected on workseat, rear machinery crawl section will not action, for improving detection efficiency, workpiece detector arranges multiple stage, is generally 2-5, and workpiece detector selects suitable market product according to detected workpiece.
Wherein, it is preferable that scheme is:
nullDescribed workpiece storehouse includes workpiece supporting plate，Lifting assembly motion end is connected bottom workpiece supporting plate，Lifting assembly is fixed on line slide rail by base，Line slide rail is fixed in frame，Frame is fixed traversing assembly simultaneously，Traversing assembly motion end connects base，Lifting assembly and traversing assembly optional electricity cylinder、Cylinder or oil cylinder etc. drive machinery，Workpiece can be grabbed smoothly for machinery crawl section before ensureing every time，A workpiece is accessed in every subjob storehouse，Workpiece storehouse needs decline corresponding height，Often take an assembly，Need rising corresponding height，Lifting assembly is for realizing the lifting in workpiece storehouse，Workpiece storehouse includes workpiece storehouse to be detected and at least two grade workpiece storehouse，Workpiece storehouse to be detected is used for depositing workpiece to be detected，The workpiece detected puts into the workpiece storehouse of corresponding grade according to its testing result，Such as，Grade workpiece storehouse is set to qualified workpiece storehouse and defective workpiece storehouse，Qualified workpiece storehouse is used for depositing qualified workpiece，Defective workpiece storehouse is used for depositing defective workpiece，Grade workpiece storehouse also can be set to A level workpiece storehouse、B level workpiece storehouse、C level workpiece storehouse etc.，Each workpiece storehouse shares traversing assembly，Each workpiece storehouse lifting assembly is separate，For ensureing that workpiece can put into correct workpiece storehouse smoothly，When workpiece is placed in front machinery crawl section，Traversing assembly polymer product storehouse，Correct workpiece storehouse is moved to front machinery crawl section.
Before described, machinery crawl section includes lifters, revolving part and grippers, described grippers includes two groups, front and back, two groups of grippers are symmetrically mounted on revolving part both sides, revolving part is arranged in lifters, rear machinery crawl section structure is identical with front machinery crawl section, during transfer workpiece, lifters falls, grippers arrives the location of workpiece, grippers grabbing workpiece, revolving part rotation turnback after lifters rising playback, lifters falls again, grippers is opened, workpiece is placed on target location, lifters can adopt lift cylinder, electricity cylinder, revolving part adopts rotary cylinder, grippers can adopt existing gas pawl, gripper, adaptability setting can also be carried out according to the shape of product to be detected.
Described positioning component includes locating piece and actuator, described locating piece correspondence workseat is located at outside circular orbit, locating piece arranges groove, the described hinged linkage board of actuator motion end, rotating shaft is through linkage board and is secured to connect, rotating shaft two ends are fixed on circular orbit side by axle bed, in rotating shaft, corresponding locating piece arranges positioning vertical column, nylon sleeve is set in axle bed, during location, actuator motion end is released, drive linkage board moves, linkage board drives rotating shaft to rotate, positioning vertical column is snapped in the groove on locating piece, prevent workseat stop position from skew occurring, affect detection progress.
The corresponding traversing assembly in described workpiece storehouse and lifting assembly are respectively provided with position sensor, institute's position sensor is connected with controlling system, traversing module position sensor can be located on base, the position sensor of lifting assembly can be respectively arranged on bottom and the top in workpiece storehouse, for detecting the distance bottom workpiece supporting plate and workpiece storehouse and between workpiece and top, workpiece storehouse, as the foundation of lifting assembly lifting.
Described circular orbit includes drive division, follower, Timing Belt and ring-shaped guide rail, drive division and operand are provided with synchronous pulley, and synchronous pulley is installed Timing Belt, and Timing Belt is installed ring-shaped guide rail, ring-shaped guide rail is connected with workseat by junction button, is used for depositing, shifting workpiece.
