CN105728331B - It is full-automatic to drive material sorting system and drive material method for sorting - Google Patents
It is full-automatic to drive material sorting system and drive material method for sorting Download PDFInfo
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- CN105728331B CN105728331B CN201610168810.7A CN201610168810A CN105728331B CN 105728331 B CN105728331 B CN 105728331B CN 201610168810 A CN201610168810 A CN 201610168810A CN 105728331 B CN105728331 B CN 105728331B
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- workpiece
- workseat
- storehouse
- crawl section
- circular orbit
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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
-
- 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
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- Warehouses Or Storage Devices (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention relates to a kind of according to the characteristics of object or material or device that characteristic is sorted, automatically material sorting system is driven more particularly to one kind, including frame, workpiece access portion, mechanical crawl section, circular orbit, workpiece detector and control system, pass through mechanical crawl section, the transfer of workpiece is realized in the cooperation of circular orbit and control system, workpiece storehouse includes workpiece storehouse to be detected, qualified workpiece storehouse and unqualified workpiece storehouse, the crawl of workpiece is realized by the cooperation of traversing component and lifting assembly and preceding mechanical crawl section and stored classifiedly, mechanical crawl section includes realizing transfer of the workpiece between workseat and workpiece detector afterwards, and the positioning of workseat is realized by positioning component, prevent because effect of inertia offsets workseat stop position, the workpiece that detection is completed is put into suitable workpiece storehouse according to testing result；The present invention also provides one kind based on said apparatus and drives material method for sorting, and the quick detection of high-volume workpiece can be achieved, and reduces testing cost, saves manpower.
Description
Technical field
The present invention relates to a kind of according to the characteristics of object or material or device that characteristic is sorted, and in particular to Yi Zhongquan
It is automatic to drive material sorting system and drive material method for sorting.
Background technology
With development of machinery industry, each bound pair workpiece accuracy requires more and more higher, and many enterprises need to enter every workpiece
Row detection, the method for traditional manual operation workpiece detector can not meet the quick detection to high-volume workpiece and sorting；Together
When cost of labor be significantly increased, the production cost more and more higher that brings workpiece sensing.
The content of the invention
In order to solve the above technical problems, it is an object of the invention to：One kind is provided and automatically drives material sorting system, can be used for
The quick detection of high-volume workpiece and sorting, reduce testing cost, there is provided one kind drives material method for sorting, realizes high-volume workpiece
Automatic detection and sorting, save manpower.
The present invention is that technical scheme is used by solving its technical problem：
It is described automatically to drive material sorting system, including frame, workpiece access portion, mechanical crawl section, circular orbit, workpiece inspection
Surveying instrument and control system, the circular orbit are arranged on frame centre position, the workpiece access portion is arranged on the side of frame,
Workpiece access portion includes at least three workpiece storehouses, and workpiece storehouse is correspondingly provided with lifting assembly and traversing component, the mechanical crawl section
Including preceding mechanical crawl section and rear mechanical crawl section, mechanical crawl section before being set between the workpiece storehouse and circular orbit is described
Circular orbit opposite side sets workpiece detector, and workpiece detector is at least provided with one, corresponding workpiece detector and circular orbit
Mechanical crawl section after setting, sets some workseats on circular orbit, and each workseat is correspondingly arranged identification piece, on circular orbit
Corresponding workseat sets positioning component, the lifting assembly, traversing component, preceding mechanical crawl section, rear mechanical crawl section, circular rails
Road and positioning component are connected with control system.
Identification piece can be position sensor or radio-frequency card etc. in the present invention, can send it to control system
The number information of corresponding workseat, preceding mechanical crawl section position are set to circular orbit starting point, and selected circular orbit is taken up an official post
One workseat is starting workseat, and during reset, starting workseat overlaps with circular orbit starting point, during start-up operation, system head
Origin reset is first carried out, control system calculates each workseat position on circular orbit, and workseat is carried out by positioning component
Positioning, it is then detected that whether starting workseat has workpiece, if not having, preceding mechanical crawl section crawl captures work from workpiece access portion
Part is placed on starting workseat, is put back to workpiece access portion if so, preceding mechanical crawl section will detect workpiece and is accessed from workpiece
Portion captures workpiece to be detected and is placed on starting workseat, at the same time, workseat and work corresponding to mechanical crawl section after detection
Whether there is workpiece on part detector, if both not having, rear mechanical crawl section is failure to actuate, if there is the work not detected on workseat
Part, without workpiece on workpiece detector, rear mechanical crawl section is by the workpiece transfer not detected to workpiece detector；If on workseat
There is the workpiece not detected, workpiece was detected on workpiece detector, the workpiece not detected can be put into workpiece by rear mechanical crawl section
On detector, the workpiece detected is put on workseat, if only there is the workpiece detected on workseat, rear mechanical crawl section
It will not act, to improve detection efficiency, workpiece detector sets more, generally 2-5, and workpiece detector is according to detected workpiece
Select suitable market product.
