CN111377235A - Material classification processing jig, material classification processing device and method - Google Patents
Material classification processing jig, material classification processing device and method Download PDFInfo
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- CN111377235A CN111377235A CN201811646933.2A CN201811646933A CN111377235A CN 111377235 A CN111377235 A CN 111377235A CN 201811646933 A CN201811646933 A CN 201811646933A CN 111377235 A CN111377235 A CN 111377235A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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Abstract
The application provides a material classification processing jig, a material classification processing device and a material classification processing method. The material classification processing device comprises a mounting frame, a detection mechanism, a material taking mechanism and a control mechanism, wherein the detection mechanism is used for detecting the material type; the material taking mechanism is arranged on the mounting frame and used for grabbing or releasing materials; the detection mechanism is connected with the mounting frame so as to move the mounting frame to a target position; the control mechanism is in signal connection with the detection mechanism, the material taking mechanism and the feeding mechanism; the control mechanism receives the detection signal fed back by the detection mechanism, controls the material taking mechanism to grab or release materials, and controls the feeding mechanism to move the mounting frame. According to the material type identified by the sensor, different operation modes can be executed for different materials to be conveyed, for example, the substrate can be normally loaded, and the isolation paper material can be recovered. Thereby improving the working efficiency of the feeding operation.
Description
Technical Field
The invention relates to the technical field of solar cell production, in particular to a material classification processing jig, a material classification processing device and a material classification processing method.
Background
In the prior art, for example, curved glass substrate materials are stacked layer by layer when they are supplied, and a separation paper is provided between two substrates to separate the substrates to prevent scratching. Due to the existence of the isolation paper, the production line feeding in the prior art can be generally carried out only in a manual carrying mode, or in a semi-automatic mode, the uppermost layer is isolated and taken down firstly in a manual operation mode, and then the glass is carried by using an automatic carrying device for feeding.
The operation mode work efficiency of prior art is lower, and operating personnel's working strength is great, also takes place the incident easily.
Disclosure of Invention
In order to solve the problem of low working efficiency of a carrying device in the prior art, the main object of the application is to provide a material classification processing jig, a material classification processing device and a material classification processing method.
The application provides a material classification processing apparatus, includes:
a mounting frame;
the detection mechanism is used for detecting the material type;
the material taking mechanism is arranged on the mounting rack and used for grabbing or releasing materials;
the feeding mechanism is connected with the mounting rack so as to move the mounting rack to a target position;
the control mechanism is in signal connection with the detection mechanism, the material taking mechanism and the feeding mechanism; the control mechanism receives the detection signal fed back by the detection mechanism, controls the material taking mechanism to grab or release materials, and controls the feeding mechanism to move the mounting frame.
According to an embodiment of the application, the material taking mechanism comprises a first material taking mechanism corresponding to the substrate and a second material taking mechanism corresponding to the shape of the isolation paper; the first material taking mechanism and the second material taking mechanism respectively comprise at least two suckers which are used for being communicated with an air source.
According to an embodiment of the application, the mounting frame comprises a main arm and at least one extraction arm, to which a plurality of suction cups are mounted.
According to an embodiment of the application, the first material taking mechanism comprises at least two groups of suckers which are arranged above a substrate at intervals and correspond to the shape of the substrate, and each group comprises at least two suckers; and/or the second material taking mechanism comprises at least two groups of suckers which are arranged above the isolation paper at intervals and correspond to the shape of the isolation paper, and each group comprises at least two suckers.
According to an embodiment of the present application, the detection mechanism includes a contact sensor and an optical fiber sensor; detecting an in-place signal of the mounting frame relative to the material through the contact sensor; and detecting the material type through the optical fiber sensor, and adapting the control mechanism to be the corresponding target position according to the material type.
According to an embodiment of the present application, there is further provided a connecting member, the connecting member includes a first connecting end and a second connecting end for connecting the feeding mechanism, and the first connecting end is assembled and connected to the main arm.
According to an embodiment of the application, the mounting bracket comprises two extraction arms, and two ends of the main arm are respectively connected to the middle parts of the extraction arms and combined into an I shape.
In another aspect of the present application, it can also be considered to provide a material classification processing method, including:
detecting the material type through a detection mechanism;
grabbing the material through a material taking mechanism;
and moving the material taking mechanism to a target position corresponding to the material type according to the detected material type.
