CN109692825B - Part sorting method and sorting equipment - Google Patents
Part sorting method and sorting equipment Download PDFInfo
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- CN109692825B CN109692825B CN201910026167.8A CN201910026167A CN109692825B CN 109692825 B CN109692825 B CN 109692825B CN 201910026167 A CN201910026167 A CN 201910026167A CN 109692825 B CN109692825 B CN 109692825B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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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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Abstract
The invention discloses a part sorting method and sorting equipment, and relates to the field of steel structure part sorting, wherein the method comprises the following steps: acquiring a preliminary actual position of a part to be sorted, and acquiring the outline or mark information and planning position information of the part to be sorted from a preset database; moving to the preliminary actual position, calculating the actual position information of the part to be sorted by combining the part information in the database through a vision system, and positioning to the actual sorting position of the part to be sorted; moving to the actual sorting position to suck the parts to be sorted; and moving the part to be sorted and placing the part to be sorted at a position corresponding to the planning position information. The automatic sorting machine replaces the existing manual sorting process, automatically sorts, saves manual sorting time and physical force, lightens the labor intensity of workers and improves the production efficiency.
Description
Technical Field
The invention relates to the field of steel structure part sorting, in particular to a part sorting method and sorting equipment.
Background
The production process of the steel structure part comprises the following steps: cutting a plurality of steel structure parts on a mother board, manually sorting the steel structure parts from the mother board, arranging the steel structure parts according to the processing requirements, putting the steel structure parts into corresponding trays, and then transferring the steel structure parts to corresponding processing places, such as: and (5) arranging the sorted steel structure parts needing machining together one by one and transferring the steel structure parts to a machining place.
The process of sorting and arranging the cut steel structure parts is separately performed, the whole process is completed manually, the treatment process is labor-consuming, the time is long, the efficiency is low, and the labor cost is high.
Disclosure of Invention
The invention aims to provide a part sorting method and sorting equipment, which can automatically sort and/or sort materials, reduce the labor cost and improve the production efficiency.
The technical scheme provided by the invention is as follows:
a part sorting method is applied to sorting equipment and comprises the following steps: acquiring a preliminary actual position of a part to be sorted, and acquiring planning position information of the part to be sorted from a preset database; moving to the preliminary position, and positioning an actual sorting position of the part to be sorted; moving to the actual sorting position to suck the parts to be sorted; and moving the part to be sorted and placing the part to be sorted at a position corresponding to the planning position information.
In the technical scheme, the automatic sorting machine replaces the existing manual sorting process, automatically sorts, saves manual sorting time and physical force, lightens the labor intensity of workers and improves the production efficiency. The placement of the parts and the next procedure of the parts are combined, the parts in the same direction are placed together, and the material arranging process when the parts are distributed is omitted.
Further, the positioning the actual sorting position of the part to be sorted includes: acquiring a part picture of a part to be sorted; processing the part picture to obtain the part outline on the part to be sorted or the position angle information marked in the part picture; calculating to obtain offset information of the part to be sorted according to the position angle information of the part outline or mark in the part picture, theoretical position angle information of the part outline or mark corresponding to the position angle information in a preset database and current position angle information of the sorting equipment; and calculating to obtain the actual sorting position of the part to be sorted according to the offset information and the theoretical sorting position information of the part to be sorted in a preset database.
In the technical scheme, the part outline or the mark of the part to be sorted is adopted to accurately position the part.
Further, the step of calculating the offset information of the part to be sorted according to the position angle information of the part profile or the mark in the part picture, the theoretical position angle information of the part profile or the mark corresponding to the position angle information in a preset database, and the current position angle information of the sorting equipment includes: calculating actual position angle information of the part contour or the mark in a physical coordinate system according to the position angle information of the part contour or the mark in the part picture and the current position angle information of the sorting equipment; and calculating to obtain the offset information according to the actual position angle information and the theoretical position angle information.
In the technical scheme, the actual sorting position of the part to be sorted is obtained by calculating the offset information of the part outline or mark, and the calculation is simple and direct.
Further, the moving to the actual sorting position to suck the parts to be sorted includes: and moving to the actual sorting position, and controlling the suction heads at corresponding positions to suck the parts to be sorted according to the structural information of the parts to be sorted.
In the technical scheme, the parts beside the suction device cannot be sucked when the parts to be sorted are sucked, and the sorting accuracy is improved.
Further, the suction head for controlling the corresponding position to suck the parts to be sorted comprises: calculating to obtain a sorting height according to the height of the sorting equipment and the thickness of the part to be sorted; and controlling the suction heads at corresponding positions to suck the parts to be sorted at the sorting height.
In above-mentioned technical scheme, absorb at reasonable letter sorting height and wait to sort the part, can not be because of the too far and can't inhale and wait to sort the part, also can not let suction means descend and cross low and damage.
Further, the moving the parts to be sorted and placing the parts in the positions corresponding to the planning position information includes: and rotating the part to be sorted to an angle corresponding to the planning position information, and moving the part to be sorted to a corresponding position for placement.
According to the technical scheme, the parts to be sorted are accurately placed at the planning position, such as a transfer tray, and the sorting accuracy is guaranteed.
Further, the moving the parts to be sorted to the corresponding positions for placing comprises: and moving the part to be sorted to the height corresponding to the planning position information, and controlling a suction head which sucks the part to be sorted to not suck the part to be sorted any more so that the part to be sorted is placed at the position corresponding to the planning position information.
In above-mentioned technical scheme, absorb at reasonable letter sorting height and wait to sort the part, can not make and wait to sort the part and fall off a skew because of the distance is too far away, can not let suction means damage yet.