Wherein, preferred scheme is：
The workpiece storehouse includes workpiece supporting plate, workpiece supporting plate bottom connection lifting assembly motion end, and lifting assembly passes through bottom
Seat is fixed on line slide rail, and line slide rail is fixed in frame, fixes traversing component, traversing component motion end in frame simultaneously
The driving machinery such as electric cylinders, cylinder or oil cylinder may be selected in connect base, lifting assembly and traversing component, for mechanical crawl section before guarantee
Workpiece can be smoothly grabbed every time, a workpiece is accessed in every subjob storehouse, and workpiece storehouse needs to decline corresponding height, often taken
One component is, it is necessary to rise corresponding height, and lifting assembly is used for the lifting for realizing workpiece storehouse, and workpiece storehouse includes workpiece storehouse to be detected
With at least two grade workpiece storehouses, workpiece storehouse to be detected is used to deposit workpiece to be detected, detects the workpiece of completion according to its detection
As a result it is put into the workpiece storehouse of corresponding grade, for example, grade workpiece storehouse is set to qualified workpiece storehouse and unqualified workpiece storehouse, it is qualified
Workpiece storehouse is used to deposit qualified workpiece, and unqualified workpiece storehouse is used to deposit unqualified workpiece, also grade workpiece storehouse can be set into A levels
Workpiece storehouse, B level workpiece storehouse, C level workpiece storehouse etc., each workpiece storehouse shares traversing component, and each workpiece storehouse lifting assembly is separate, is
Ensure that workpiece can smoothly be put into correct workpiece storehouse, when workpiece is placed in preceding mechanical crawl section, traversing component polymer product storehouse will
Before correct workpiece storehouse is moved to immediately below mechanical crawl section.
The preceding mechanical crawl section includes lifters, revolving part and grippers, and the grippers include front and rear two groups, two groups
Grippers are symmetrically mounted on revolving part both sides, and revolving part is arranged in lifters, and rear mechanical crawl section structure captures with preceding machinery
Portion is identical, and when shifting workpiece, lifters fall, and grippers reach the location of workpiece, grippers grabbing workpiece, and lifters rise playback
Revolving part rotation 180 degree, lifters are fallen again afterwards, and grippers are opened, and workpiece are placed on into target location, lifters can use
Lift cylinder, electric cylinders, revolving part use rotary cylinder, and grippers can use existing jaw, gripper, can also be according to be checked
The shape for surveying product carries out adaptability setting.
The positioning component includes locating piece and actuator, and the locating piece corresponds to workseat on the outside of circular orbit,
Groove is set on locating piece, and the actuator motion end is hinged linkage board, and rotating shaft is through linkage board and is secured to connect, rotating shaft
Both ends are fixed on circular orbit side by axle bed, and locating piece is corresponded in rotating shaft and sets positioning vertical column, nylon axle is set in axle bed
Set, during positioning, actuator motion end is released, and drives linkage board movement, and linkage board drives rotating shaft rotation, and it is fixed that positioning vertical column is caught in
Groove on the block of position, prevents workseat stop position from offseting, influences detection progress.
The workpiece storehouse corresponds to traversing component and lifting assembly difference set location sensor, institute's position sensor and control
System processed is connected, and traversing module position sensor can be located on base, and the position sensor of lifting assembly can be respectively arranged on workpiece
The bottom and top in storehouse, for detecting workpiece supporting plate and workpiece orlop portion and the distance between workpiece and workpiece the top of the warehouse, as
The foundation of lifting assembly lifting.
The circular orbit includes drive division, follower, timing belt and ring-shaped guide rail, and drive division and operand are provided with together
Belt wheel is walked, timing belt is installed on synchronous pulley, ring-shaped guide rail is installed on timing belt, ring-shaped guide rail is connected by junction button and workseat
Connect, for depositing, shifting workpiece.