According to an embodiment of the application, the detecting the material type by the detecting mechanism includes:
obtaining light reflected by a target material;
determining a color value according to the reflected light;
and determining the material type according to the color value.
According to an embodiment of the application, snatch the material through extracting mechanism includes:
under the condition that the material is a glass substrate, a first material taking mechanism in the material taking mechanisms works, and the first material taking mechanism comprises at least two suckers corresponding to the shape of the glass substrate;
under the condition that the material is isolation paper, a second material taking mechanism in the material taking mechanisms works, and the second material taking mechanism comprises at least two suckers corresponding to the shape of the isolation paper.
On the other hand, the application can also be regarded as providing a material classification processing jig which comprises an installation frame, a detection mechanism and a material taking mechanism;
the mounting frame comprises a main arm and at least one extraction arm;
the material taking mechanism comprises a plurality of suckers which are arranged on the extraction arm and used for sucking materials to be conveyed, and the detection mechanism is arranged on the main arm and/or the extraction arm and used for identifying the materials to be conveyed.
According to an embodiment of the present application, there is also a connecting member, the connecting member includes a first connecting end and a second connecting end for connecting an external power arm, and the first connecting end is connected to the main arm in an assembling manner.
According to an embodiment of the present application, the connecting member includes a flange member and a connecting plate, the flange member includes an upper flange for connecting the power arm and a lower flange connected to the connecting plate, and the flange member is connected to the main arm through the connecting plate.
According to an embodiment of the application, the main arm is provided with a plurality of limiting grooves extending along the second direction, and the connecting plate is fixed to the limiting grooves through a plurality of fasteners.
According to an embodiment of the present application, the device further comprises two reinforcing arms, and two ends of the reinforcing arms are respectively connected to the ends of the two extraction arms.
According to an embodiment of the present application, the device further comprises a supplementary pick-up arm connected to the main arm, wherein the suction cup is disposed on the supplementary pick-up arm, and the supplementary pick-up arm is parallel to and between the two pick-up arms.
Compared with the prior art, the material classification processing device and the material classification processing method have the advantages that due to the fact that the sensor is additionally arranged, different operation modes can be executed on different materials to be conveyed according to the material types identified by the sensor in the feeding operation, for example, the substrate can be normally fed, and the isolation paper material can be recovered. Thereby improving the working efficiency of the feeding operation.
Drawings
FIG. 1: the first embodiment of the application is a schematic control principle diagram of a material classification processing device.
FIG. 2: the material classifying and processing device in the first embodiment of the application is schematically illustrated in an exploded structure.
FIG. 3: the first embodiment of the present application is a schematic view of a material classifying and processing apparatus in a use state structure.
FIG. 4: the material classifying and processing device in the first embodiment of the present application is schematically illustrated in a second using state structure.
FIG. 5: the second embodiment of the present application is a schematic structural diagram of a material classifying and processing device.
FIG. 6: the gas circuit arrangement schematic diagram of material classification processing apparatus in this application second embodiment.
FIG. 7: the gas circuit control schematic diagram of the material classification processing device in the second embodiment of the application.
FIG. 8: the sensor structure of the material classifying and processing device in the second embodiment of the present application is schematically illustrated.
FIG. 9: the second embodiment of the present application is a schematic diagram of an operation process of a material classifying and processing device.
FIG. 10: the third embodiment of the present application is a schematic flow chart of a material classification processing method.
FIG. 11: a flow chart of the method for detecting the material category in the third embodiment of the present application is shown.
1. A mounting frame; 11. a main arm; 13. an extension arm; 12. an extraction arm; 14. a reinforcing arm; 15. supplementing an extraction arm; 17. a connecting member; 171 a flange member; 172. a connecting plate;
2. a detection mechanism; 21. a contact sensor; 211. inductors, 212, springs; 213. a contact head; 22. an optical fiber sensor;
3. a material taking mechanism; 31. a suction cup; 32. suction cup
4. A feeding mechanism;
5. a control mechanism;
6. materials to be carried; a1, C1, B1, D1 and a vacuum gas circuit; a2, C2 and a vacuum air path.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
First embodiment
Fig. 1 is a schematic control diagram of a material classifying and processing device according to a first embodiment of the present application, and as shown in the drawing, the present application provides a material classifying and processing device, which includes:
the mounting frame 1 is used as a jig for material handling and processing and can be used for mounting the material taking mechanism 3, and the mounting frame 1 is driven by the feeding mechanism 4 to move materials. It will be appreciated that the mounting 1 may alternatively be a frame structure which matches the material to be treated.