The present invention also provides a sorting apparatus comprising: the system comprises an acquisition module, a sorting module and a control module, wherein the acquisition module is used for acquiring the preliminary actual position of a part to be sorted and acquiring the planning position information of the part to be sorted from a preset database; the positioning module is used for positioning the actual sorting position of the part to be sorted after the part to be sorted is moved to the initial position; the suction module is used for sucking the parts to be sorted after the parts to be sorted are moved to the actual sorting position; and the execution module is used for moving the part to be sorted and placing the part to be sorted at a position corresponding to the planning position information.
In the technical scheme, the automatic sorting machine replaces the existing manual sorting process, automatically sorts, saves manual sorting time and physical force, lightens the labor intensity of workers and improves the production efficiency.
Further, the positioning module, which is used for positioning the actual sorting position of the part to be sorted, comprises: the picture acquisition submodule is used for acquiring a part picture of a part to be sorted; the picture processing submodule is used for processing the part picture to obtain the part outline on the part to be sorted or the position angle information marked in the part picture; the information calculation submodule is used for calculating and obtaining the offset information of the part to be sorted according to theoretical position angle information of part contour information or mark information corresponding to the position angle information in a preset database and the current position angle information of sorting equipment; and calculating to obtain the actual sorting position of the part to be sorted according to the offset information and the theoretical sorting position information of the part to be sorted in a preset database.
Further, the information calculation sub-module calculates offset information of the part to be sorted according to the position angle information of the part profile or the mark in the part picture, theoretical position angle information of the part profile or the mark corresponding to the position angle information in a preset database, and current position angle information of the sorting equipment, and includes: the information calculation submodule calculates actual position angle information of the part contour or the mark in a physical coordinate system according to the position angle information of the part contour or the mark in the part picture and the current position angle information of the sorting equipment; and calculating to obtain the offset information according to the actual position angle information and the theoretical position angle information.
Further, the module of absorbing, absorb wait to sort the part includes: and the suction module controls suction heads at corresponding positions to suck the parts to be sorted according to the structural information of the parts to be sorted.
Further, the suction module controls the suction head at the corresponding position to suck the parts to be sorted, and the suction module comprises: the suction module is used for calculating to obtain a sorting height according to the height of the sorting equipment and the thickness of the part to be sorted; and controlling the suction heads at corresponding positions to suck the parts to be sorted at the sorting height.
Further, the executing module is configured to move the part to be sorted and place the part in a position corresponding to the planning position information, where the moving includes: and the execution module rotates the part to be sorted to an angle corresponding to the planning position information, and moves the part to be sorted to a corresponding position for placement.
Further, the executing module moves the parts to be sorted to the corresponding positions for placing comprises: the execution module moves the parts to be sorted to the height corresponding to the planning position information, controls the suction head which sucks the parts to be sorted to not suck the parts to be sorted any more, and enables the parts to be sorted to be placed at the position corresponding to the planning position information.
Compared with the prior art, the part sorting method and the part sorting equipment have the beneficial effects that:
the automatic sorting machine replaces the conventional manual sorting process, automatically sorts, saves manual sorting time and physical strength, lightens the labor intensity of workers and improves the production efficiency; and can put the part in advance for follow-up part delivery to save the reason material process, further improve production efficiency.
Drawings
The above characteristics, technical features, advantages and implementation modes of a part sorting method and a part sorting device will be further described in a clear and understandable way by referring to the accompanying drawings and the preferred embodiments.
FIG. 1 is a flow chart of one embodiment of a method of sorting parts of the present invention;
FIG. 2 is a flow chart of another embodiment of a method of sorting parts of the present invention;
FIG. 3 is a schematic view of the configuration of the suction device of the present invention;
FIG. 4 is a schematic structural diagram of one embodiment of each part to be sorted on the mother board of the present invention;
FIG. 5 is a schematic diagram of the structure of one embodiment of the system for sorting parts of the present invention;
FIG. 6 is a schematic diagram of the structure of one embodiment of the sorting apparatus of the present invention;
fig. 7 is a schematic structural diagram of another embodiment of the sorting apparatus of the present invention.
The reference numbers illustrate:
1. the system comprises a workbench, a mother board, a sorting device, a sorting frame, a sucking device, a sucking head, a positioning module, a picture acquisition sub-module, a picture processing sub-module, an information calculation sub-module, an information acquisition sub-module, a sucking module, an acquisition module and an execution module, wherein the sorting frame is arranged on the workbench, the sucking device is arranged on the sorting device, the sucking head is arranged on the sucking device, the.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
In the actual production process, the mother board is placed on a (cutting) workbench, and after parts to be sorted are cut on the mother board, the parts to be sorted are sorted by the sorting equipment.
Fig. 1 shows an embodiment of the method for sorting parts according to the invention, applied to a sorting plant, comprising:
s101, the sorting equipment obtains the preliminary actual position of the part to be sorted, and obtains the planning position information of the part to be sorted from a preset database.
Specifically, there are various ways for the sorting device to obtain the preliminary actual position of the part to be sorted, for example: sending the preliminary actual position of the part to be sorted to sorting equipment by a workbench or a cutting machine; or the actual position of the mother board is sent to the sorting equipment by a workbench or a cutting machine, the sorting equipment acquires the theoretical sorting position of the part to be sorted on the mother board, and the preliminary actual position of the part to be sorted is calculated according to the theoretical sorting position and the actual position of the mother board (the actual position of the mother board is equivalent to 0 point, and the preliminary actual position can be obtained according to the theoretical sorting position of the part to be sorted after the coordinate of the 0 point is known), and the like. The preliminary actual position allows certain errors, and the actual sorting position of the part to be sorted can be accurately positioned subsequently by the sorting equipment.
