CN112452792A - Intelligent sorting system and working method thereof - Google Patents

Intelligent sorting system and working method thereof Download PDF

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Publication number
CN112452792A
CN112452792A CN202011282566.XA CN202011282566A CN112452792A CN 112452792 A CN112452792 A CN 112452792A CN 202011282566 A CN202011282566 A CN 202011282566A CN 112452792 A CN112452792 A CN 112452792A
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CN
China
Prior art keywords
plate
plates
conveying
sorting
feeding
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Pending
Application number
CN202011282566.XA
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Chinese (zh)
Inventor
刘衍
赵加洋
立石岩
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Zhongke Yuanxiang Changzhou Intelligent Equipment Co ltd
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Zhongke Yuanxiang Changzhou Intelligent Equipment Co ltd
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Application filed by Zhongke Yuanxiang Changzhou Intelligent Equipment Co ltd filed Critical Zhongke Yuanxiang Changzhou Intelligent Equipment Co ltd
Priority to CN202011282566.XA priority Critical patent/CN112452792A/en
Publication of CN112452792A publication Critical patent/CN112452792A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/50—Stacking one article, or group of articles, upon another before packaging
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh
    • B65G2201/022—Flat

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sorting Of Articles (AREA)

Abstract

The invention provides an intelligent sorting system and a working method thereof. The conveying mechanism is used for conveying plates, the detection mechanism is used for detecting the plates on the conveying mechanism, the storage sorting mechanism is used for sorting and storing the plates, the stacking mechanism is used for stacking and subpackaging the plates on the stacking conveying line, and the control mechanism is connected with the conveying mechanism, the detection mechanism, the storage sorting mechanism and the stacking mechanism and controls the operation of each mechanism. According to the intelligent sorting system provided by the invention, all mechanisms are matched with each other to realize automation of sorting of the plates, storage and sorting output of the plates in different hoppers are realized, the plate storage capacity of the rotary hopper is large, the occupied area is small, the space utilization rate is improved, the plate sorting efficiency is improved, and the plate sorting cost is reduced.

Description

Intelligent sorting system and working method thereof
The technical field is as follows:
the invention relates to the technical field of plate sorting, in particular to an intelligent sorting system and a working method thereof.
Background art:
in the processing of panel furniture, in order to improve the utilization rate of raw materials, panels of different sizes from different orders are generally cut from the same raw material and then are uniformly placed on a conveying line to be conveyed to the next processing production line, which results in that the loading process of the panels of the same order is disordered in different batches, and the panels of the same order are required to be sorted from different batches when the production processing and packaging processes of the panels in the order are subsequently performed. The manual sorting is high in labor intensity, long in using time and low in efficiency, and meanwhile, the overall progress of the subsequent production, processing and packaging processes is slow, and the processing cost is increased.
In order to improve the sorting efficiency of plates, a sorting robot is commonly used at present to replace manual sorting, but the existing robot sorting system still has the following problems: a large storage space is needed for storing the plates, so that the occupied area is large; the synchronization of feeding and discharging can not be realized, and the sorting efficiency is low; and a plurality of sorting robots are required to work simultaneously, so that the cost is high.
The invention content is as follows:
in order to solve the problems, the invention provides an intelligent sorting system and a working method.
In order to realize the technical effects, the technical scheme of the invention is as follows:
the utility model provides an intelligence letter sorting system, includes conveying mechanism, detection mechanism, storage letter sorting mechanism, pile up neatly mechanism and control mechanism, detection mechanism and storage letter sorting mechanism's input is equipped with respectively that the sign indicating number mechanism is swept to the second and the sign indicating number mechanism is swept to the first sign indicating number mechanism of sweeping.
The conveying mechanism is used for conveying plates and comprises a conveying support, and a feeding area, a detection area, a storage sorting area and a stacking area which are sequentially arranged on the conveying support; the loading area is provided with a loading conveying line, the detection area is provided with a detection conveying line and a plate return line, the storage sorting area is provided with a feeding conveying line, a discharging conveying line and a feeding push plate assembly, the feeding push plate assembly is used for pushing plates on the feeding conveying line into the storage sorting mechanism, and the stacking area is provided with a stacking conveying line; the feeding conveying line, the detection conveying line and the feeding conveying line are sequentially connected, the discharging conveying line is connected with the stacking conveying line, and the plate returning line is correspondingly arranged on one side of the detection conveying line and connected with the detection conveying line.