The detection mechanism 2 is used for detecting the material type, and the detection mechanism 2 can be various sensors or similar detection mechanisms capable of detecting the material type, such as an optical fiber sensor, a capacitive proximity sensor or a photoelectric sensor. The detection mechanism 2 can be selectively arranged on the mounting frame 1, and can also be arranged at other positions corresponding to the materials, such as the tail end position of the feeding mechanism 4;
the material taking mechanism 3 is arranged on the mounting rack 1 and used for grabbing or releasing materials; the material taking mechanism 3 may be various mechanisms capable of fixing or releasing materials, for example, in an embodiment, two sets of pneumatic suction cups are configured for fixing a curved glass substrate of a solar cell, and for the isolation paper, the same suction cup may be used for fixing, or another set of gripping mechanism similar to the suction cup may be configured.
The feeding mechanism 4 is connected with the mounting rack 1 so as to move the mounting rack 1 to a target position; the feeding mechanism 4 can be selected to be an industrial robot or a traditional crane, and in the specific embodiment, the feeding mechanism is selected to be an industrial robot with a higher intelligent level so as to be conveniently controlled in a full-automatic and accurate mode.
The control mechanism 5 is in signal connection with the detection mechanism 2, the material taking mechanism 3 and the feeding mechanism 4; the control mechanism 5 receives a detection signal fed back by the detection mechanism 2, controls the material taking mechanism 3 to grab or release materials, and controls the feeding mechanism 4 to move the mounting rack (1). The control mechanism 5 may be a Micro Control Unit (MCU) or a microcomputer, as long as it can receive the sensor signal and output a control command according to a preset condition.
Fig. 2 is an exploded view of a material classifying and processing device according to a first embodiment of the present application. In the embodiment of the present application, a material classifying and processing device is provided, where the mounting rack 1 includes a main arm 11 and two extraction arms 12 extending along a first direction; the material taking mechanism 3 comprises a first material taking mechanism and a second material taking mechanism, the first material taking mechanism comprises a plurality of suckers 31, the second material taking mechanism comprises a plurality of suckers 32, the suckers 31 are arranged at intervals on the extracting arm 12, the suckers 2 correspond to fixed materials to be carried, the suckers 32 of the second material taking mechanism are arranged at the tail end of the extracting arm 12, the suckers 32 of the second material taking mechanism are arranged on the outer side of the extracting arm 12, the suckers 32 of the second material taking mechanism are arranged closer to the outer side than the suckers 31 of the first material taking mechanism, the suckers 32 are suckers for sucking isolation paper, and the suckers 31 are suckers for sucking substrates.
The sensor of the detection mechanism 2 may be mounted to the main arm 11 and/or the extraction arm 12; the alignment signal of the mounting rack 1 and the material to be carried and the identification signal of the material to be carried can be detected by the sensor. Compared with the prior art, the material classification processing device, the material classification processing system and the material classification processing method have the advantages that due to the fact that the sensor is additionally arranged, different operation modes can be executed on different materials to be conveyed according to the material types identified by the sensor in the feeding operation, for example, a substrate can be normally fed, and the recovery operation of the isolation paper material can be executed.
And two ends of the main arm 11 are respectively connected to the middle part of the extraction arm 12 and combined into an I shape. As shown in the figure, the two extraction arms 12 are parallel to each other in length direction, and the distance between the two extraction arms 12 is adapted to the shape of the material to be handled, for example, when the material to be handled is a curved glass substrate, the two extraction arms 12 are both located at the trough of the curved surface, that is, the distance between the two extraction arms 12 is equal to an integral multiple of the period length of the curved waveform. So that the two pick-up arms 12 are provided with a plurality of suction cups 31 to stably suck the glass substrate.