The preset database stores information of each part on each motherboard, and the preset database comprises the following steps: theoretical sorting locations of individual parts (i.e., which location on which motherboard), structural information (e.g., size, shape, weight, thickness, etc.), planning location information, etc.
Planning positional information's setting mode has the multiple, and this embodiment sets up wantonly, realizes that the automation will wait to sort the part and sorts out, improves letter sorting efficiency. Preferably, the position can be placed sorting frame, transport the tray etc. will wait to sort the part and place in sorting frame, transport the tray, be convenient for transport.
In other embodiments, the setting of the planning position information is set according to subsequent heading information of the parts, and the parts with the same heading can be put together; or, the information is set together with the structural information of the part according to the destination information. Except that parts in the same direction are put together, specific positions, putting angles, heights and the like are distributed according to the structural information of the parts. The height in the planned position information is defined on a case-by-case basis. For example: there is a risk of falling over a certain height, thus, one height is set; if the parts are placed in the sorting frame, the height of the parts placed in the sorting frame cannot be larger than the height of the sorting frame. The specific position and the placing angle are calculated according to the size of the placing position, the shape and the size of each placed part and the utilization rate maximization principle.
For example: if the parts are placed in the sorting frame, and the planning position information is set according to the subsequent required processing type (namely destination information) and the structure information of the parts, the height of the sorting frame is 20mm, the thickness of the mother plate is 3mm, 6 layers of parts can be arranged in the sorting frame, and the planning position information of the parts to be sorted is placed at an angle of 30 degrees formed by the part A point and the specific edge of the sorting frame on the left side of the second layer of the sorting frame A. The above information can be directly expressed by coordinates in a physical coordinate system, such as: x, Y, Z represents the height of the sorting equipment from the sorting frame, and the angle represents the angle at which the part is placed.
S102, the sorting equipment moves to the preliminary position, and the actual sorting position of the part to be sorted is located.
In particular, the purpose of the sorting device is to sort each cut part to a corresponding position, and the sorting device is equipped with a vision system (for example: an industrial camera) to locate the actual sorting position of the part to be sorted.
The actual sorting position refers to the current position of the part to be sorted, which is cut from the mother board and then positioned on the sorting workbench, and although the theoretical sorting position of the part to be sorted is known before cutting, the cutting deformation in the cutting process, the rolling of the working platform for placing the mother board and other external factors can cause a certain offset between the actual sorting position and the theoretical sorting position of the cut part to be sorted.
The actual sorting position of the part to be sorted is positioned, namely the sorting equipment is enabled to identify the accurate position of the part to be sorted, and subsequent accurate absorption is facilitated.
S103, moving the sorting equipment to an actual sorting position to suck the parts to be sorted.
Specifically, a suction device with a suction head is used to suck the parts to be sorted, and the suction device has various types, such as: magnetic suction device, vacuum air suction cup suction device, etc. the suction process of the suction device is simple and convenient.
S104, the sorting equipment moves the parts to be sorted and places the parts to be sorted at the positions corresponding to the planning position information.
Specifically, after the parts to be sorted are sucked by the sorting equipment, the parts to be sorted are moved to corresponding positions and placed according to the corresponding planning position information, and automatic sorting of the parts is achieved.
Optionally, when the planning position information includes a position and an angle, the S104 moving the part to be sorted by the sorting device and placing the part to be sorted in the position corresponding to the planning position information includes: and rotating the parts to be sorted to the angle corresponding to the planning position information, and moving the parts to be sorted to the corresponding positions for placing.
Preferably, the moving the parts to be sorted to the corresponding positions for placing comprises: and moving the part to be sorted to the height corresponding to the planning position information, and controlling the suction head which sucks the part to be sorted not to suck the part to be sorted any more so that the part to be sorted is placed at the position corresponding to the planning position information.
Specifically, the mother board and the positions for placing the parts to be sorted are different positions, and the mother board considers that the factors for part distribution (the parts to be sorted are cut off on the basis of the maximum utilization rate of the mother board) are different from the factors for planning position information considering part distribution (the parts on each layer are ensured to be flat, the part space utilization of each layer is maximum, the parts on the upper layer cannot be embedded into the gaps among the parts on the lower layer, and the like), so that the angles of the cut parts to be sorted are not necessarily the same as the angles when the parts are placed, and therefore, the parts to be sorted need to be rotated to the corresponding angles in the planning position information after being absorbed.
In actual use, the actual sorting position contains the actual angle of the part to be sorted, and the sorting equipment rotates according to the deviation between the actual angle and the angle in the planning position information, so that the part to be sorted rotates to the angle corresponding to the planning position information.
The arrangement of the height in the planning position information is to control the suction head to not absorb the parts to be sorted any more at a proper height by the sorting equipment, and accurately place the parts to be sorted at the position and the height corresponding to the planning position information, so that the possibility of error and damage of the sorting equipment is avoided.
For example: when the upper surface of the second layer of a part to be sorted is 15cm away from a fixed reference point (such as the highest point of the suction head device) of the sorting equipment to be placed on the 3 rd layer of a certain position, when the sorting equipment is 15cm away from the upper surface of the 2 nd layer of the sorting frame, the lower surface of the part to be sorted sucked by the part to be sorted is just attached to the upper surface of the 2 nd layer, and the part to be sorted can be placed stably and accurately. If the distance is too far away, the part to be sorted is no longer sucked, for example: 18cm, a free falling process of the part to be sorted occurs, and the situation of position deviation occurs; if the distance is too small, for example: 13cm, the parts of level 2 may block the possibility of further lowering of the sorting equipment, leading to system errors and possibly even damage.