The present invention also provides one kind and drives material method for sorting, comprises the following steps：
The first step, system electrification, mechanical crawl section rest on initial position, and circular orbit carries out origin reset, identification piece
Workseat number information is recorded, control system obtains each workseat number information, and workseat is determined by positioning component
Position；
Second step, detects whether workseat at circular orbit origin has workpiece, if not having, preceding mechanical crawl section is deposited from workpiece
The portion grabbing workpiece of taking is placed on workseat, if so, preceding mechanical crawl section, which will detect workpiece, puts back to workpiece access portion and from work
Part access portion captures workpiece to be detected and is placed on workseat, at the same time, after detection workseat corresponding to mechanical crawl section and
Whether there is workpiece on workpiece detector, if both not having, rear mechanical crawl section is failure to actuate, if there is the work not detected on workseat
Part, without workpiece on workpiece detector, rear mechanical crawl section is by the workpiece transfer not detected to workpiece detector；If on workseat
There is the workpiece not detected, workpiece was detected on workpiece detector, the workpiece not detected is put into workpiece and examined by rear mechanical crawl section
Survey on instrument, the workpiece detected is put on workseat, if only there is the workpiece detected on workseat, rear mechanical crawl section is not
It can act；
3rd step, after forward and backward group of machinery crawl section execution, circular orbit continues to run with, when workpiece detector is examined
After the completion of survey, sent to control system and completed signal, by rear mechanical crawl section by the workpiece transfer detected to workseat, control
System processed determines current workseat number information, and the workpiece on the workseat is sent into suitable workpiece storehouse；
4th step, whole circular orbit are run in order, after circular orbit reset, are sent origin to control system and are returned
Return and complete signal, into next circulation.
The workpiece storehouse includes workpiece storehouse to be detected and at least two grade workpiece storehouses, workpiece storehouse to be detected are treated for storage
Workpiece is detected, the workpiece for detecting completion is put into according to its testing result in the workpiece storehouse of corresponding grade, and each workpiece storehouse shares traversing
Component, each workpiece storehouse lifting assembly are separate.
In the second step, it can smoothly be captured for mechanical crawl section before guarantee or put back to workpiece, it is necessary to using traversing group
Each workpiece bin location is adjusted for part and lifting assembly, and each workpiece storehouse sets a set of lifting assembly, each workpiece silo roof respectively
Portion and bottom difference set location sensor, are respectively used to detect the position of the top location of workpiece and workpiece supporting plate on workpiece supporting plate
Put, and carry out adaptability regulation, for example, the workpiece storehouse crawl one to be detected of mechanical crawl section is to be detected in the past for preceding mechanical crawl section
Workpiece, and place one piece of qualified workpiece of detection, after the completion of crawl, workpiece height in workpiece storehouse to be detected to qualified workpiece storehouse
Decline, at this time, it may be necessary to workpiece supporting plate height in workpiece storehouse to be detected be raised by lifting assembly, in case preceding mechanical crawl section is grabbed
Take, when placing the workpiece that detection is completed, because preceding mechanical gripping selecting-components ' position is identical with workpiece storehouse to be detected, for machinery before guarantee
Workpiece smoothly can be placed into qualified workpiece storehouse, it is necessary to carry out horizontal shifting to qualified workpiece storehouse by traversing component by crawl section
It is dynamic, so that workpiece can be smoothly put into.
The preceding mechanical crawl section includes lifters, revolving part and grippers, and the grippers include front and rear two groups, two groups
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 fall, and grippers reach the location of workpiece, grippers grabbing workpiece, and lifters rise revolving part rotation 180 degree after playback,
Lifters are fallen again, and grippers are opened, and workpiece is placed on into target location.
Compared with prior art, the invention has the advantages that：
The quick detection of the achievable high-volume workpiece of the present invention, reduces testing cost, saves manpower.Captured by machinery
The transfer of workpiece is realized in the cooperation in portion, circular orbit and control system, and workpiece storehouse includes workpiece storehouse to be detected and several grades
Workpiece storehouse, the crawl of workpiece is realized by the cooperation of traversing component and lifting assembly and preceding mechanical crawl section and stored classifiedly, after
Mechanical crawl section includes realizing transfer of the workpiece between workseat and workpiece detector, and realizes workseat by positioning component
Positioning, prevent because effect of inertia offset workseat stop position, the workpiece for detecting completion is put according to testing result
Enter in suitable workpiece storehouse and deposit.