The detection mechanism is correspondingly arranged above the detection area of the conveying mechanism and used for detecting the plate on the conveying mechanism, the detection mechanism comprises a CCD camera and a band structure optical system, when the plate to be detected is conveyed on the conveying mechanism, the CCD camera is used for shooting a surface image of the plate to be detected, and the band structure optical system is used for generating a plurality of band structure lights which are symmetrically distributed at two sides of the CCD camera in different angle postures along the movement direction of the plate;
the storage and sorting mechanism is correspondingly arranged on one side of the storage and sorting area of the conveying mechanism and used for sorting and storing plates, the storage and sorting mechanism comprises a sorting rack, a driving assembly, a transmission assembly, an annular guide rail, a plurality of hoppers, a discharging push plate assembly, a feeding port and a discharging port, the driving assembly is arranged on the sorting rack and fixedly connected with the hoppers, the driving assembly drives the hoppers to rotate along the annular guide rail in the vertical direction through the transmission assembly so as to drive each hopper to the feeding port or the discharging port, the feeding port and the discharging port are respectively arranged corresponding to the feeding conveying line and the discharging conveying line, and the discharging push plate assembly is arranged corresponding to the discharging port and used for pushing the plates in the hoppers to the discharging conveying line;
the stacking mechanism is correspondingly arranged at the output end of the stacking area and used for stacking and subpackaging the plates on the stacking conveying line, and comprises a stacking rack and a sucker assembly arranged on the stacking rack, and the sucker assembly is connected with the stacking rack through a three-dimensional movement assembly;
the control mechanism is connected with the conveying mechanism, the detection mechanism, the storage sorting mechanism and the stacking mechanism and controls the operation of the mechanisms.
Preferably, both ends of the plate returning line are connected with the detection conveying line, and a plate turning mechanism is arranged between the plate returning line and the detection conveying line.
Preferably, the feeding push plate assembly is provided with two or more than two, so that plates at different positions on the feeding conveying line are pushed to different positions in the hopper at the same time, and the working efficiency of the system is improved; the discharging push plate assembly is provided with two or more than two discharging push plate assemblies so as to push plates at different positions in the hopper to the discharging conveying line simultaneously, and the working efficiency of the system is improved.
Preferably, be equipped with a plurality of material stopping assemblies on the feeding conveying line, the material stopping assembly is including keeping off the material cylinder and keeping off the material baffle of being connected with keeping off the material cylinder, keep off the material cylinder and drive keep off the material baffle and go up and down, it is right to be used for panel is spacing on the feeding conveying line, makes it pushed to in different station departments in the hopper.
Preferably, a plurality of wear-resistant assemblies are arranged on the feeding conveying line and the discharging conveying line, the wear-resistant assemblies on the feeding conveying line are arranged corresponding to the feeding hole, and the wear-resistant assemblies on the discharging conveying line are arranged corresponding to the discharging hole; wear-resisting subassembly includes the jacking cylinder and the antifriction plate of being connected with the jacking cylinder, the jacking cylinder drives the antifriction plate goes up and down for panel can be carried on the antifriction plate, thereby reduces panel to the frictional wear of feeding transfer chain and ejection of compact transfer chain.
Preferably, according to different positions of the hopper, the control mechanism can control the hopper to rotate clockwise or anticlockwise, so that the hopper can rotate the least path to reach the feeding hole or the discharging hole for storing or sorting and outputting the plates, and the working efficiency of the system is improved.
Preferably, the hopper is divided into a plurality of sub-hopper layers, the sub-hopper layers can store plates at different positions according to different plate specifications, each sub-hopper layer can store a plurality of plates at the same time, and the storage capacity of the system plates is further improved.
Preferably, the plurality of the band structure lights are uniformly distributed on two sides of the CCD camera, the distribution angle range is 0-180 °, the band structure light optical system comprises a plurality of band structure light sources symmetrically arranged on two sides of the CCD camera along the moving direction of the plate, the band structure light sources comprise a laser, a powell prism and a mask, the mask is additionally arranged below the powell prism, and the mask is a rectangular mask or a mask with characteristics.