It should be noted that the specific sequence of the parts to be sorted, which are rotated to the angle corresponding to the planning position information, moved to the corresponding position, and the height is not limited, as long as the parts to be sorted can be placed at the correct position of the corresponding sorting frame according to the corresponding angle.
In this embodiment, the process of current manual sorting has been replaced to letter sorting equipment, sorts automatically, has saved the time and the physical power of manual sorting, has alleviateed staff's intensity of labour, has improved production efficiency.
In other embodiments, when the planning position information is set according to the subsequent destination information of the part, the automatic sorting and material arranging process is directly realized, the time and physical force for manual sorting and material arranging are saved, the labor intensity of workers is greatly reduced, and the production efficiency is further improved.
Fig. 2 shows an embodiment of a sorting method of another part of the invention, comprising:
s201, the sorting equipment obtains the preliminary actual position of the part to be sorted, and obtains the planning position information of the part to be sorted from a preset database.
S202, moving the sorting equipment to a preliminary position, and positioning the actual sorting position of the part to be sorted comprises the following steps:
s212, the sorting equipment acquires a part picture of a part to be sorted;
s222, processing the part picture by the sorting equipment to obtain the part outline of the part to be sorted or the position angle information of the mark on the part in the part picture;
s232, calculating offset information (namely X, Y offset in two directions and rotation angle offset) of the part to be sorted by the sorting equipment according to the position angle information of the part profile or the mark in the part picture, the theoretical position angle information of the part profile or the mark corresponding to the position angle information in a preset database and the current position angle information of the sorting equipment;
and S242, calculating the actual sorting position (namely the actual X, Y coordinate and the actual angle in the physical coordinate system) of the part to be sorted by the sorting equipment according to the offset information and the theoretical sorting position information of the part to be sorted in the preset database.
Specifically, the theoretical sorting position information refers to X, Y coordinates of a fixed point (such as a gravity center, a center point and the like) on the part to be sorted and an angle from any vertex to the fixed point on the part to be sorted in a standard state (the standard state is set according to actual conditions and is related to planning during mother board cutting).
The part profile or the mark sprayed on the part of each part to be sorted is utilized, the sorting equipment acquires a part picture of the part to be sorted through a vision system (such as an industrial camera), and the position angle information of the part profile or the mark in the part picture is identified through an image processing technology. The position angle information of the part outline or mark refers to the actual position (e.g., actual X, Y coordinates) and the actual angle of the part outline or mark in the physical coordinate system.
The shape and position of the mark are not limited, and the shapes of the marks on the parts can be different or the same; the positions of the marks on the parts can be different or the same and are determined according to actual requirements.
The selection of the part outline and the mark can be determined according to the actual situation, the mark has the cost and the reality which have high identification accuracy but need to be marked, the part outline is naturally formed after the part is cut, but the requirements on the vision, the precision and the algorithm of the camera are higher.
When the part picture is processed to obtain the position angle information of the part outline, calling the theoretical position angle information of the part outline of the part to be sorted in a preset database; and when the marked position angle information is obtained, calling the marked theoretical position angle information of the part to be sorted in the preset database for subsequent calculation.
Optionally, in S232, the step of calculating, according to the position angle information of the part profile or the mark in the part picture, the theoretical position angle information of the part profile or the mark corresponding to the position angle information in the preset database, and the current position angle information of the sorting device, to obtain the offset information of the part to be sorted includes:
calculating to obtain actual position angle information of the part outline or the mark in a physical coordinate system according to the position angle information of the part outline or the mark in the part picture and the current position angle information of the sorting equipment; and calculating to obtain offset information according to the actual position angle information and the theoretical position angle information.
Specifically, theoretical position angle information of part outlines or marks of all parts is stored in a preset database, and after actual position angle information of the part outlines or the marks in a physical coordinate system is obtained through calculation, the part outlines or the marks are compared with the actual position angle information to obtain offset information through calculation, so that the actual sorting position of the part to be sorted in the physical coordinate system can be calculated and laid down as a foundation.
The visual system, the part outline and the mark are adopted to accurately position the part to be sorted, and the realization process is convenient and quick.
S203 the sorting equipment moves to the actual sorting position to suck the parts to be sorted, and the steps comprise: s213, moving to an actual sorting position, and controlling the suction heads at corresponding positions to suck the parts to be sorted according to the structural information (shape, size, weight, thickness and the like) of the parts to be sorted.
Specifically, when waiting to sort the part in the location, the preliminary actual position of waiting to sort the part can be moved to letter sorting equipment, after calculating and obtaining actual letter sorting position, can adjust to actual letter sorting position.
The suction device 5 is provided with a plurality of suction heads 6, and as shown in fig. 3, the gravity center position of the part to be sorted is calculated according to the structural information (such as geometric shape, size, weight, thickness and the like) of the part to be sorted, so that the sorting angle and the specific suction head of the suction device are determined, and a sufficient number of suction heads are ensured to be involved in sucking the part to be sorted while other parts nearby are not sucked.
The suction device controls the enabling of different suction heads, the enabled suction heads suck parts to be sorted, and the enabled suction heads do not exceed the outline of the parts to be sorted, so that adjacent parts cannot be sucked.
