CN109433648A - Automate flowing water sorting work method - Google Patents

Automate flowing water sorting work method Download PDF

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Publication number
CN109433648A
CN109433648A CN201811429261.XA CN201811429261A CN109433648A CN 109433648 A CN109433648 A CN 109433648A CN 201811429261 A CN201811429261 A CN 201811429261A CN 109433648 A CN109433648 A CN 109433648A
Authority
CN
China
Prior art keywords
encoded information
jaw means
detection device
clamping
tray
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201811429261.XA
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Chinese (zh)
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CN109433648B (en
Inventor
王飞雁
索晓峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Science and Technology
Original Assignee
Zhangjiagang Academy Of Engineering Of Njust Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Zhangjiagang Academy Of Engineering Of Njust Co Ltd filed Critical Zhangjiagang Academy Of Engineering Of Njust Co Ltd
Priority to CN201811429261.XA priority Critical patent/CN109433648B/en
Publication of CN109433648A publication Critical patent/CN109433648A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms

Landscapes

  • Sorting Of Articles (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The present invention relates to automation equipments, in particular to a kind of automation flowing water sorting work method comprising: control information is generated according to the read encoded information of the detection device for being located at main belt inlet by main control module；I.e. when encoded information determines the material of material tray carrying for special-shaped material, clamping jaw on jaw means control claw is using moving the material by the way of clamping；When encoded information determines the material of material tray carrying for plane material, the Suction cup assembly on jaw means control claw moves the material by the way of sticking material；When jaw means move material, detection device is suitable for wiping the encoded information that material tray is stored；The present invention moves different types of material by the jaw means that main control module controls, to realize the technical effect of automation continuous productive process.