Brief description of the drawings
Fig. 1 structure axonometric drawings 1 of the present invention.
Fig. 2 structure axonometric drawings 2 of the present invention.
Fig. 3 workpiece chamber structure schematic diagrames of the present invention.
Mechanical crawl section structural representation before Fig. 4.
Fig. 5 ring track structure schematic diagrames.
In figure：1st, frame；2nd, circular orbit；3rd, workpiece detector；4th, control system；5th, workpiece storehouse；6th, lifting assembly；7、
Traversing component；8th, preceding mechanical crawl section；9th, rear mechanical crawl section；10th, workseat；11st, workpiece supporting plate；12nd, base；13rd, straight line
Slide rail；14th, lifters；15th, revolving part；16th, grippers；17th, locating piece；18th, actuator；19th, linkage board；20th, rotating shaft；21、
Positioning vertical column.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings：
Embodiment 1：
As shown in Figure 1-2, it is of the present invention automatically to drive material sorting system, including frame 1, workpiece access portion, mechanical gripping
Portion, circular orbit 2, workpiece detector 3 and control system 4 are taken, the circular orbit 2 is arranged on the centre position of frame 1, the work
Part access portion is arranged on the side of frame 1, and workpiece access portion includes at least three workpiece storehouses 5, and workpiece storehouse 5 is correspondingly provided with lifting group
Part 6 and traversing component 7, the mechanical crawl section include preceding mechanical crawl section 8 and rear mechanical crawl section 9, the workpiece storehouse 5 and ring
Mechanical crawl section 8 before being set between shape track 2, the opposite side of circular orbit 2 set workpiece detector 3, workpiece detector 3 to
One is set less, corresponds to mechanical crawl section 9 after workpiece detector 3 and the setting of circular orbit 2, some works are set on circular orbit 2
Part seat 10, each workseat 10 are correspondingly arranged identification piece, and workseat 10 is corresponded on circular orbit 2 and sets positioning component, the liter
Part 6, traversing component 7, preceding mechanical crawl section 8, rear mechanical crawl section 9, circular orbit 2 and positioning component come down to a lower group and control system
4 are connected.
Identification piece can be position sensor or radio-frequency card etc. in the present invention, can send it to control system 4
The number information of corresponding workseat 10, the preceding mechanical position of crawl section 8 are set to the starting point of circular orbit 2, select circular orbit 2
Upper any workseat 10 is starting workseat, and during reset, starting workseat overlaps with the starting point of circular orbit 2, during start-up operation,
System carries out origin reset first, and control system 4 calculates each position of workseat 10 on circular orbit 2, and passes through positioning component pair
Workseat 10 is positioned, it is then detected that whether starting workseat has workpiece, if not having, preceding mechanical crawl section 8 is captured from workpiece
Access portion grabbing workpiece is placed on starting workseat, if so, preceding mechanical crawl section 8, which will detect workpiece, puts back to workpiece access portion
And capture workpiece to be detected from workpiece access portion and be placed on starting workseat, at the same time, the mechanical correspondence of crawl section 9 after detection
Workseat 10 and workpiece detector 3 on whether have workpiece, if both not having, rear mechanical crawl section 9 is failure to actuate, if workseat
There is the workpiece not detected on 10, without workpiece on workpiece detector 3, rear mechanical crawl section 9 is by the workpiece transfer not detected to workpiece
On detector 3；If there is the workpiece not detected on workseat 10, workpiece, rear mechanical crawl section 9 were detected on workpiece detector 3
The workpiece not detected can be put on workpiece detector 3, the workpiece detected is put on workseat 10, if only workseat 10
On have the workpiece detected, rear mechanical crawl section 9 will not act, and to improve detection efficiency, workpiece detector 3 sets more, one
As be 2-5, workpiece detector 3 carries out selecting suitable market product according to detected workpiece.