As shown in fig. 4, a plurality of parts are cut from a mother plate, each part has a cross-shaped mark (not shown), a circle in the figure represents that a suction head corresponding to the position can suck, and the circle is not actually existed and is only drawn schematically for convenience of explaining the falling point of the suction head at the corresponding position when the suction head sucks the part to be sorted.
Optionally, controlling the suction heads at the corresponding positions to suck the parts to be sorted comprises: calculating to obtain a sorting height according to the height of the sorting equipment and the thickness of the part to be sorted; and at the sorting height, controlling the suction heads at corresponding positions to suck the parts to be sorted.
Specifically, the height of the workbench and the height of the sorting equipment are generally fixed, the thickness of the mother board placed on the workbench can be changed, the thickness of the part to be sorted is determined based on the mother board, therefore, when the part to be sorted on different mother boards is sorted, the sorting heights are different, the actual sorting height is calculated according to the height of the sorting equipment and the thickness of the part to be sorted, and after the suction device is controlled by the sorting equipment to reach the sorting height, the suction head at the corresponding position is excited to suck the part to be sorted.
The calculation of letter sorting height makes the suction head be enabled, absorb the part of waiting to sort accurately in accurate position, can not wait to sort the part too far and can't absorb the part of waiting to sort because of the distance, also can not lead to the condition of letter sorting equipment damage because of pressing constantly decline after waiting to sort the part.
S204, the part to be sorted is moved by the sorting equipment and is placed at a position corresponding to the planning position information, and the step comprises the following steps:
s214, the part to be sorted is rotated to the angle corresponding to the planning position information and is moved to the corresponding position and the corresponding height, the suction head which sucks the part to be sorted is controlled not to suck the part to be sorted any more, and the part to be sorted is placed at the position corresponding to the planning position information.
For the explanation of the same parts of this embodiment as those of the above embodiment, please refer to the above embodiment, which is not described herein in detail.
The embodiment treats the sorting part accurate positioning through the vision system, and the suction head which can reasonably control each position when absorbing the to-be-sorted part can successfully absorb the to-be-sorted part and can not absorb the part beside, so that the accurate absorption of the to-be-sorted part is ensured, and the to-be-sorted part is placed at a proper position. Realize automatic letter sorting, reason material, improved the production efficiency of part.
Fig. 6 shows an embodiment of a sorting device according to the invention, comprising:
the obtaining module 30 is configured to obtain a preliminary actual position of the part to be sorted, and obtain planning position information of the part to be sorted from a preset database.
Specifically, there are various ways for the sorting device to obtain the preliminary actual position of the part to be sorted, for example: sending the preliminary actual position of the part to be sorted to sorting equipment by a workbench or a cutting machine; or the actual position of the mother board is sent to the sorting equipment by a workbench or a cutting machine, the sorting equipment acquires the theoretical sorting position of the part to be sorted on the mother board, and the preliminary actual position of the part to be sorted is calculated according to the theoretical sorting position and the actual position of the mother board (the actual position of the mother board is equivalent to 0 point, and the preliminary actual position can be obtained according to the theoretical sorting position of the part to be sorted after the coordinate of the 0 point is known), and the like. The preliminary actual position allows certain errors, and the actual sorting position of the part to be sorted can be accurately positioned subsequently by the sorting equipment.
The preset database stores information of each part on each motherboard, and the preset database comprises the following steps: theoretical sorting locations of individual parts (i.e., which location on which motherboard), structural information (e.g., size, shape, weight, thickness, etc.), planning location information, etc.
Planning positional information's setting mode has the multiple, and this embodiment sets up wantonly, realizes that the automation will wait to sort the part and sorts out, improves letter sorting efficiency. Preferably, the position can be placed sorting frame, transport the tray etc. will wait to sort the part and place in sorting frame, transport the tray, be convenient for transport.
In other embodiments, the setting of the planning position information is based on the subsequent destination information of the parts, and the parts with the same destination can be placed together; or, the information is set together with the structural information of the part according to the destination information. Except that parts in the same direction are put together, specific positions, putting angles, heights and the like are distributed according to the structural information of the parts. The height in the planned position information is defined on a case-by-case basis. For example: there is a risk of falling over a certain height, thus, one height is set; if the parts are placed in the sorting frame, the height of the parts placed in the sorting frame cannot be larger than the height of the sorting frame. The specific position and the placing angle are calculated according to the size of the placing position, the shape and the size of each placed part and the utilization rate maximization principle.
And the positioning module 10 is used for positioning the actual sorting position of the part to be sorted after the part to be sorted is moved to the initial position.
In particular, the purpose of the sorting device is to sort each cut part to a corresponding planned position, and the sorting device is equipped with a vision system (for example, an industrial camera) to locate the actual sorting position of the part to be sorted.
The actual sorting position refers to the current position of the part to be sorted, which is cut from the mother board and then positioned on the sorting workbench, and although the theoretical sorting position of the part to be sorted is known before cutting, the cutting deformation in the cutting process, the rolling of the working platform for placing the mother board and other external factors can cause a certain offset between the actual sorting position and the theoretical sorting position of the cut part to be sorted.
The actual sorting position of the part to be sorted is positioned, namely the sorting equipment is enabled to identify the accurate position of the part to be sorted, and subsequent accurate absorption is facilitated.
And the suction module 20 is used for sucking the parts to be sorted after the parts to be sorted are moved to the actual sorting position.
Specifically, a suction device with a suction head is used to suck the parts to be sorted, and the suction device has various types, such as: magnetic suction device, vacuum air suction cup suction device, etc. the suction process of the suction device is simple and convenient.
And the execution module 40 is used for moving the parts to be sorted and placing the parts to be sorted at the positions corresponding to the planning position information.