The present invention also provides for one and drives material method for sorting, comprises the following steps:
The first step, system electrification, machinery crawl section rests on initial position, and circular orbit carries out initial point reset, identification piece record workseat number information, controls system and obtains each workseat number information, and by positioning component, workseat is positioned；
Second step, whether detection circular orbit initial point place workseat has workpiece, if not having, front machinery crawl section is placed into workseat from workpiece access portion grabbing workpiece, if having, front machinery crawl section is put back to workpiece access portion by detecting workpiece and is placed into workseat from workpiece access portion crawl workpiece to be detected, meanwhile, after detection, whether workseat corresponding to machinery crawl section and workpiece detector there is workpiece, if both not having, it is failure to actuate in rear machinery crawl section, if workseat has the workpiece not detected, without workpiece on workpiece detector, rear machinery crawl section is by the workpiece transfer that do not detect to workpiece detector；If workseat has the workpiece not detected, detecting workpiece on workpiece detector, rear machinery crawl section is put into the workpiece not detected on workpiece detector, and the workpiece detected is put on workseat, if only having, on workseat, the workpiece detected, rear machinery crawl section will not action；
3rd step, when after forward and backward group of machinery crawl section execution, circular orbit continues to run with, after workpiece detector has detected, send to control system and complete signal, by rear machinery crawl section by the workpiece transfer that detect to workseat, control system determines current workseat number information, and by workpiece storehouse suitable for the workpiece feeding on this workseat；
4th step, whole circular orbit runs in order, until after circular orbit reset, sending original point return to control system and complete signal, enters next one circulation.
Described workpiece storehouse includes workpiece storehouse to be detected and at least two grade workpiece storehouse, workpiece storehouse to be detected is used for depositing workpiece to be detected, the workpiece detected puts into the workpiece storehouse of corresponding grade according to its testing result, and each workpiece storehouse shares traversing assembly, and each workpiece storehouse lifting assembly is separate.
nullIn described second step，Can capture for machinery crawl section before ensureing smoothly or put back to workpiece，Need to adopt traversing assembly and lifting assembly that each workpiece bin location is adjusted，Each workpiece storehouse is respectively provided with a set of lifting assembly，Each top, workpiece storehouse and bottom are respectively provided with position sensor，It is respectively used to detect the position of the top location of workpiece and workpiece supporting plate on workpiece supporting plate，And carry out adapt，Such as，Front machinery crawl section captures a workpiece to be detected in machinery workpiece to be detected storehouse, crawl section in the past，And one piece of qualified workpiece of detection is placed to qualified workpiece storehouse，After crawl completes，In workpiece storehouse to be detected, workpiece height declines，Now，Require over lifting assembly and raise workpiece supporting plate height in workpiece storehouse to be detected，Capture in order to front machinery crawl section，When placing the workpiece detected，Because front mechanical gripping selecting-components ' position is identical with workpiece storehouse to be detected，Can smoothly workpiece be placed in qualified workpiece storehouse for machinery crawl section before ensureing，Require over traversing assembly and qualified workpiece storehouse is carried out transverse shifting，So that workpiece can be put into smoothly.
Before described, machinery crawl section includes lifters, revolving part and grippers, described grippers includes two groups, front and back, and two groups of grippers are symmetrically mounted on revolving part both sides, and revolving part is arranged in lifters, when two groups of grippers need to shift workpiece simultaneously, lifters falls, and grippers arrives the location of workpiece, grippers grabbing workpiece, revolving part rotation turnback after lifters rising playback, lifters falls again, and grippers is opened, and workpiece is placed on target location.