As shown in figure 3, workpiece storehouse 5 includes workpiece supporting plate 11, the bottom of the workpiece supporting plate 11 connection motion end of lifting assembly 6, rise
Part 6 of coming down to a lower group is fixed on line slide rail 13 by base 12, and line slide rail 13 is fixed in frame 1, simultaneously fixed horizontal in frame 1
Component 7 is moved, the traversing motion end connect base 12 of component 7, electric cylinders, cylinder or oil cylinder etc. may be selected in lifting assembly 6 and traversing component 7
Driving machinery, workpiece can be smoothly grabbed for mechanical crawl section 8 before guarantee every time, one workpiece of interior access per subjob storehouse 5,
Workpiece storehouse 5 needs to decline corresponding height, it is necessary to rise corresponding height, lifting assembly 6 is used to realize workpiece a component of often taking
The lifting in storehouse 5, workpiece storehouse 5 includes workpiece storehouse to be detected and at least two grade workpiece storehouses, workpiece storehouse to be detected are treated for storage
Workpiece is detected, the workpiece of completion is detected and is put into according to its testing result in the workpiece storehouse 5 of corresponding grade, for example, by grade workpiece
Storehouse is set to qualified workpiece storehouse and unqualified workpiece storehouse, and qualified workpiece storehouse is used to deposit qualified workpiece, and unqualified workpiece storehouse is used to deposit
Unqualified workpiece is put, grade workpiece storehouse can be also set to A level workpiece storehouse, B level workpiece storehouse, C level workpiece storehouse etc., each workpiece storehouse 5 is common
It is independently of each other, preceding to ensure that workpiece can smoothly be put into correct workpiece storehouse 5 with traversing component 7, each lifting assembly 6 of workpiece storehouse 5
When workpiece is placed in mechanical crawl section 8, the traversing polymer product storehouse 5 of component 7, mechanical crawl section 8 before correct workpiece storehouse 5 is moved to
Underface.
As shown in figure 4, preceding mechanical crawl section 8 includes lifters 14, revolving part 15 and grippers 16, the grippers 16 are wrapped
Front and rear two groups are included, two groups of grippers 16 are symmetrically mounted on the both sides of revolving part 15, and revolving part 15 is arranged in lifters 14, rear machinery
The structure of crawl section 9 is identical with preceding mechanical crawl section 8, and when shifting workpiece, lifters 14 fall, and grippers 16 reach the location of workpiece,
The grabbing workpiece of grippers 16, revolving part 15 rotates 180 degree after lifters 14 rise playback, and lifters 14 fall again, grippers
16 are opened, and workpiece is placed on into target location, and lifters 14 can use lift cylinder, electric cylinders, and revolving part 15 uses rotary cylinder,
Grippers 16 can use existing jaw, gripper, can also carry out adaptability setting 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 the locating piece 17 is located at
On the outside of circular orbit 2, groove is set, the motion end of actuator 18 is hinged linkage board 19, and rotating shaft 20 passes through connection on locating piece 17
Dynamic plate 19 simultaneously is secured to connect, and the both ends of rotating shaft 20 are fixed on the side of circular orbit 2 by axle bed, and locating piece is corresponded in rotating shaft 20
17 set positioning vertical columns 21, set nylon sleeve in axle bed, and during positioning, the motion end of actuator 18 is released, and drives linkage board 19 to move
Dynamic, linkage board 19 drives rotating shaft 20 to rotate, and positioning vertical column 21 is caught in into the groove on locating piece 17, prevents the stop position of workseat 10
Put and offset, influence detection progress.
The corresponding traversing component 7 in workpiece storehouse 5 and lifting assembly 6 distinguish set location sensor, institute's position sensor and control
System 4 processed is connected, and the traversing position sensor of component 7 can be located on base 12, and the position sensor of lifting assembly 6 can be respectively arranged on
The bottom and top in workpiece storehouse 5, for detecting between workpiece supporting plate 11 and the bottom of workpiece storehouse 5 and workpiece and the top of workpiece storehouse 5
Distance, the foundation lifted as lifting assembly 6.
Circular orbit 2 includes motor, timing belt and ring-shaped guide rail, and timing belt is installed on the ring-shaped guide rail, synchronous
Band is connected by junction button with workseat 10, motor drive timing belt orderly function on ring-shaped guide rail, and workseat 10 is equal
It is even to be fixed on timing belt, for depositing, shifting workpiece.