Specifically, after the parts to be sorted are sucked by the sorting equipment, the parts to be sorted are moved to corresponding positions and placed according to the corresponding planning position information, and automatic sorting of the parts is achieved.
Optionally, when the planning position information includes a position and an angle, the executing module 40 is configured to move the part to be sorted, and placing the part to be sorted in the position corresponding to the planning position information includes: and the execution module 40 rotates the part to be sorted to the angle corresponding to the planning position information, and moves the part to be sorted to the corresponding position for placement.
Preferably, the execution module 40, moving the parts to be sorted to the corresponding positions for placing, includes: and the execution module 40 moves the part to be sorted to the height corresponding to the planning position information, controls the suction head which sucks the part to be sorted to not suck the part to be sorted any more, and enables the part to be sorted to be placed at the position corresponding to the planning position information.
Specifically, the mother board and the positions for placing the parts to be sorted are two different positions, and the mother board considers that the factors of part distribution (the parts to be sorted are cut off on the basis of the maximum utilization rate of the mother board) are different from the factors of planning position information considering part distribution (the parts on each layer are ensured to be flat, the part space utilization of each layer is maximum, the parts on the upper layer cannot be embedded into the gaps among the parts on the lower layer, and the like), so that the angles of the cut parts to be sorted are not necessarily the same as the angles when the parts are placed, and therefore, the parts to be sorted need to be rotated to the corresponding angles in the planning position information after being absorbed.
In actual use, the actual sorting position contains the actual angle of the part to be sorted, and the sorting equipment rotates according to the deviation between the actual angle and the angle in the planning position information, so that the part to be sorted rotates to the angle corresponding to the planning position information.
The arrangement of the height in the planning position information is to ensure that the sorting equipment controls the suction head to no longer absorb the parts to be sorted at a proper height, and accurately place the parts to be sorted at the position corresponding to the planning position information, so that the possibility of error and damage of the sorting equipment is avoided. For a specific example, please refer to the corresponding method embodiment, which is not described herein again.
It should be noted that the specific sequence of the parts to be sorted, which are rotated to the angle corresponding to the planning position information, moved to the corresponding position, and the height is not limited, as long as the parts to be sorted can be placed at the correct position of the corresponding sorting frame according to the corresponding angle.
In this embodiment, the process of current manual sorting has been replaced to letter sorting equipment, sorts automatically, has saved the time and the physical power of manual sorting, has alleviateed staff's intensity of labour, has improved production efficiency.
In other embodiments, when the planning position information is set according to the subsequent destination information of the part, the automatic sorting and material arranging process is directly realized, the time and physical force for manual sorting and material arranging are saved, the labor intensity of workers is greatly reduced, and the production efficiency is further improved.
Fig. 7 shows another embodiment of a sorting device comprising:
the obtaining module 30 is configured to obtain a preliminary actual position of the part to be sorted, and obtain planning position information of the part to be sorted from a preset database.
The positioning module 10 is configured to, after moving to the initial position, position an actual sorting position of the part to be sorted, including:
the picture acquisition submodule 11 is used for acquiring a part picture of a part to be sorted;
the picture processing submodule 12 is used for processing the part picture to obtain the part outline on the part to be sorted or the position angle information marked in the part picture;
the information calculation submodule 13 is configured to calculate offset information (i.e., offsets in X, Y two directions and offsets in a rotation angle) of the part to be sorted according to the position angle information of the part profile or mark in the part picture, theoretical position angle information of the part profile or mark corresponding to the position angle information in a preset database, and current position angle information of the sorting equipment;
and calculating to obtain the actual sorting position (namely the actual X, Y coordinate and the actual angle in the physical coordinate system) of the part to be sorted according to the offset information and the theoretical sorting position information of the part to be sorted in the preset database.
Specifically, the sorting equipment acquires a part picture of the parts to be sorted through a vision system (such as an industrial camera) by using the part outline or the mark sprayed on the part outline of each part to be sorted, and identifies the part outline or the mark position angle information in the part picture through an image processing technology. The position angle information of the part outline or mark refers to the actual position (e.g., actual X, Y coordinates) and the actual angle of the part outline or mark in the physical coordinate system.
The shape and position of the mark are not limited, and the shapes of the marks on the parts can be different or the same; the positions of the marks on the parts can be different or the same and are determined according to actual requirements.
The selection of the part outline and the mark can be determined according to the actual situation, the mark has the cost and the reality which have high identification accuracy but need to be marked, the part outline is naturally formed after the part is cut, but the requirements on the vision, the precision and the algorithm of the camera are higher.
When the part picture is processed to obtain the position angle information of the part outline, calling the theoretical position angle information of the part outline of the part to be sorted in a preset database; and when the marked position information is obtained, calling the marked theoretical position angle information of the part to be sorted in the preset database for subsequent calculation.
Optionally, the information calculating submodule 13 calculates, according to the position and angle information of the part profile or the mark in the part picture, the theoretical position and angle information of the part profile or the mark corresponding to the position and angle information in the preset database, and the current position and angle information of the sorting device, offset information of the part to be sorted, including:
the information calculation submodule 13 is used for calculating actual position angle information marked in a physical coordinate system according to the position angle information of the part outline or the mark in the part picture and the current position angle information of the sorting equipment; and calculating to obtain offset information according to the actual position angle information and the theoretical position angle information.
Specifically, theoretical position angle information of part outlines or marks of all parts is stored in a preset database, and after actual position angle information of the part outlines or the marks in a physical coordinate system is obtained through calculation, the part outlines or the marks are compared with the actual position angle information to obtain offset information through calculation, so that the actual sorting position of the part to be sorted in the physical coordinate system can be calculated and laid down as a foundation.