In addition, the invention provides a working method of the intelligent sorting system, which comprises the following steps:
s1, feeding: sequentially placing each plate pasted with the information of the model, the size and the order number into a conveying area of a feeding mechanism, and scanning the information of the plates by a first code scanning mechanism and transmitting the information to a control mechanism;
s2, detection: the conveying mechanism conveys the plates to a detection area, the detection mechanism measures whether the sizes of the plates and the positions and the sizes of holes and grooves in the plates meet requirements or not, the plates meeting the requirements are conveyed to the storage sorting mechanism, and the plates not meeting the requirements are removed;
s3, storage and sorting: the second code scanning mechanism scans the plate information and transmits the plate information to the control mechanism, the control mechanism controls each plate meeting the requirements to be conveyed to a corresponding hopper of the storage sorting mechanism, and when all the plates of the same order are completely stored, the control mechanism controls different plates of the same order to be continuously output to the stacking area;
s4, stacking: and (5) stacking the plates conveyed to the stacking area according to requirements, and sorting the plates with the same order number.
Preferably, in step S2, after the plate material with holes and grooves on both sides is subjected to a first measurement, the plate material returns through the plate material returning line, and after being turned over by the plate turnover mechanism, the plate material enters the detection mechanism for a second time to be measured; conveying the plates meeting the requirements to corresponding hoppers of the storage and sorting mechanism by a feeding conveying line; and for the plate which does not meet the requirement, the plate does not enter the plate turnover mechanism after passing through the plate return line, and directly flows back to the recovery area.
Preferably, in step S2, the detecting process includes the following steps:
s21, mounting the CCD camera and a band structure light optical system, wherein the band structure light optical system is symmetrically distributed on two sides of the CCD camera;
s22, manufacturing the band structured light, wherein the process is as follows: starting a laser in the optical system with the structured light, and enabling a laser beam generated by the laser to sequentially pass through a Bawell prism and a mask to generate the structured light with a specific size range and clear edges;
s23, starting the CCD camera to acquire the four-dimensional coordinates of any point on the surface of the plate, wherein the process is as follows: the method comprises the steps of enabling a plate to be detected to move forwards on a conveying platform at a certain speed, continuously scanning and photographing by a CCD camera to obtain a two-dimensional image of the surface of the plate, transmitting the two-dimensional image to a control mechanism, receiving the image by the control mechanism, processing the image to obtain a three-dimensional coordinate of any point on the surface of the plate, and superposing gray values of all points in the image to obtain a four-dimensional coordinate of any point on the surface of the plate.
Preferably, in step S22, the generated band structure light is a parallel band laser line with a width of 5-20mm, and the upper and lower edges of the parallel band laser line have clear outlines and straightness less than 0.1mm, which is specifically selected according to the measurement precision requirement.
Preferably, in step S23, the process of obtaining the three-dimensional coordinates of any point on the surface of the plate material is as follows: calculating the three-dimensional coordinate of the projection edge profile based on the calibration data of the CCD camera by combining the width and the incidence angle of the band structure light and the theoretically projected coordinate on a plane with the projection width and the projection coordinate of the band structure light in a two-dimensional image; the three-dimensional coordinates of a plurality of lines on the surface of the plate can be obtained by symmetrically arranging a plurality of band-structured lights at two sides of a CCD camera in different angle postures, and the three-dimensional coordinates (X, Y, Z) of any point on the surface of the plate to be measured are obtained by mathematical fitting, wherein the four-dimensional coordinates are (X, Y, Z, P), P is a gray value, and the gray value is obtained by the brightness of the band-structured lights in the two-dimensional image.
Preferably, in step S3, the storage and sorting process includes the following steps:
the control mechanism plans the hopper corresponding to each plate and the storage position in the hopper according to the plate information and controls the driving assembly to work, the driving assembly drives the hopper to rotate along the annular guide rail in the vertical direction through the transmission assembly, so that the corresponding hopper is driven to the feeding port according to the planned path, and the feeding push plate assembly pushes the plate to the corresponding position of the hopper; after the control mechanism identifies each plate of the same stored order, the corresponding hopper is controlled to rotate to the discharge port, the discharge push plate assembly continuously outputs different plates of the same order to the discharge conveying line and conveys the plates to the stacking area for stacking, and sorting of the plates of the same order number is completed.