In the embodiment, the mounting frame 1 further has a connecting member 17, and the connecting member 17 includes a first connecting end and a second connecting end for connecting an external power arm, and the first connecting end is assembled and connected to the main arm 11. In the embodiment of the present application, the connecting member 17 includes a flange member 171 and a connecting plate 172, the flange member 171 includes an upper flange for connecting to a power arm and a lower flange connected to the connecting plate 172, and the flange member 171 is connected to the main arm 11 through the connecting plate 172.
In the embodiment of the present application, the main arm 11 may be made of a grooved profile. The main arm 11 is provided with a plurality of limiting grooves extending along the second direction, and the connecting plate 172 is fixed to the limiting grooves through a plurality of fasteners. Wherein the first direction is selected to be perpendicular to the second direction. For example, the first direction may be a length direction of the glass substrate and the corresponding second direction may be selected to be a width direction of the glass substrate.
In the embodiment of the present application, the detection mechanism 2 mainly includes a contact sensor and an optical fiber sensor. The number of the touch sensors is selected to be multiple, and the touch sensors are respectively arranged at the outer ends of the extraction arms 12, or only one touch sensor is arranged in the middle as shown in the figure. And after the contact sensors all feed back consistent in-place signals, the accurate alignment is confirmed. Therefore, the alignment precision of the whole device and the material to be conveyed is ensured, and the accident that the glass substrate falls off due to incomplete alignment is avoided.
In one embodiment, the optical fiber sensor is selected from FU-35FA optical fiber sensor of Kenzhi company, and the optical fiber sensor has a light collecting head made of optical fiber and capable of facing the direction of the material to be carried, and can identify the current target area as glass or isolation paper according to the color quality change of the target area detected by the optical fiber head. It should be understood that the specific material identification process and principle can be understood by those skilled in the art, and therefore, the detailed description thereof is omitted. And the touch sensor may be selected, for example, as the GT2 series digital touch sensor of keyence corporation.
In the embodiment of the present application, the contact sensor is mounted on the extraction arm 12 through a bracket. To allow a distance of travel between the sensor and the contact block of the touch sensor (details will be given in the following description of the preferred embodiments).
In one embodiment, the touch sensor and the optical fiber sensor can be installed together in the middle of the frame body (the portion where the main arm is combined with the pick-up arm), and the four positions marked outside the suction cup 31 in fig. 1 are considered as the positions for installing the touch sensor. Such an embodiment makes it possible to activate the corresponding group of suction cups accordingly, depending on the material determined by the detection means 2. A better adsorption effect can be achieved.
In this embodiment, the extraction arm 12 is provided with a through hole corresponding to the contact sensor, so that the contact block of the contact sensor can be arranged in a penetrating manner.
In another aspect of the present application, it can also be considered to provide a material handling system, which includes a feeding mechanism 4 and a material classifying and processing jig. The feeding mechanism 4 can be selected from various industrial robot type mechanical arms which are connected with the material classification processing jig through a connecting piece 17 and can be connected with the sensor through a signal line.
Fig. 3 is a first schematic view of a material classifying and processing device in a first embodiment of the present application, and fig. 4 is a second schematic view of a material classifying and processing device in a first embodiment of the present application. As illustrated, in another aspect, the present application provides a method of material handling, comprising:
the material classifying and processing device is moved to a position aligned with the material to be carried by the feeding mechanism 4;
in a specific operation embodiment, firstly, the contact sensor of the detection mechanism 2 detects an in-place signal that the mounting frame 1 moves to a material to be carried, so that the feeding mechanism 4 stops moving, and then the optical fiber sensor detects the material facing the material to obtain a material identification signal so as to feed back the material signal to the control mechanism 5, so that the control mechanism can select a corresponding destination according to the material; it can be understood that if the material identification sensor is installed at other fixed positions, the subsequent isolation paper recovery action or the glass substrate feeding action can be determined according to the material identification signal, and then the actions of sucking the suction disc, moving the feeding mechanism 4, exhausting the suction disc and the like are controlled and executed according to the actual in-place signal.