Compared with prior art, the method have the advantages that
The present invention can realize the quick detection of high-volume workpiece, reduces testing cost, saves manpower.The transfer of workpiece is realized by the cooperation of machinery crawl section, circular orbit and control system, workpiece storehouse includes workpiece storehouse to be detected and several grade workpiece storehouses, coordinating the crawl realizing workpiece and storing classifiedly by traversing assembly and lifting assembly and front machinery crawl section, rear machinery crawl section includes the transfer realizing workpiece between workseat and workpiece detector, and the location of workseat is realized by positioning component, preventing because effect of inertia makes workseat stop position skew occur, the workpiece detected is put into suitable workpiece storehouse according to testing result and is deposited.
Accompanying drawing explanation
Fig. 1 present configuration axonometric drawing 1.
Fig. 2 present configuration axonometric drawing 2.
Fig. 3 workpiece chamber structure schematic diagram of the present invention.
Machinery crawl section structural representation before Fig. 4.
Fig. 5 ring track structure schematic diagram.
In figure: 1, frame；2, circular orbit；3, workpiece detector；4, system is controlled；5, workpiece storehouse；6, lifting assembly；7, traversing assembly；8, front machinery crawl section；9, rear machinery crawl section；10, workseat；11, workpiece supporting plate；12, base；13, line slide rail；14, lifters；15, revolving part；16, grippers；17, locating piece；18, actuator；19, linkage board；20, rotating shaft；21, positioning vertical column.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of the present invention is described further:
Embodiment 1:
nullAs shown in Figure 1-2，Of the present invention automatically drive material sorting system，Including frame 1、Workpiece access portion、Machinery crawl section、Circular orbit 2、Workpiece detector 3 and control system 4，Described circular orbit 2 is arranged on frame 1 centre position，Described workpiece access portion is arranged on the side of frame 1，Workpiece access portion includes at least three workpiece storehouse 5，Workpiece storehouse 5 is correspondingly provided with lifting assembly 6 and traversing assembly 7，Described machinery crawl section includes front machinery crawl section 8 and rear machinery crawl section 9，Machinery crawl section 8 before arranging between described workpiece storehouse 5 and circular orbit 2，Described circular orbit 2 opposite side arranges workpiece detector 3，Workpiece detector 3 is at least provided with one，Corresponding workpiece detector 3 and circular orbit 2 be mechanical crawl section 9 after arranging，Circular orbit 2 arranges some workseats 10，Each workseat 10 is correspondingly arranged identification piece，On circular orbit 2, corresponding workseat 10 arranges positioning component，Described lifting assembly 6、Traversing assembly 7、Front machinery crawl section 8、Rear machinery crawl section 9、Circular orbit 2 is all connected with control system 4 with positioning component.
nullIn the present invention, identification piece can be position sensor，It can also be radio-frequency card etc.，The number information of its corresponding workseat 10 can be sent to control system 4，Front machinery position, crawl section 8 is set to circular orbit 2 starting point，On selected circular orbit 2, arbitrary workseat 10 is initial workseat，During reset，Initial workseat overlaps with circular orbit 2 starting point，When starting working，First system carries out initial point reset，Control system 4 calculates each workseat 10 position on circular orbit 2，And by positioning component, workseat 10 is positioned，Then，Whether the initial workseat of detection has workpiece，If no，Front machinery crawl section 8 captures and is placed into initial workseat from workpiece access portion grabbing workpiece，If having，Front machinery crawl section 8 is put back to workpiece access portion by detecting workpiece and is placed into initial workseat from workpiece access portion crawl workpiece to be detected，Meanwhile，After detection, whether the workseat 10 of machinery crawl section 9 correspondence and workpiece detector 3 there is workpiece，If both not having，It is failure to actuate in rear machinery crawl section 9，If workseat 10 has the workpiece not detected，Without workpiece on workpiece detector 3，Rear machinery crawl section 9 is by the workpiece transfer that do not detect to workpiece detector 3；If workseat 10 has the workpiece not detected, workpiece detector 3 detected workpiece, rear machinery crawl section 9 can be put on workpiece detector 3 the workpiece not detected, the workpiece detected is put on workseat 10, if only having the workpiece detected on workseat 10, rear machinery crawl section 9 will not action, for improving detection efficiency, workpiece detector 3 arranges multiple stage, is generally 2-5, and workpiece detector 3 carries out selecting suitable market product according to detected workpiece.