Embodiment 2：
The present embodiment offer is a kind of to drive material method for sorting based on embodiment 1, comprises the following steps：
The first step, system electrification, mechanical crawl section rest on initial position, and circular orbit 2 carries out origin reset, identification piece
The number information of workseat 10 is recorded, control system 4 obtains each number information of workseat 10, and by positioning component to workseat 10
Positioned；
Second step, detects whether workseat 10 at the origin of circular orbit 2 has workpiece, if not having, preceding mechanical crawl section 8 is from work
Part access portion grabbing workpiece is placed on workseat 10, if so, preceding mechanical crawl section 8, which will detect workpiece, puts back to workpiece access portion
And capture workpiece to be detected from workpiece access portion and be placed on workseat 10, at the same time, after detection corresponding to mechanical crawl section 9
Whether there is workpiece on workseat 10 and workpiece detector 3, if both not having, rear mechanical crawl section 9 is failure to actuate, if workseat 10
On have a workpiece not detected, the workpiece transfer not detected to workpiece is examined without workpiece, rear mechanical crawl section 9 on workpiece detector 3
Survey on instrument 3；If there is the workpiece not detected on workseat 10, workpiece, rear mechanical crawl section 9 were detected on workpiece detector 3
The 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 mechanical crawl section 9 will not act；
3rd step, after forward and backward group of machinery crawl section execution, circular orbit 2 continues to run with, when workpiece detector 3
After the completion of detection, sent to control system 4 and completed signal, by rear mechanical crawl section 9 by the workpiece transfer detected to workpiece
Seat 10, control system 4 determines the current number information of workseat 10, and the workpiece on the workseat 10 is sent into suitable workpiece storehouse
5；
4th step, whole circular orbit 2 are run in order, and after the reset of circular orbit 2, original is sent to control system 4
Point, which returns, completes signal, into next circulation.
Workpiece storehouse 5 includes workpiece storehouse to be detected and at least two grade workpiece storehouses, and workpiece storehouse to be detected is to be checked for depositing
Workpiece is surveyed, the workpiece of completion is detected and is put into according to its testing result in the workpiece storehouse 5 of corresponding grade, for example, by grade workpiece storehouse
Qualified workpiece storehouse and unqualified workpiece storehouse are set to, qualified workpiece storehouse is used to deposit qualified workpiece, and unqualified workpiece storehouse is used to deposit
Grade workpiece storehouse, can also be set to A level workpiece storehouse, B level workpiece storehouse, C level workpiece storehouse etc. by unqualified workpiece, and each workpiece storehouse 5 shares
Traversing component 7, each lifting assembly 6 of workpiece storehouse 5 are separate.
In second step, it can smoothly be captured for mechanical crawl section 8 before guarantee or put back to workpiece, it is necessary to using traversing component 7
Each position of workpiece storehouse 5 is adjusted with lifting assembly 6, each workpiece storehouse 5 sets a set of lifting assembly 6, each workpiece storehouse 5 respectively
Set location sensor is distinguished in top and bottom, is respectively used to detect the top location of workpiece and workpiece supporting plate on workpiece supporting plate 11
11 position, and adaptability regulation is carried out, for example, preceding mechanical 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 the completion of crawl, workpiece height declines in workpiece storehouse to be detected,
At this time, it may be necessary to the height of workpiece supporting plate 11 in workpiece storehouse to be detected is raised by lifting assembly 6, in case preceding mechanical crawl section 8 captures,
When placing the workpiece that detection is completed, because the preceding position of mechanical crawl section 8 is identical with workpiece storehouse to be detected, for mechanical gripping before guarantee
Taking portion 8 smoothly can be placed into workpiece in qualified workpiece storehouse, it is necessary to carry out horizontal shifting to qualified workpiece storehouse by traversing component 7
It is dynamic, so that workpiece can be smoothly put into.
Preceding mechanical crawl section 8 includes lifters 14, revolving part 15 and grippers 16, and the grippers 16 include front and rear two
Group, two groups of grippers 16 are symmetrically mounted on the both sides of revolving part 15, and revolving part 15 is arranged in lifters 14, when shifting workpiece, rise
Drop part 14 falls, and grippers 16 reach the location of workpiece, and the grabbing workpiece of grippers 16, revolving part 15 revolves after lifters 14 rise playback
Turnback, lifters 14 are fallen again, and grippers 16 are opened, and workpiece is placed on into target location.