In view of the operation safety of the mechanical arm, a material signal detected by the contact type sensor can be selected as a mechanical arm in-place signal, so that when the mechanical arm drives the device to move towards the material to be carried, the contact type sensor triggers the in-place signal when the device approaches the material to be carried, and the optical fiber sensor is started to detect and identify the material after the mechanical arm stops. Therefore, the corresponding sucker group can be determined to be started according to the signal of the optical fiber sensor for detecting the identification material, and then the corresponding carrying process is executed.
In the specific implementation, the air path is selected to control the plurality of suction cups 31 or suction cups 32 to align and fix the material to be conveyed, and then the air path is used to control the suction cups 31 or suction cups 32 to suck air after the feeding mechanism 4 presses the whole device on the surface of the isolation paper or glass substrate, so that the isolation paper or glass substrate is adsorbed and fixed, and the feeding mechanism 4 drives the isolation paper or glass substrate to be conveyed.
In the specific carrying execution step, the feeding mechanism 4 drives the material classifying and processing device to execute an isolating paper recycling action or a glass substrate feeding action according to the type of the material to be carried. The difference between the two is that the separation paper recovery action is to complete the suction on the tray at one side of the production line and then to drive the separation paper to be sent to the recovery box at one side. The glass substrate loading action is to complete the suction on a material tray at one side of the production line, and then the glass substrate is driven to be conveyed to the production line. The two steps differ in the destination.
Second embodiment
Fig. 5 is a schematic structural diagram of a material classifying and processing device in a second embodiment of the present application. The main difference between this embodiment and the first embodiment is that the material classifying and processing device of the first embodiment is a simple implementation scheme, and has a small overall size, a small weight, and a low overall cost.
In the second embodiment described below, mainly two extension arms 13 are connected to two ends of the main arm 11, and the outer ends of the two extension arms 13 are provided with the suction cups 32 of the second suction device. So that the extension arm 13 can be used to send the separator paper out for a certain distance to the direction of the recycling box, and the situation that the length of the arm of the robot cannot reach the separator paper is avoided.
In this embodiment, two reinforcing arms 14 are further provided, and both ends of the reinforcing arms 14 are respectively connected to the ends of the two extraction arms 12. In order to strengthen the device, and in embodiments where the substrate is of a larger size or heavier, to avoid deformation of the device during use.
In addition, in the embodiment of larger or heavier substrate, a supplementary pick-up arm 15 may be optionally provided, which is connected to the main arm 11, the supplementary pick-up arm 15 is provided with the suction cup 31 or the suction cup 32, and the supplementary pick-up arm 15 is parallel to the two pick-up arms 12 and is located between the two pick-up arms 12. So that increase a set of sucking disc in the middle part, increase adhesive force on the one hand, on the other hand avoids base plate middle part to cause the deformation because of gravity or acceleration when the size is great.
Fig. 6 is a schematic diagram of a gas circuit arrangement of a material classifying and processing device in the second embodiment of the present application, and fig. 7 is a schematic diagram of a gas circuit control of the material classifying and processing device in the second embodiment of the present application. As shown, vacuum circuits a1, C1, B1 and D1 are respectively disposed on each extraction arm 12, and each circuit is respectively connected to two suction cups 31. The vacuum paths a2 and C2 are respectively used to connect one suction cup 32 of the complementary extraction arm 15 and one suction cup 32 of the extension arm 13. When the detection result is glass, the vacuum air paths A1, C1, B1 and D1 of the jig are opened, the vacuum air paths A2 and C2 for sucking the isolation paper are disconnected, and the feeding mechanism 4 sucks the glass to finish feeding; when the detection result is the release paper, the vacuum air paths A1, C1, B1 and D1 of the jig are disconnected, the vacuum air paths A2 and C2 are opened, and the feeding mechanism 4 sucks the release paper to complete recovery. Fig. 9 is a schematic view illustrating an operation process of the material classifying and processing device according to the second embodiment of the present application. A schematic process diagram of using a vacuum air path a2 on one side to control two suction cups on one side to suck the separation paper and using the feeding mechanism 4 to move the separation paper to the recycling carton is shown. Wherein the air source can be selected to be a straight air pump or a suction pump or other devices capable of providing negative pressure.