Description

Automate flowing water sorting work method
Technical field
The present invention relates to automation equipments, in particular to a kind of automation flowing water Automated Sorting System and work side Method.
Background technique
In industrial material transport, conveyer belt utilizes the rotary motion or reciprocating motion of working component, or is existed using medium Flowing in pipeline is fed forward material.For example, the working component of roller conveyor is a series of rollers, roller makees rotation fortune It moves to convey material；The working component of screw conveyor is spiral, and spiral is rotated in hopper to push object along hopper Material；The working component of jigging conveyer is hopper, and hopper is reciprocating to convey the material etc. being placed in one.
But in new mechanization process generating process, it is desirable to be able to be identified to the object on conveyer belt.And it transmits The object taken, there are also many unconventional objects, is put on conveyer belt other than conventional production object there are also some objects When be with wrapped, when object arrives at machining center, manipulator can take out object.Conventional optical identification will have error.
Therefore, it is necessary to design a kind of automation flowing water sorting work method.
Summary of the invention
The object of the present invention is to provide a kind of automation flowing water sorting work methods.
In order to solve the above-mentioned technical problems, the present invention provides a kind of automation flowing water sorting work methods, comprising: passes through Main control module generates control information according to the read encoded information of the detection device for being located at main belt inlet；Work as coding When information determines the material of material tray carrying for special-shaped material, by the way of jaw means control the clamping jaw on claw using clamping Move the material；When encoded information determines the material of material tray carrying for plane material, jaw means are controlled on claw Suction cup assembly moves the material by the way of sticking material；When jaw means move material, detection device is suitable for raclementum The encoded information that material torr disk is stored.
Further, when detection device missing inspection material tray；The main control module is by being located at main belt exit The read encoded information of auxiliary detection device generates control information；When encoded information determines that the material of material tray carrying is different When shape material, the clamping jaw on jaw means control card pawl is assisted to move the material by the way of clamping；When encoded information determines When the material of material tray carrying is plane material, assist the Suction cup assembly on jaw means control card pawl using sticking material Mode moves the material.
The invention has the advantages that the present invention passes through main belt transported material pallet；Main control module is filled according to detection The encoded information for setting reading sends control information to jaw means；Jaw means clamp in different ways according to the control information Mode moves material；Assembly line is realized to the function of material type identification；It is moved by the jaw means that main control module controls Different types of material, to realize the technical effect of automation continuous productive process.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the functional block diagram of present invention automation flowing water Automated Sorting System；
Fig. 2 is the structure chart of present invention automation flowing water Automated Sorting System；
Fig. 3 is the jaw means structure chart of present invention automation flowing water Automated Sorting System.
In figure:
1 is main belt；101 be entrance；102 be outlet；103 be sub- conveyer belt；2 be detection device；3 be material tray；
4 be jaw means；401 be clip claw assembly；402 be Suction cup assembly；403 be clamping button；404 be telescopic rod；405 be claw Crossbeam；406 be fixed link；
5 be auxiliary detection device；6 be auxiliary jaw means.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
Fig. 1 is the functional block diagram of present invention automation flowing water Automated Sorting System；
Fig. 2 is the structure chart of present invention automation flowing water Automated Sorting System；
As depicted in figs. 1 and 2, present embodiments providing a kind of automation flowing water sorting work method includes: to pass through main control module Control information is generated according to the read encoded information of detection device 2 being located at 1 entrance 101 of main belt；I.e. when coding is believed When breath determines the material of 3 carrying of material tray for special-shaped material, by the way of jaw means 4 control the clamping jaw on claw using clamping Move the material；When encoded information determines the material of 3 carrying of material tray for plane material, jaw means 4 are controlled on claw Suction cup assembly 402 material is moved by the way of sticking material；When jaw means move material, detection device is suitable for wiping Except encoded information entrained by material tray 3, avoids subsequent auxiliary detection device from repeating the empty material tray of reading and claw is caused to fill It empties and grabs phenomenon；The encoded information expression stored by erasing material tray 3, which completes, once moves material, realizes master control mould Block control jaw means 4 move the technical effect of different types of object.
In the present embodiment, when 2 missing inspection material tray 3 of detection device；The main control module is by being located at main belt 1 It exports the read encoded information of auxiliary detection device 5 at 102 and generates control information；When encoded information determines material tray 3 When the material of carrying is special-shaped material, auxiliary jaw means 6 control the clamping jaw on claw and move the material by the way of clamping； When encoded information determines the material of 3 carrying of material tray for plane material, auxiliary jaw means 6 control the sucker group on claw Part 402 moves the material by the way of sticking material；When jaw means move material, auxiliary detection device can also be wiped Encoded information entrained by material tray 3；It indicates to complete to move object by wiping the encoded information that material tray 3 is stored Material；The encoded information of the material tray 3 read in the present embodiment by auxiliary detection device, to identify when front tray omission Material, and then improve the accuracy of automation flowing water Automated Sorting System.
Specifically, automation flowing water sorting work method is suitable for using automation flowing water sorting system comprising: it is suitable for passing The main belt of material tray 3 is sent, and is mounted on detection device 2, jaw means 4 at 1 entrance 101 of main belt；It is described Material tray 3 is suitable for carrying material；The detection device 2 is suitable for reading the encoded information inside material tray 3, is being sent to master After controlling module, the encoded information of the material tray (3) is wiped；The main control module identifies that material type is concurrent according to encoded information Send corresponding control information to jaw means 4；The jaw means 4 are suitable for being moved according to material type using corresponding method of clamping Material；Main control module identifies material type according to the encoded information that detection device 2 is read, and then controls jaw means 4 using not Material is moved with method of clamping, has achieved the purpose that automatic assembly line identifies material type, has realized automatic assembly line and remove Move the technical effect of a plurality of types of materials.
Fig. 3 is 4 structure chart of jaw means of present invention automation flowing water Automated Sorting System.
In the present embodiment, the jaw means 4 include the clip claw assembly 401 and Suction cup assembly controlled by main control module 402；The material type includes special-shaped material peace face material；The jaw means 4 are suitable for clamping using clip claw assembly 401 different Shape material；The pawl center portion of clip claw assembly 401 is arranged in the Suction cup assembly 402, with the sticking plane after the expansion of clip claw assembly 401 Material；Clip claw assembly 401 is suitable for clamping special-shaped material to realize moving for material；When the extension area of material (plane material) When area and clamping jaw more than the maximum open-angle covering of clip claw assembly 401 are not available, jaw means 4 control clip claw assembly 401 402 sticking material of Suction cup assembly is used after expansion；When surface of material is smooth to be difficult to be clamped by jaw means 4, jaw means 4 are controlled Clip claw assembly 401 processed uses 402 sticking material of Suction cup assembly after being unfolded；Automatic assembly line is realized by jaw means 4 to remove Move the technical effect of a plurality of types of materials.
Specifically, the clip claw assembly 401 is connected on the telescopic rod 404 of power mechanism by clamping button 403；Master control Module controls power mechanism driving telescopic rod 404 and stretches out and withdraw, and then controls 401 opening and closing of clip claw assembly；
The Suction cup assembly 402 is installed by hollow stem fixed link 406 across claw crossbeam 405；The hollow stem fixed link 406 One end connect air pump, one end connecting sucker component 402；Main control module controls air pump air-breathing and loses heart, and then controls sucker group 402 sticking of part and release material.
The power mechanism can be, but not limited to drive using using cylinder, can also be lead screw motor.
In the present embodiment, the main belt 1 connects two sub- conveyer belts 103；The sub- conveyer belt 103 is suitable for will not The material transportation of same type is to main belt 1；It is suitable for from warehouse transporting material tray 3 to main transmission by sub- conveyer belt 103 Band 1.
In the present embodiment, near-field communication chip is equipped with inside the material tray 3；The communication chip of marching into the arena is equipped with sense Answer antenna；Realize that the data of near-field communication chip and sub- conveyer belt 103 and detection device 2 are transmitted by induction antenna；The son Coding writing station is equipped at conveyer belt 103；The material tray 3 is when sub- conveyer belt 103 transmits, the coding writing station Encoded information is written in the near-field communication chip inside material tray 3, material tray (3) are written into encoded information, so that main The detection device 2 of conveyer belt (1) inlet can scan.
In embodiment, near-field communication chip can be, but not limited to using Mifare1 S70 wireless near-field communication chip, also It can be Mifare1 S50 chip.
It in the present embodiment, include near field read-write chip inside the detection device 2；The near field read-write chip passes through string Mouth is electrically connected with main control module；The near field read-write chip is suitable for reading the encoded information stored in material tray 3, and sends To main control module；It is suitable for wiping stored encoded information after the encoded information of the near field read-write chip reading material tray 3； The detection device 2 is suitable for reading the encoded information that material tray 3 is stored, and is sent to main control module；The main control module Encoded information generates condition code based on the received, and judges material type by condition code.
In the present embodiment, the near field read-write chip can be, but not limited to can also be RC522 using PN532 chip Etc. read-write chips.
The main control module can be, but not limited to be also possible to programmable controller, industry control using STM32F407 processor Plate or PC machine control machine.
In the present embodiment, the main control module issues corresponding control information to jaw means 4 according to condition code；The card Jaw arrangement 4 moves material using corresponding method of clamping according to the control information；It realizes automatic assembly line and moves multiple types Object technical effect.
In the present embodiment, the structure and detection device 2 and claw of the auxiliary detection device 5 and auxiliary jaw means 6 4 structure of device is identical；The automation flowing water sorting system further includes the auxiliary detection dress at the outlet of main belt 1 102 Set 5 and auxiliary jaw means 6；The auxiliary detection device 5 is suitable for reading being located at outlet 102 and is omitted by detection device 2 The encoded information that the material tray 3 of reading is stored, and it is sent to main control module；Main control module is generated according to encoded information and is controlled Information gives auxiliary jaw means 6；The auxiliary jaw means 6 move material using corresponding method of clamping according to the control information； It realizes auxiliary by auxiliary detection device 5 and auxiliary jaw means 6 and moves material, jaw means 4 is avoided to have when moving material It omits.
In conclusion in the present embodiment, the encoded information that main control module receiving detection device 2 is read, and then send control Information processed moves object using corresponding method of clamping to jaw means 4, can efficiently move different types of object and improve Working efficiency；Realize the technical effect that automatic assembly line moves a plurality of types of objects.
In conclusion this automation flowing water sorting work method is by being located at the coding writing station at sub- conveyer belt 103 Encoded information corresponding with material and material tray can be written, and be read out encoded information in 1 inlet of main belt After classified automatically, i.e., main control module according to encoded information send control information to jaw means 4；Jaw means 4 are according to control Method of clamping moves object to information processed in different ways；The technical effect of assembly line automatic identification object type is realized, Achieve the purpose that automate continuous productive process；Being equipped with auxiliary detection device 5 in the exit of main belt 1 can be to the object of missing inspection A possibility that material torr disk is detected again, reduces classification error.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.