Claims (9)
1. one kind automatically drives material sorting system, it is characterised in that including frame (1), workpiece access portion, mechanical crawl section, ring
Shape track (2), workpiece detector (3) and control system (4), the circular orbit (2) are arranged on frame (1) centre position, institute
The side that workpiece access portion is arranged on frame (1) is stated, workpiece access portion includes at least three workpiece storehouses (5), and workpiece storehouse (5) are corresponding
Provided with lifting assembly (6) and traversing component (7), the mechanical crawl section includes preceding mechanical crawl section (8) and rear mechanical crawl section
(9) mechanical crawl section (8) before, being set between the workpiece storehouse (5) and circular orbit (2), circular orbit (2) opposite side are set
Workpiece detector (3) is put, at least provided with one, corresponding workpiece detector (3) and circular orbit (2) are set workpiece detector (3)
Mechanical crawl section (9) afterwards, some workseats (10) being set on circular orbit (2), each workseat (10) is correspondingly arranged identification piece,
Workseat (10) is corresponded on circular orbit (2) positioning component, the lifting assembly (6), traversing component (7), preceding mechanical gripping are set
Portion (8), rear mechanical crawl section (9), circular orbit (2) and positioning component is taken to be connected with control system (4)；The preceding mechanical gripping
Portion (8) is taken to include lifters (14), revolving part (15) and grippers (16), the grippers (16) include front and rear two groups, two groups
Grippers (16) are symmetrically mounted on revolving part (15) both sides, and revolving part (15) is arranged in lifters (14), rear mechanical crawl section
(9) structure is identical with preceding mechanical crawl section (8)；The positioning component includes locating piece (17) and actuator (18).
2. according to claim 1 automatically drive material sorting system, it is characterised in that the workpiece storehouse (5) includes workpiece
Supporting plate (11), workpiece supporting plate (11) bottom connection lifting assembly (6) motion end, lifting assembly (6) are fixed on by base (12)
On line slide rail (13), line slide rail (13) is fixed in frame (1), fixes traversing component (7) in frame (1) simultaneously, traversing
Component (7) motion end connect base (12).
3. according to claim 1 automatically drive material sorting system, it is characterised in that the corresponding workpiece of the locating piece (17)
Seat (10) sets groove, actuator (18) motion end is hinged linkage board on the outside of circular orbit (2) on locating piece (17)
(19), rotating shaft (20) through linkage board (19) and is secured to connect, and rotating shaft (20) both ends are fixed on circular orbit by axle bed
(2) side, locating piece (17) is corresponded in rotating shaft (20) positioning vertical column (21) is set.
4. according to claim 1 automatically drive material sorting system, it is characterised in that the workpiece storehouse (5) is corresponding traversing
Component (7) and lifting assembly (6) distinguish set location sensor, and a detection switch is respectively provided on the workseat (10),
Setting one of them, detection switch is origin start bit in place, and institute's position sensor and in place detection switch are and control system
(4) it is connected.
5. according to claim 1 automatically drive material sorting system, it is characterised in that the circular orbit (2) includes driving
Dynamic portion, follower, timing belt and ring-shaped guide rail, drive division and operand are provided with synchronous pulley, are installed on synchronous pulley synchronous
Band, ring-shaped guide rail is installed on timing belt, ring-shaped guide rail is connected by junction button with workseat (10).
6. a kind of drive material method for sorting based on what full-automatic described in claim any one of 1-5 driving material sorting system, its feature
It is, comprises the following steps：
The first step, system electrification, mechanical crawl section rest on initial position, and circular orbit (2) carries out origin reset, identification piece note
Workseat (10) number information is recorded, control system (4) obtains each workseat (10) number information, and by positioning component to workpiece
Seat (10) is positioned；
Second step, detect circular orbit (2) origin at workseat (10) whether have workpiece, if not having, preceding mechanical crawl section (8) from
Workpiece access portion grabbing workpiece is placed on workseat (10), if so, preceding mechanical crawl section (8), which will detect workpiece, puts back to workpiece
Access portion is simultaneously placed on workseat (10) from workpiece access portion crawl workpiece to be detected, at the same time, machinery crawl after detection
Whether there is workpiece on workseat (10) corresponding to portion (9) and workpiece detector (3), if both not having, rear mechanical crawl section (9)
It is failure to actuate, if there is the workpiece not detected on workseat (10), without workpiece on workpiece detector (3), rear mechanical crawl section (9) will not
The workpiece transfer of detection is on workpiece detector (3)；If there is the workpiece not detected on workseat (10), on workpiece detector (3)
Workpiece was detected, rear mechanical crawl section (9) is put into the workpiece not detected on workpiece detector (3), the workpiece detected
It is put on workseat (10), if only there is the workpiece detected on workseat (10), rear mechanical crawl section (9) will not act；
3rd step, after forward and backward group of machinery crawl section execution, circular orbit (2) continues to run with, when workpiece detector (3)
After the completion of detection, sent to control system (4) and completed signal, by rear mechanical crawl section (9) by the workpiece transfer detected extremely
Workseat (10), control system (4) determines current workseat (10) number information, and the workpiece on the workseat (10) is sent into
Suitable workpiece storehouse；
4th step, whole circular orbit (2) are run in order, after circular orbit (2) reset, are sent to control system (4)
Original point return completes signal, into next circulation.