Preferably, in the storage and sorting process, according to the different sizes of the plates, the material blocking cylinder in the material blocking assembly controls the material blocking baffle to ascend or descend so as to limit the plates at different stations and enter different positions in the hopper.
The invention has the beneficial effects that:
(1) the invention provides an intelligent sorting system which comprises a conveying mechanism, a detection mechanism, a storage sorting mechanism, a stacking mechanism and a control mechanism, wherein all the mechanisms are matched with each other to realize the automation of sorting plates and realize the storage and sorting output of the plates in different hoppers, the plate storage capacity of a rotary hopper is large, the occupied area is small, the space utilization rate is improved, the plate sorting efficiency is improved, and the plate sorting cost is reduced.
(2) Each hopper of the invention is divided into a plurality of sub-hopper layers, thereby improving the storage capacity of the hopper and fully utilizing the storage space.
(3) The feeding conveying line is provided with the plurality of material blocking assemblies for limiting the plates on the conveying line, so that the plates with different sizes can be pushed into the hopper at different stations, and the storage space of the hopper is reasonably utilized.
(4) The feeding conveying line and the discharging conveying line are respectively provided with the plurality of wear-resistant assemblies, so that plates can be conveyed on the wear-resistant plates, and the friction wear of the plates on the conveying line is reduced.
(5) The detection mechanism of the invention can synchronously irradiate with light sources at different angles through the plurality of band-structured lights symmetrically arranged at the two sides of the CCD camera in a multi-angle posture, so that a light source blind area during photographing can be eliminated, a plate surface image with clear edges can be obtained, and the accurate measurement of the plate can be realized.
(6) The detection mechanism can calculate and obtain the four-dimensional coordinates of any point on the surface of the plate based on the clear edge contour and brightness of the light with the multi-strip structure. The measurement precision is high, compared with the existing line structured light measurement method, the efficiency is improved by 2-5 times, and the precision can achieve the pixel-level precision.
Description of the drawings:
FIG. 1 is a schematic diagram of the intelligent sortation system of the present invention;
FIG. 2 is an enlarged schematic view of the circled portion of FIG. 1;
FIG. 3 is a schematic view of the working state of the present invention;
FIG. 4 is a schematic view of the storage and sorting area of the storage and conveying mechanism of the present invention;
FIG. 5 is a schematic view of the structure of the hopper of the present invention;
FIG. 6 is a schematic view of the storage and sorting area of the transfer mechanism of the present invention;
FIG. 7 is a schematic view of the detection mechanism of the present invention;
FIG. 8 is a schematic diagram of a band structure light of the present invention, wherein FIG. 8-a is a schematic diagram of a band structure light distribution and FIG. 8-b is a schematic diagram of a band structure light projected onto a surface of a transport platform to form a light band;
FIG. 9 is a schematic diagram of the present invention with structured light to eliminate visual blind spots;
FIG. 10 is a schematic representation of the principle of light generation with the band structure of the present invention;
FIG. 11 is a schematic illustration of a rectangular mask of the present invention;
FIG. 12 is a schematic illustration of the featured mask of the present invention;
FIG. 13 is a schematic diagram of the coordinates of the upper and lower edges of a strip structured light in a CCD camera as it is incident on the surface of a transport platform according to the present invention;
FIG. 14 is a schematic diagram of the coordinates of the upper and lower edges of the structured light respectively obtained by the CCD camera when the two structured lights are incident on the surface of the conveying platform;
FIG. 15 is a schematic diagram of X coordinates of the front and rear edges of a structured light when a board to be measured passes through the structured light;
FIG. 16 is a three-dimensional profile curve obtained by sequential scanning of multiple structured light bands with a CCD camera;
FIG. 17 is a schematic diagram of the principle of projection of an internal image with structured light edges.