The visual system and the part outline or mark are adopted to accurately position the parts to be sorted, and the realization process is convenient and quick.
The suction module 20 is used for sucking the parts to be sorted after moving to the actual sorting position, and comprises: and the suction module is used for controlling suction heads at corresponding positions to suck the parts to be sorted according to the structural information (shape, size, weight, thickness and the like) of the parts to be sorted.
Specifically, when waiting to sort the part in the location, the preliminary actual position of waiting to sort the part can be moved to letter sorting equipment, after calculating and obtaining actual letter sorting position, can adjust to actual letter sorting position.
The suction device is provided with a plurality of suction heads, and the gravity center position of the suction head is calculated according to the structural information (such as geometric shape, size, weight, thickness and the like) of the part to be sorted, so that the sorting angle and the specific suction head of the suction device are determined, and a sufficient number of suction heads are ensured to be involved in sucking the part to be sorted and simultaneously not suck other parts nearby.
The suction device controls the enabling of different suction heads, the enabled suction heads suck parts to be sorted, and the enabled suction heads do not exceed the outline of the parts to be sorted, so that adjacent parts cannot be sucked. For a specific example, please refer to the corresponding method embodiment, which is not described herein again.
Optionally, the suction module 20, controlling the suction heads at the corresponding positions to suck the parts to be sorted, includes: the suction module 20 calculates the sorting height according to the height of the sorting equipment and the thickness of the part to be sorted; and controlling the suction head at the corresponding position to suck the parts to be sorted at the sorting height.
Specifically, the height of the workbench and the height of the sorting equipment are generally fixed, the thickness of the mother board placed on the workbench can be changed, the thickness of the part to be sorted is determined based on the mother board, therefore, when the part to be sorted on different mother boards is sorted, the sorting heights are different, the actual sorting height is calculated according to the height of the sorting equipment and the thickness of the part to be sorted, and after the suction device is controlled by the sorting equipment to reach the sorting height, the part to be sorted is sucked by enabling the suction head at the corresponding position.
The calculation of letter sorting height makes the suction head absorb the part of waiting to sort accurately by enabling in accurate position, can not wait to sort the part too far and can't absorb the part of waiting to sort because of the distance, also can not lead to the condition of letter sorting equipment damage because of pressing to constantly decline after waiting to sort the part.
The execution module 40 is configured to move the part to be sorted, and placing the part to be sorted in a position corresponding to the planning position information includes: and the execution module 40 rotates the part to be sorted to the angle and the height corresponding to the planning position information, controls the suction head which sucks the part to be sorted to not suck the part to be sorted any more, and enables the part to be sorted to be placed at the position corresponding to the planning position information.
For the explanation of the same parts of this embodiment as those of the above-mentioned sorting apparatus, please refer to the above-mentioned embodiment, which is not described in detail herein.
The embodiment treats the sorting part accurate positioning through the vision system, and the suction head which can reasonably control each position when absorbing the to-be-sorted part can successfully absorb the to-be-sorted part and can not absorb the part beside, so that the accurate absorption of the to-be-sorted part is ensured, and the to-be-sorted part is placed at a proper position. Realize automatic letter sorting, reason material, improved the production efficiency of part.
As shown in fig. 5, a mother plate 2 is placed on a work table 1 (or a machine tool), each of the parts to be sorted is cut out from the mother plate 2, a sorting device 3 is disposed above the mother plate, a plurality of sorting frames 4 are placed beside the work table 1 for placing the sorted parts, and each sorting frame 4 is placed at a designated position, that is, the coordinates of each sorting frame are fixed. After the sorting equipment 3 identifies an actual sorting position of a part to be sorted, the part is moved to the sorting position, the suction device is descended to the sorting height, the part to be sorted is sucked by the suction head at the corresponding position on the control suction device according to the structural information of the part to be sorted, the suction device is ascended, the part to be sorted is moved to the corresponding position of the sorting frame 4 corresponding to the planning position information by the sorting equipment 3, the part to be sorted is rotated to the corresponding angle and descended to the height corresponding to the planning position information, the part to be sorted is no longer sucked by the suction head controlling to suck the part to be sorted, and the part to be sorted is placed in the sorting frame 4.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (12)
1. A part sorting method is applied to sorting equipment and comprises the following steps:
acquiring a preliminary actual position of a part to be sorted, and acquiring planning position information of the part to be sorted from a preset database;
moving to the preliminary position, and positioning an actual sorting position of the part to be sorted;
moving to the actual sorting position to suck the parts to be sorted;
moving the part to be sorted and placing the part to be sorted at a position corresponding to the planning position information;
the positioning of the actual sorting position of the part to be sorted comprises:
acquiring a part picture of a part to be sorted;
processing the part picture to obtain the part outline on the part to be sorted or the position angle information marked in the part picture;
calculating to obtain offset information of the part to be sorted according to the position angle information of the part outline or mark in the part picture, theoretical position angle information of the part outline or mark corresponding to the position angle information in a preset database and current position angle information of the sorting equipment;
and calculating to obtain the actual sorting position of the part to be sorted according to the offset information and the theoretical sorting position information of the part to be sorted in a preset database.
2. The method for sorting parts according to claim 1, wherein the step of calculating the offset information of the part to be sorted according to the position angle information of the part profile or mark in the part picture, the theoretical position angle information of the part profile or mark corresponding to the position angle information in a preset database, and the current position angle information of the sorting equipment comprises:
calculating actual position angle information of the part contour or the mark in a physical coordinate system according to the position angle information of the part contour or the mark in the part picture and the current position angle information of the sorting equipment;
and calculating to obtain the offset information according to the actual position angle information and the theoretical position angle information.