7. according to claim 6 drive material method for sorting, it is characterised in that the workpiece storehouse (5) includes workpiece to be detected
Storehouse and at least two grade workpiece storehouses, workpiece storehouse to be detected are used to deposit workpiece to be detected, detect the workpiece of completion according to its inspection
Survey result to be put into the workpiece storehouse (5) of corresponding grade, each workpiece storehouse (5) shares traversing component (7), each workpiece storehouse (5) lifting group
Part (6) is separate.
8. according to claim 6 drive material method for sorting, it is characterised in that in the second step, for mechanical gripping before guarantee
Take portion (8) smoothly to capture or put back to workpiece, it is necessary to using traversing component (7) and lifting assembly (6) to each workpiece storehouse (5) position
Put and be adjusted.
9. according to claim 6 drive material method for sorting, it is characterised in that the preceding mechanical crawl section (8) includes lifting
Part (14), revolving part (15) and grippers (16), the grippers (16) include front and rear two groups, the symmetrical peace of two groups of grippers (16)
Mounted in revolving part (15) both sides, revolving part (15) is arranged in lifters (14), and when shifting workpiece, lifters (14) fall, and grab
Pickup (16) reaches the location of workpiece, grippers (16) grabbing workpiece, and lifters (14) rise revolving part (15) rotation 180 after playback
Degree, lifters (14) are fallen again, and grippers (16) are opened, and workpiece is placed on into target location.
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| CN107877863A (en) * | 2017-12-13 | 2018-04-06 | 苏州紫金港智能制造装备有限公司 | A kind of intelligent 3D printing system |
| CN108188050B (en) * | 2017-12-28 | 2020-07-28 | 东莞市盛雄激光先进装备股份有限公司 | Double-station automatic sorting machine |
| CN108114969B (en) * | 2018-02-02 | 2023-12-22 | 广州中国科学院沈阳自动化研究所分所 | Harmless disassembly and separation platform and method for power battery monomers |
| CN110125027B (en) * | 2019-04-30 | 2024-02-27 | 桂林广陆数字测控有限公司 | Automatic detection device for strip-shaped workpiece |
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| CN101858728B (en) * | 2009-04-08 | 2013-03-20 | 鸿富锦精密工业（深圳）有限公司 | Measurement equipment and measurement method |
| CN102261902B (en) * | 2010-08-19 | 2012-09-05 | 厦门钨业股份有限公司 | Measuring method and device of PCB (printed circuit board) cutter |
| JP5489000B2 (en) * | 2010-08-31 | 2014-05-14 | 株式会社安川電機 | Working device and component picking system |
| CN104550047A (en) * | 2012-11-30 | 2015-04-29 | 胡小青 | Application method of automatic inspecting device |
| CN202966748U (en) * | 2012-12-17 | 2013-06-05 | 华中科技大学 | Cyclic grabbing mechanism |
| CN103028998B (en) * | 2012-12-28 | 2016-08-03 | 重庆机床(集团)有限责任公司 | Accurate positioning storage bin |
| CN103920653A (en) * | 2014-03-14 | 2014-07-16 | 东华大学 | Integrated automatic flatness-detecting, feeding and sorting apparatus and control method |
| CN205413656U (en) * | 2016-03-23 | 2016-08-03 | 山东道先为智能科技有限公司 | Full -automatic material letter sorting system of driving |
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