Although the exemplary structure of the air path in the second embodiment is described above, it should be understood by those skilled in the art that, in the first embodiment of the present application, only the vacuum air paths a1, C1, B1 and D1 need to be provided to achieve the control of the suction cups 31, and meanwhile, in the first embodiment of the present application, two sets of suction cups on the two extraction arms 12 may be used to suck the substrate and the release paper. In addition, the vacuum gas circuits can be grouped according to the needs, are not necessarily selected to be divided into four groups for control, can be divided into two groups or three groups, and even are integrated into one group for integrated control, so that the equipment cost and the control complexity of the gas circuits are reduced.
Fig. 8 is a schematic diagram of a sensor structure of a material sorting apparatus according to a second embodiment of the present application. In the present embodiment, the detection mechanism 2 mainly includes a contact sensor 21 and an optical fiber sensor 22. The touch sensor 21 may be disposed in plural, and may be disposed at the outer end of each of the pick-up arms 12, or may be disposed at the middle position of the main arm 11 as shown in fig. 8, and the touch sensor 21 mainly includes a sensor 211, a spring 212, and a contact head 2313, and the contact head 213 is used for contacting the material 6 to be carried. The inductor 211 may be fixed to the main arm 11 (second embodiment) or the pick-up arm 12 (first embodiment) by a bracket to leave a distance of a moving stroke between the inductor and the contact block of the touch inductor.
In this embodiment, the extraction arm 12 is provided with a through hole corresponding to the contact sensor, so that the contact block of the contact sensor can be arranged in a penetrating manner. The fiber sensor 22 can also be mounted through a through hole on the main arm 11 (second embodiment) or the pick-up arm 12 (first embodiment), and the pick-up head of the fiber sensor 22 faces the substrate or release paper side.
Although the exemplary structure of the detecting mechanism 2 in the second embodiment is described above, it should be understood by those skilled in the art that the structure of the detecting mechanism 2 in the first embodiment of the present application may be made clear accordingly.
Third embodiment
Fig. 10 is a schematic flow chart of a material classifying method according to a third embodiment of the present application. The embodiment of the present application may also be considered to provide a material classification processing method, which mainly includes:
s101, detecting the material type through a detection mechanism;
s102, grabbing materials through a material taking mechanism;
s103, moving the material taking mechanism to a target position corresponding to the material type according to the detected material type.
Referring to the foregoing embodiment of the apparatus, in a specific operation embodiment, firstly, the contact sensor of the detecting mechanism 2 detects an in-place signal when the mounting rack 1 moves to the material to be handled, so that the feeding mechanism 4 stops moving, and then the optical fiber sensor detects the material facing the material to obtain a material identification signal, so as to feed back the material signal to the control mechanism 5, so that the control mechanism can select a corresponding destination according to the material; it can be understood that if the material identification sensor is installed at other fixed positions, the subsequent isolation paper recovery action or the glass substrate feeding action can be determined according to the material identification signal, and then the actions of sucking the suction disc, moving the feeding mechanism 4, exhausting the suction disc and the like are controlled and executed according to the actual in-place signal.
In the specific implementation, the air path is selected to control the plurality of suction cups 31 or suction cups 32 to align and fix the material to be conveyed, and then the air path is used to control the suction cups 31 or suction cups 32 to suck air after the feeding mechanism 4 presses the whole device on the surface of the isolation paper or glass substrate, so that the isolation paper or glass substrate is adsorbed and fixed, and the feeding mechanism 4 drives the isolation paper or glass substrate to be conveyed.
In the specific carrying execution step, the feeding mechanism 4 drives the material classifying and processing device to execute an isolating paper recycling action or a glass substrate feeding action according to the type of the material to be carried. The difference between the two is that the separation paper recovery action is to complete the suction on the tray at one side of the production line and then to drive the separation paper to be sent to the recovery box at one side. The glass substrate loading action is to complete the suction on a material tray at one side of the production line, and then the glass substrate is driven to be conveyed to the production line. The two steps differ in the destination.
Fig. 11 is a schematic flow chart of a method for detecting material types in a third embodiment of the present application, where the detecting of material types by a detecting mechanism mainly includes:
s201, obtaining light reflected by a target material;
s202, determining a color value according to the reflected light;
s203, determining the material type according to the color value.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A material classification processing device is characterized by comprising:
a mounting frame (1);
the detection mechanism (2) is used for detecting the material type;
the material taking mechanism (3) is arranged on the mounting rack (1) and used for grabbing or releasing materials;
the feeding mechanism (4) is connected with the mounting frame (1) so as to move the mounting frame (1) to a target position;
the control mechanism (5) is in signal connection with the detection mechanism (2), the material taking mechanism (3) and the feeding mechanism (4); control mechanism (5) receive the detection signal of detection mechanism (2) feedback, control feeding mechanism (3) snatchs or releases the material, and control feeding mechanism (4) remove mounting bracket (1).