3. The part sorting method according to claim 1, wherein the moving to the actual sorting position to suck the parts to be sorted includes:
and moving to the actual sorting position, and controlling the suction heads at corresponding positions to suck the parts to be sorted according to the structural information of the parts to be sorted.
4. A method for sorting parts according to claim 3, wherein said sucking heads controlling respective positions to suck said parts to be sorted comprise:
calculating to obtain a sorting height according to the height of the sorting equipment and the thickness of the part to be sorted;
and controlling the suction heads at corresponding positions to suck the parts to be sorted at the sorting height.
5. The method for sorting parts according to claim 1, wherein the moving the parts to be sorted to be placed at the positions corresponding to the planning position information comprises:
and rotating the part to be sorted to an angle corresponding to the planning position information, and moving the part to be sorted to a corresponding position for placement.
6. The method for sorting parts according to claim 5, wherein said moving the parts to be sorted to the corresponding positions comprises:
and moving the part to be sorted to the height corresponding to the planning position information, and controlling a suction head which sucks the part to be sorted to not suck the part to be sorted any more so that the part to be sorted is placed at the position corresponding to the planning position information.
7. A sorting device, comprising:
the system comprises an acquisition module, a sorting module and a control module, wherein the acquisition module is used for acquiring the preliminary actual position of a part to be sorted and acquiring the planning position information of the part to be sorted from a preset database;
the positioning module is used for positioning the actual sorting position of the part to be sorted after the part to be sorted is moved to the initial position;
the suction module is used for sucking the parts to be sorted after the parts to be sorted are moved to the actual sorting position;
the execution module is used for moving the part to be sorted and placing the part to be sorted at a position corresponding to the planning position information;
the positioning module is used for positioning the actual sorting position of the part to be sorted and comprises:
the picture acquisition submodule is used for acquiring a part picture of a part to be sorted;
the picture processing submodule is used for processing the part picture to obtain the part outline on the part to be sorted or the position angle information marked in the part picture;
the information calculation submodule is used for calculating and obtaining the offset information of the part to be sorted according to the position angle information of the part outline or mark in the part picture, the theoretical position angle information of the part outline or mark corresponding to the position angle information in a preset database and the current position angle information of sorting equipment;
and calculating to obtain the actual sorting position of the part to be sorted according to the offset information and the theoretical sorting position information of the part to be sorted in a preset database.
8. The sorting equipment according to claim 7, wherein the information calculating sub-module calculates offset information of the parts to be sorted according to the position angle information of the part contour or mark in the part picture, theoretical position angle information of the part contour or mark corresponding to the position angle information in a preset database, and current position angle information of the sorting equipment, and includes:
the information calculation submodule calculates actual position angle information of the part contour or the mark in a physical coordinate system according to the position angle information of the part contour or the mark in the part picture and the current position angle information of the sorting equipment;
and calculating to obtain the offset information according to the actual position angle information and the theoretical position angle information.
9. The sorting apparatus according to claim 7, wherein the suction module sucks the parts to be sorted including:
and the suction module controls suction heads at corresponding positions to suck the parts to be sorted according to the structural information of the parts to be sorted.
10. The sorting apparatus according to claim 9, wherein the suction module, which controls the suction heads of the corresponding positions to suck the parts to be sorted, comprises:
the suction module is used for calculating to obtain a sorting height according to the height of the sorting equipment and the thickness of the part to be sorted; and controlling the suction heads at corresponding positions to suck the parts to be sorted at the sorting height.
11. The sorting equipment according to claim 7, wherein the execution module is used for moving the part to be sorted and placing the part to be sorted at the position corresponding to the planning position information, and comprises:
and the execution module rotates the part to be sorted to an angle corresponding to the planning position information, and moves the part to be sorted to a corresponding position for placement.
12. The sorting apparatus according to claim 11, wherein the execution module moves the parts to be sorted to the corresponding positions for placement comprises:
the execution module moves the parts to be sorted to the height corresponding to the planning position information, controls the suction head which sucks the parts to be sorted to not suck the parts to be sorted any more, and enables the parts to be sorted to be placed at the position corresponding to the planning position information.
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| CN112338363A (en) * | 2020-10-12 | 2021-02-09 | 中兴盛达电气技术（郑州）有限公司 | Laser cutting machine sorting and positioning method based on image gravity center confirmation |
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| WO2009102964A2 (en) * | 2008-02-14 | 2009-08-20 | Nordson Corporation | Apparatus for testing containers, tray for holding cylinders and suction-basedchuck for robotic arm |
| JP5544320B2 (en) * | 2011-03-15 | 2014-07-09 | 西部電機株式会社 | Stereoscopic robot picking device |
| CN103706568B (en) * | 2013-11-26 | 2015-11-18 | 中国船舶重工集团公司第七一六研究所 | Based on the robot method for sorting of machine vision |
| CN107030015A (en) * | 2015-07-30 | 2017-08-11 | 广州炊事班电子科技有限公司 | One kind scanning sorting system |
| CN106493086B (en) * | 2016-10-21 | 2019-03-05 | 北京源著智能科技有限公司 | The sorting processing method and system of plate |
| CN206465077U (en) * | 2017-01-13 | 2017-09-05 | 魏丽君 | Intelligent sorting system |
| JP2018203480A (en) * | 2017-06-07 | 2018-12-27 | 株式会社東芝 | Sorting apparatus and sorting system |
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