Claims (2)

1. a kind of automation flowing water sorting work method characterized by comprising
It is raw according to the read encoded information of the detection device (2) being located at main belt (1) entrance (101) by main control module At control information；I.e.
When encoded information determines that the material of material tray (3) carrying is special-shaped material, jaw means control the clamping jaw on claw The material is moved by the way of clamping；
When encoded information determines that the material of material tray (3) carrying is plane material, jaw means control the sucker on claw Component moves the material by the way of sticking material；
When jaw means move material, detection device is suitable for wiping the encoded information that material tray (3) are stored.
2. automation flowing water sorting system working method according to claim 1, which is characterized in that
When detection device (2) missing inspection material tray (3)；
The main control module is believed by being located at the read coding of auxiliary detection device (5) at main belt (1) outlet (102) Breath generates control information；
When encoded information determines that the material of material tray (3) carrying is special-shaped material, on auxiliary jaw means (6) control claw Clamping jaw using clamping by the way of move the material；
When encoded information determines that the material of material tray (3) carrying is plane material, on auxiliary jaw means (6) control claw Suction cup assembly the material is moved by the way of sticking material.
CN201811429261.XA 2018-11-27 2018-11-27 Automatic flow sorting working method Active CN109433648B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811429261.XA CN109433648B (en) 2018-11-27 2018-11-27 Automatic flow sorting working method