In the figure: 1 conveying mechanism, 11 feeding conveying lines, 12 detection conveying lines, 13 plate returning lines, 14 feeding conveying lines, 15 discharging conveying lines, 16 stacking conveying lines, 17 wear-resistant components, 171 wear-resistant plates, 18 material blocking components, 181 material blocking baffles, 19 feeding push plate components, 191 feeding push plates, 2 detection mechanisms, 21CCD cameras, 22 band structured light optical systems, 221 lasers, 222 Baville prisms, 223 masks, 2231 rectangular masks, 2232 rectangular light passing areas, 2233 band characteristic masks, 2234 band characteristic light passing areas, 2235 characteristic patterns, 224 lights, 225 band structured lights, 23 conveying platforms, 3 storage sorting mechanisms, 31 discharge ports, 32 driving components, 33 transmission components, 34 discharging push plate components, 341 discharging push plates, 35 circular guide rails, 36 sorting racks, 37 hoppers 371, hopper a, 372 b, 373 sub-hopper layers, 38 feed ports, 4 stacking mechanisms, 41 stacking racks, 42 sucker assemblies, 43 three-dimensional motion assemblies, 44 stacking storage areas, 5 first scanning mechanisms, 6 second scanning mechanisms, 7 plate turning mechanisms, 8 robots and 9 plates.
The specific implementation mode is as follows:
the following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention more readily understood by those skilled in the art, and thus will more clearly and distinctly define the scope of the invention.
Referring to fig. 1 to 3, an intelligent sorting system includes a conveying mechanism 1, a detecting mechanism 2, a storing and sorting mechanism 3, a palletizing mechanism 4 and a control mechanism (not shown), wherein the input ends of the detecting mechanism 2 and the storing and sorting mechanism 3 are respectively provided with a first code scanning mechanism 5 and a second code scanning mechanism 6.
The conveying mechanism 1 is used for conveying plates 9 and comprises a conveying support, and a feeding area, a detection area, a storage sorting area and a stacking area which are sequentially arranged on the conveying support; the loading area is provided with a loading conveying line 11, the detection area is provided with a detection conveying line 12 and a plate return line 13, the storage and sorting area is provided with a feeding conveying line 14, a discharging conveying line 15 and a feeding push plate assembly 19, the feeding push plate assembly 19 is used for pushing plates 9 on the feeding conveying line into the storage and sorting mechanism 3, and the stacking area is provided with a stacking conveying line 16; the feeding conveying line 11, the detecting conveying line 12 and the feeding conveying line 14 are sequentially connected, the discharging conveying line 15 is connected with the stacking conveying line 16, and the plate returning line 13 is correspondingly arranged on one side of the detecting conveying line 12 and connected with the detecting conveying line 12.
The detection mechanism 2 is correspondingly arranged above the detection area of the conveying mechanism 1 and used for detecting the plates 9 on the conveying mechanism 1.
The detection mechanism 2 can detect five surfaces (front, left and right, front and back synchronous scanning measurement) of the plate 9, and can complete the measurement of the size, hole position, groove and the like of the five surfaces of the plate 9 at one time. For the detection of the plates 9, two ends of the plate returning line 13 can be connected with the detection conveying line 12, a plate turning mechanism 7 is arranged between the plate returning line 13 and the detection conveying line 12, the plate 9 can be turned over by the plate turning mechanism 7 to enter the detection mechanism 2 for the second time, and the detection of the reverse side is applicable to six-side detection of the plates 9.
The storage and sorting mechanism 3 is correspondingly arranged on one side of the storage and sorting area of the conveying mechanism 1 and used for sorting and storing the plates 9.
The stacking mechanism 4 is correspondingly arranged at the output end of the stacking area and used for stacking and subpackaging the plates 9 on the stacking conveyor line 16, and comprises a stacking rack 41 and a sucker component 42 arranged on the stacking rack 41, wherein the sucker component 42 is connected with the stacking rack 41 through a three-dimensional movement component 43 and moves on an X, Y, Z shaft respectively through the three-dimensional movement component 43, and the plates 9 are sequentially sucked up from the stacking conveyor line 16 and placed in a stacking storage area 44 to be stacked and subpackaged.
The control mechanism is connected with the conveying mechanism 1, the detection mechanism 2, the storage sorting mechanism 3 and the stacking mechanism 4 and controls the operation of the mechanisms.
Fig. 3 is a schematic diagram of the working state of the system, and operations such as feeding and stacking of plates 9 can be performed manually by a robot 8.