nullAs shown in Figure 3，Workpiece storehouse 5 includes workpiece supporting plate 11，Lifting assembly 6 motion end is connected bottom workpiece supporting plate 11，Lifting assembly 6 is fixed on line slide rail 13 by base 12，Line slide rail 13 is fixed in frame 1，Frame 1 is fixed traversing assembly 7 simultaneously，Traversing assembly 7 motion end connects base 12，Lifting assembly 6 and the optional electricity cylinder of traversing assembly 7、Cylinder or oil cylinder etc. drive machinery，Workpiece can be grabbed smoothly for machinery crawl section 8 before ensureing every time，One workpiece of access in every subjob storehouse 5，Workpiece storehouse 5 needs decline corresponding height，Often take an assembly，Need rising corresponding height，Lifting assembly 6 is for realizing the lifting in workpiece storehouse 5，Workpiece storehouse 5 includes workpiece storehouse to be detected and at least two grade workpiece storehouse，Workpiece storehouse to be detected is used for depositing workpiece to be detected，The workpiece detected puts into the workpiece storehouse 5 of corresponding grade according to its testing result，Such as，Grade workpiece storehouse is set to qualified workpiece storehouse and defective workpiece storehouse，Qualified workpiece storehouse is used for depositing qualified workpiece，Defective workpiece storehouse is used for depositing defective workpiece，Grade workpiece storehouse also can be set to A level workpiece storehouse、B level workpiece storehouse、C level workpiece storehouse etc.，Each workpiece storehouse 5 shares traversing assembly 7，Each workpiece storehouse 5 lifting assembly 6 is separate，For ensureing that workpiece can put into correct workpiece storehouse 5 smoothly，When workpiece is placed in front machinery crawl section 8，Traversing assembly 7 polymer product storehouse 5，Correct workpiece storehouse 5 is moved to front machinery crawl section 8.
As shown in Figure 4, front machinery crawl section 8 includes lifters 14, revolving part 15 and grippers 16, described grippers 16 includes two groups, front and back, two groups of grippers 16 are symmetrically mounted on revolving part 15 both sides, revolving part 15 is arranged in lifters 14, rear machinery crawl section 9 structure is identical with front machinery crawl section 8, during transfer workpiece, lifters 14 falls, grippers 16 arrives the location of workpiece, grippers 16 grabbing workpiece, after lifters 14 rising playback, revolving part 15 revolves turnback, lifters 14 falls again, grippers 16 is opened, workpiece is placed on target location, lifters 14 can adopt lift cylinder, electricity cylinder, revolving part 15 adopts rotary cylinder, grippers 16 can adopt existing gas pawl, gripper, adaptability setting can also be carried out according to the shape of product to be detected.
As shown in Figure 5, positioning component includes locating piece 17 and actuator 18, the corresponding workseat 10 of described locating piece 17 is located at outside circular orbit 2, locating piece 17 arranges groove, the described hinged linkage board 19 of actuator 18 motion end, rotating shaft 20 is through linkage board 19 and is secured to connect, rotating shaft 20 two ends are fixed on circular orbit 2 side by axle bed, in rotating shaft 20, corresponding locating piece 17 arranges positioning vertical column 21, nylon sleeve is set in axle bed, during location, actuator 18 motion end is released, linkage board 19 is driven to move, linkage board 19 drives rotating shaft 20 to rotate, positioning vertical column 21 is snapped in the groove on locating piece 17, prevent workseat 10 stop position from skew occurring, affect detection progress.
The corresponding traversing assembly 7 in workpiece storehouse 5 and lifting assembly 6 are respectively provided with position sensor, institute's position sensor is connected with controlling system 4, traversing assembly 7 position sensor can be located on base 12, the position sensor of lifting assembly 6 can be respectively arranged on bottom and the top in workpiece storehouse 5, for detecting the distance bottom workpiece supporting plate 11 and workpiece storehouse 5 and between workpiece and top, workpiece storehouse 5, as the foundation of lifting assembly 6 lifting.