2. The material sorting device according to claim 1, wherein the material taking mechanism (3) includes a first material taking mechanism corresponding to the base plate and a second material taking mechanism corresponding to the shape of the separator paper; the first material taking mechanism and the second material taking mechanism respectively comprise at least two suckers which are used for being communicated with an air source.
3. The material sorting device according to claim 2, characterized in that the mounting frame (1) comprises a main arm (11) and at least one extraction arm (12), a plurality of suction cups being mounted to the extraction arm (12).
4. The material classifying treatment device according to claim 1, wherein the detecting mechanism (2) includes a contact sensor and an optical fiber sensor; detecting an in-place signal of the mounting frame (1) relative to the material through the contact sensor; the material type is detected through the optical fiber sensor, and the control mechanism adapts to the corresponding target position according to the material type.
5. The material sort processing apparatus according to claim 2,
the first material taking mechanism comprises at least two groups of suckers which are arranged above the substrate at intervals and correspond to the shape of the substrate, and each group comprises at least two suckers; and/or
The second material taking mechanism comprises at least two groups of suckers which are arranged above the isolation plate at intervals and correspond to the shape of the isolation paper, and each group comprises at least two suckers.
6. The material classifying and processing device according to claim 3, wherein the mounting frame (1) comprises two extracting arms (12), and the two ends of the main arm (11) are respectively connected to the middle parts of the extracting arms (12) and combined into an I shape.
7. A material classification processing method is characterized by comprising the following steps:
detecting the material type through a detection mechanism;
grabbing the material through a material taking mechanism;
and moving the material taking mechanism to a target position corresponding to the material type according to the detected material type.
8. The material sorting method according to claim 7, wherein the detecting the material category by the detecting mechanism includes:
obtaining light reflected by a target material;
determining a color value according to the reflected light;
and determining the material type according to the color value.
9. The material sorting method of claim 7, wherein the grasping the material by the material taking mechanism comprises:
under the condition that the material is a substrate, a first material taking mechanism in the material taking mechanisms works, and the first material taking mechanism comprises at least two suckers corresponding to the shape of the substrate;
under the condition that the material is isolation paper, a second material taking mechanism in the material taking mechanisms works, and the second material taking mechanism comprises at least two suckers corresponding to the shape of the isolation paper.
10. The material classifying and processing jig is characterized by comprising a mounting frame (1), a detection mechanism (2) and a material taking mechanism (3);
the mounting frame (1) comprises a main arm (11) and at least one extraction arm (12);
the material taking mechanism (3) comprises a plurality of suction cups (31) which are arranged on the extraction arm (12) and used for sucking materials to be conveyed, and the detection mechanism (2) is arranged on the main arm (11) and/or the extraction arm (12) and used for identifying the materials to be conveyed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811646933.2A CN111377235A (en) | 2018-12-29 | 2018-12-29 | Material classification processing jig, material classification processing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811646933.2A CN111377235A (en) | 2018-12-29 | 2018-12-29 | Material classification processing jig, material classification processing device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111377235A true CN111377235A (en) | 2020-07-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112299005A (en) * | 2020-10-19 | 2021-02-02 | 惠州绿保科技有限公司 | Fuel cell polar plate upper plate device |
| CN113788180A (en) * | 2021-09-16 | 2021-12-14 | 石家庄市惠康食品有限公司 | Automatic packaging machine for frozen cooked food products |
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2018
- 2018-12-29 CN CN201811646933.2A patent/CN111377235A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112299005A (en) * | 2020-10-19 | 2021-02-02 | 惠州绿保科技有限公司 | Fuel cell polar plate upper plate device |
| CN113788180A (en) * | 2021-09-16 | 2021-12-14 | 石家庄市惠康食品有限公司 | Automatic packaging machine for frozen cooked food products |
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