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Application Number Priority Date Filing Date Title
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CN109433648B CN109433648B (en) 2021-09-14

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Citations (13)

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CN101244767A (en) * 2007-02-13 2008-08-20 格兰达技术（深圳）有限公司 IC full-automatic method for testing brede and full-automatic holding tray type machine for testing brede
US20140305850A1 (en) * 2013-02-07 2014-10-16 Logical Turn Consulting, Inc. Package vision sort system and method
CN204672572U (en) * 2015-05-20 2015-09-30 深圳市宏钺智能科技有限公司 A kind of courier packages intelligent sorting system based on robot
CN105731012A (en) * 2016-03-14 2016-07-06 昆明昆船物流信息产业有限公司 Full-automatic battery stack dismounting and conveying system for joining storage with production
CN106272388A (en) * 2015-05-13 2017-01-04 袁文霞 For transporting the mechanical hand of round steel
CN107116568A (en) * 2016-02-25 2017-09-01 长沙格力暖通制冷设备有限公司 A kind of fixture
EP3237123A1 (en) * 2014-12-24 2017-11-01 Solystic Facility for separating and individualising heterogeneous mail items
CN107683189A (en) * 2015-06-29 2018-02-09 美国陶氏益农公司 System and application method prepared by the explant for automation
CN108081301A (en) * 2016-11-22 2018-05-29 大邱庆北科学技术院 The removably general clamping jaw device of modular type
US20180154400A1 (en) * 2016-12-07 2018-06-07 Kindred Systems Inc. Systems, devices, articles and methods for the partition of items
CN108529194A (en) * 2018-03-30 2018-09-14 深圳市艾特讯科技有限公司 A kind of charging tray carrying method, system and terminal device

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007155986A (en) * 2005-12-02 2007-06-21 Mitsubishi Heavy Ind Ltd Voice recognition device and robot equipped with the same
CN2863280Y (en) * 2006-01-24 2007-01-31 湖南大学 Automatic sorting apparatus for degraded products on high-speed automation production line
CN101244767A (en) * 2007-02-13 2008-08-20 格兰达技术（深圳）有限公司 IC full-automatic method for testing brede and full-automatic holding tray type machine for testing brede
US20140305850A1 (en) * 2013-02-07 2014-10-16 Logical Turn Consulting, Inc. Package vision sort system and method
EP3237123A1 (en) * 2014-12-24 2017-11-01 Solystic Facility for separating and individualising heterogeneous mail items
CN106272388A (en) * 2015-05-13 2017-01-04 袁文霞 For transporting the mechanical hand of round steel
CN204672572U (en) * 2015-05-20 2015-09-30 深圳市宏钺智能科技有限公司 A kind of courier packages intelligent sorting system based on robot
CN107683189A (en) * 2015-06-29 2018-02-09 美国陶氏益农公司 System and application method prepared by the explant for automation
CN107116568A (en) * 2016-02-25 2017-09-01 长沙格力暖通制冷设备有限公司 A kind of fixture
CN105731012A (en) * 2016-03-14 2016-07-06 昆明昆船物流信息产业有限公司 Full-automatic battery stack dismounting and conveying system for joining storage with production
CN108081301A (en) * 2016-11-22 2018-05-29 大邱庆北科学技术院 The removably general clamping jaw device of modular type
US20180154400A1 (en) * 2016-12-07 2018-06-07 Kindred Systems Inc. Systems, devices, articles and methods for the partition of items
CN108529194A (en) * 2018-03-30 2018-09-14 深圳市艾特讯科技有限公司 A kind of charging tray carrying method, system and terminal device

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Effective date of registration: 20221221

Address after: 210094 No. 200 Xiaolingwei street, Xuanwu District, Jiangsu, Nanjing

Patentee after: NANJING University OF SCIENCE AND TECHNOLOGY

Address before: 215600 No. 10, Chang Jing Road, Yang She Town, Zhangjiagang City, Suzhou, Jiangsu

Patentee before: NANJING UNIVERSITY OF SCIENCE AND TECHNOLOGY ZHANGJIAGANG ENGINEERING INSTITUTE CO.,LTD.