Circular orbit 2 includes drive motor, Timing Belt and ring-shaped guide rail, described ring-shaped guide rail is installed Timing Belt, Timing Belt is connected with workseat 10 by junction button, drive motor drives Timing Belt orderly function on ring-shaped guide rail, workseat 10 is uniformly fixed on Timing Belt, is used for depositing, shifting workpiece.
Embodiment 2:
The present embodiment provides a kind of and drives material method for sorting based on embodiment 1, comprises the following steps:
The first step, system electrification, machinery crawl section rests on initial position, and circular orbit 2 carries out initial point reset, identification piece record workseat 10 number information, and control system 4 obtains each workseat 10 number information, and by positioning component, workseat 10 is positioned；
Second step, whether detection circular orbit 2 initial point place workseat 10 has workpiece, if not having, front machinery crawl section 8 is placed into workseat 10 from workpiece access portion grabbing workpiece, if having, front machinery crawl section 8 is put back to workpiece access portion by detecting workpiece and is placed into workseat 10 from workpiece access portion crawl workpiece to be detected, meanwhile, after detection, whether the workseat 10 of machinery crawl section 9 correspondence and workpiece detector 3 there is workpiece, if both not having, it is failure to actuate in rear machinery crawl section 9, if workseat 10 has the workpiece not detected, without workpiece on workpiece detector 3, rear machinery crawl section 9 is by the workpiece transfer that do not detect to workpiece detector 3；If workseat 10 has the workpiece not detected, detecting workpiece on workpiece detector 3, rear 9, crawl section of the machinery workpiece not detected is put on workpiece detector 3, and the workpiece detected is put on workseat 10, if only having, on workseat 10, the workpiece detected, rear machinery crawl section 9 will not action；
3rd step, when after forward and backward group of machinery crawl section execution, circular orbit 2 continues to run with, after workpiece detector 3 has detected, send to control system 4 and complete signal, by rear machinery crawl section 9 by the workpiece transfer that detect to workseat 10, control system 4 determines current workseat 10 number information, and by workpiece storehouse 5 suitable for the workpiece feeding on this workseat 10；
4th step, whole circular orbit 2 runs in order, until after circular orbit 2 reset, sending original point return to control system 4 and complete signal, enters next one circulation.
Workpiece storehouse 5 includes workpiece storehouse to be detected and at least two grade workpiece storehouse, workpiece storehouse to be detected is used for depositing workpiece to be detected, the workpiece detected puts into the workpiece storehouse 5 of corresponding grade according to its testing result, such as, grade workpiece storehouse is set to qualified workpiece storehouse and defective workpiece storehouse, qualified workpiece storehouse is used for depositing qualified workpiece, defective workpiece storehouse is used for depositing defective workpiece, grade workpiece storehouse also can be set to A level workpiece storehouse, B level workpiece storehouse, C level workpiece storehouse etc., each workpiece storehouse 5 shares traversing assembly 7, and each workpiece storehouse 5 lifting assembly 6 is separate.
nullIn second step，Can capture for machinery crawl section 8 before ensureing smoothly or put back to workpiece，Need to adopt traversing assembly 7 and lifting assembly 6 that position, each workpiece storehouse 5 is adjusted，Each workpiece storehouse 5 is respectively provided with a set of lifting assembly 6，Each top, workpiece storehouse 5 and bottom are respectively provided with position sensor，It is respectively used to detect the position of the top location of workpiece and workpiece supporting plate 11 on workpiece supporting plate 11，And carry out adapt，Such as，Front machinery crawl section 8 captures a workpiece to be detected from workpiece storehouse to be detected，And one piece of qualified workpiece of detection is placed to qualified workpiece storehouse，After crawl completes，In workpiece storehouse to be detected, workpiece height declines，Now，Require over lifting assembly 6 and raise workpiece supporting plate 11 height in workpiece storehouse to be detected，Capture in order to front machinery crawl section 8，When placing the workpiece detected，Because front machinery position, crawl section 8 is identical with workpiece storehouse to be detected，Can smoothly workpiece be placed in qualified workpiece storehouse for machinery crawl section 8 before ensureing，Require over traversing assembly 7 and qualified workpiece storehouse is carried out transverse shifting，So that workpiece can be put into smoothly.
Front machinery crawl section 8 includes lifters 14, revolving part 15 and grippers 16, described grippers 16 includes two groups, front and back, and two groups of grippers 16 are symmetrically mounted on revolving part 15 both sides, and revolving part 15 is arranged in lifters 14, during transfer workpiece, lifters 14 falls, and grippers 16 arrives the location of workpiece, grippers 16 grabbing workpiece, after lifters 14 rising playback, revolving part 15 revolves turnback, lifters 14 falls again, and grippers 16 is opened, and workpiece is placed on target location.
Claims (10)
- null1. automatically drive material sorting system for one kind，It is characterized in that，Including frame (1)、Workpiece access portion、Machinery crawl section、Circular orbit (2)、Workpiece detector (3) and control system (4)，Described circular orbit (2) is arranged on frame (1) centre position，Described workpiece access portion is arranged on the side of frame (1)，Workpiece access portion includes at least three workpiece storehouse (5)，Workpiece storehouse (5) is correspondingly provided with lifting assembly (6) and traversing assembly (7)，Described machinery crawl section includes front machinery crawl section (8) and rear machinery crawl section (9)，Machinery crawl section (8) before arranging between described workpiece storehouse (5) and circular orbit (2)，Described circular orbit (2) opposite side arranges workpiece detector (3)，Workpiece detector (3) is at least provided with one，Corresponding workpiece detector (3) and circular orbit (2) be mechanical crawl section (9) after arranging，Circular orbit (2) arranges some workseats (10)，Each workseat (10) is correspondingly arranged identification piece，The upper corresponding workseat (10) of circular orbit (2) arranges positioning component，Described lifting assembly (6)、Traversing assembly (7)、Front machinery crawl section (8)、Rear machinery crawl section (9)、Circular orbit (2) is all connected with control system (4) with positioning component.
- 2. according to claim 1 automatically drive material sorting system, it is characterized in that, described workpiece storehouse (5) includes workpiece supporting plate (11), workpiece supporting plate (11) bottom connects lifting assembly (6) motion end, lifting assembly (6) is fixed on line slide rail (13) by base (12), line slide rail (13) is fixed in frame (1), fixing traversing assembly (7) in frame (1), traversing assembly (7) motion end connects base (12) simultaneously.
- 3. according to claim 1 automatically drive material sorting system, it is characterized in that, before described, machinery crawl section (8) includes lifters (14), revolving part (15) and grippers (16), described grippers (16) includes two groups, front and back, two groups of grippers (16) are symmetrically mounted on revolving part (15) both sides, revolving part (15) is arranged in lifters (14), and rear machinery crawl section (9) structure is identical with front machinery crawl section (8).
- 4. according to claim 1 automatically drive material sorting system, it is characterized in that, described positioning component includes locating piece (17) and actuator (18), the corresponding workseat (10) of described locating piece (17) is located at circular orbit (2) outside, locating piece arranges groove on (17), the hinged linkage board of described actuator (18) motion end (19), rotating shaft (20) is through linkage board (19) and is secured to connect, rotating shaft (20) two ends are fixed on circular orbit (2) side by axle bed, the upper corresponding locating piece (17) of rotating shaft (20) arranges positioning vertical column (21).
- 5. according to claim 1 automatically drive material sorting system, it is characterized in that, the corresponding traversing assembly (7) of described workpiece storehouse (5) and lifting assembly (6) are respectively provided with position sensor, described workseat (10) is respectively provided with the detection switch that puts in place, setting one of them detection switch that puts in place for initial point start bit, institute's position sensor is all connected with control system (4) with the detection switch that puts in place.
- 6. according to claim 1 automatically drive material sorting system, it is characterized in that, described circular orbit (2) includes drive division, follower, Timing Belt and ring-shaped guide rail, drive division and operand are provided with synchronous pulley, synchronous pulley is installed Timing Belt, installing ring-shaped guide rail on Timing Belt, ring-shaped guide rail is connected with workseat (10) by junction button.
- 7. drive material method for sorting based on what full-automatic described in any one of claim 1-6 expected sorting system for one kind, it is characterised in that comprise the following steps:The first step, system electrification, machinery crawl section rests on initial position, circular orbit (2) carries out initial point reset, identification piece record workseat (10) number information, control system (4) obtains each workseat (10) number information, and by positioning component, workseat (10) is positioned；Second step, whether detection circular orbit (2) initial point place workseat (10) has workpiece, if not having, front machinery crawl section (8) is placed into workseat (10) from workpiece access portion grabbing workpiece, if having, front machinery crawl section (8) is put back to workpiece access portion by detecting workpiece and is placed into workseat (10) from workpiece access portion crawl workpiece to be detected, meanwhile, whether workseat (10) that after detection, machinery crawl section (9) is corresponding and workpiece detector (3) there is workpiece, if both not having, rear machinery crawl section (9) is failure to actuate, if workseat has, on (10), the workpiece not detected, workpiece detector (3) is upper without workpiece, rear machinery crawl section (9) is by the workpiece transfer that do not detect to workpiece detector (3)；If workseat has, on (10), the workpiece not detected, workpiece detector detected workpiece on (3), rear machinery crawl section (9) is put into the workpiece not detected on workpiece detector (3), the workpiece detected is put on workseat (10), if only having, on workseat (10), the workpiece detected, rear machinery crawl section (9) will not action；3rd step, when after forward and backward group of machinery crawl section execution, circular orbit (2) continues to run with, after workpiece detector (3) has detected, send to control system (4) and complete signal, by rear machinery crawl section (9) by the workpiece transfer that detected to workseat (10), control system (4) determines current workseat (10) number information, and the workpiece on this workseat (10) is sent into suitable workpiece storehouse；4th step, whole circular orbit (2) runs in order, until after circular orbit (2) reset, sending original point return to control system (4) and complete signal, enters next one circulation.
- 8. according to claim 7 drive material method for sorting, it is characterized in that, described workpiece storehouse (5) includes workpiece storehouse to be detected and at least two grade workpiece storehouse, workpiece storehouse to be detected is used for depositing workpiece to be detected, the workpiece detected puts into the workpiece storehouse (5) of corresponding grade according to its testing result, each workpiece storehouse (5) shares traversing assembly (7), and each workpiece storehouse (5) lifting assembly (6) is separate.
- 9. according to claim 7 drive material method for sorting, it is characterized in that, in described second step, can capture for machinery crawl section (8) before ensureing smoothly or put back to workpiece, it is necessary to adopt traversing assembly (7) and lifting assembly (6) that each workpiece storehouse (5) position is adjusted.
- 10. according to claim 7 drive material method for sorting, it is characterized in that, before described, machinery crawl section (8) includes lifters (14), revolving part (15) and grippers (16), described grippers (16) includes two groups, front and back, two groups of grippers (16) are symmetrically mounted on revolving part (15) both sides, revolving part (15) is arranged in lifters (14), during transfer workpiece, lifters (14) falls, grippers (16) arrives the location of workpiece, grippers (16) grabbing workpiece, revolving part (15) rotation turnback after lifters (14) rising playback, lifters (14) falls again, grippers (16) is opened, workpiece is placed on target location.
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