Referring to fig. 4 to 6, the storage and sorting mechanism 3 includes a sorting rack, a driving assembly 32, a transmission assembly 33, an annular guide rail 35, a plurality of hoppers 37, a discharging push plate assembly 34, a feeding port 38 and a discharging port 31, where the transmission assembly 33 is fixedly connected to the hoppers 37, the driving assembly 32 drives the hoppers 37 to rotate along the annular guide rail 35 in the vertical direction through the transmission assembly 33, so as to drive each hopper 37 to the feeding port 38 or the discharging port 31, the feeding port 38 and the discharging port 31 are respectively corresponding to the feeding conveying line 14 and the discharging conveying line 15, and the discharging push plate assembly 34 is corresponding to the discharging port 38, so as to push the plates 9 in the hoppers 37 to the discharging conveying line 15.
In addition, the control mechanism can control the hopper 37 to rotate clockwise or counterclockwise, so that the hopper 37 can rotate to the feed opening 38 or the discharge opening 31 with a minimum path for storing or sorting out the plates 9, thereby improving the working efficiency of the system. For example, in fig. 4, the hoppers 37 are divided into two front columns and two rear columns, the hoppers a 371 and the hoppers b372 are arranged oppositely, when the sheet material in the hopper a 371 needs to be output, the control mechanism controls each hopper 37 to rotate anticlockwise, so that the hopper a 371 is rotated to the discharge port 31, and then the discharge push plate assembly 34 pushes the sheet material in the hopper a 371 to the discharge conveyor line 15; when the plate material in the hopper b372 needs to be output, the control mechanism controls each hopper to rotate clockwise, so that the hopper b372 rotates to the discharge port 31 to output the plate material 9.
The hopper 37 can be divided into a plurality of sub-hopper layers 373, each sub-hopper layer 373 can store plates at different positions according to different plate specifications, and each sub-hopper layer 373 can store a plurality of plates at the same time, so that the plate storage capacity of the system is further improved.
The feeding push plate assembly 19 comprises a feeding cylinder and a feeding push plate 191 connected with the feeding cylinder, and when the feeding conveying line 14 conveys the plate 9 to the feeding hole 38, the feeding cylinder controls the feeding push plate 191 to push the plate 9 to the sub-hopper layer 373 corresponding to the feeding hole 38. In addition, the feeding push plate assembly 19 is provided with two or more than two, so as to push the plates 9 at different positions on the feeding conveying line 14 to different positions in the sub-hopper layer 373 at the same time, and the working efficiency of the system is improved.
Be equipped with a plurality of material stopping assemblies 18 on the feeding transfer chain 14, material stopping assemblies 18 include the material stopping cylinder and the material stopping baffle 181 of being connected with the material stopping cylinder, the material stopping cylinder drives material stopping baffle 181 goes up and down for it is right panel 9 is spacing on the feeding transfer chain 14, makes it pushed to in different station departments in the hopper 37. For example, when 3 plates 9 with different sizes are stored in the sub-hopper layer 373, there are 3 feeding push plate assemblies 19 and material blocking assemblies 18, the material blocking cylinder controls the material blocking plate 181 to lift up so as to limit the 3 plates respectively, then the feeding cylinder controls the feeding push plate 191 to push the 3 plates, which are limited at different positions on the feeding conveying line 14, to corresponding positions in the sub-hopper layer 373, and so on.
The discharging push plate assembly 34 comprises a discharging cylinder and a discharging push plate 341 connected with the discharging cylinder, and the discharging cylinder controls the discharging push plate 341 to move back and forth to push the plates 9 in the sub-hopper layer 373 to the discharging conveying line 15. And, the discharging push plate assembly 34 is also provided with two or more than two, so as to push the plates 9 at different positions in the sub-hopper layer 373 to the discharging conveying line 15 at the same time.
The feeding conveying line 14 and the discharging conveying line 15 are both provided with a plurality of wear-resistant assemblies 17, the wear-resistant assemblies 17 on the feeding conveying line 14 are arranged corresponding to the feeding holes 38, and the wear-resistant assemblies 17 on the discharging conveying line 15 are arranged corresponding to the discharging holes 31; wear-resisting subassembly 17 includes the jacking cylinder and the antifriction plate 171 of being connected with the jacking cylinder, the jacking cylinder drives antifriction plate 171 goes up and down for panel 9 can carry on antifriction plate 171, thereby reduces the frictional wear of panel 9 to feeding transfer chain 14 and ejection of compact transfer chain 15.
Referring to fig. 7, the detecting mechanism 2 includes a CCD camera 21 and a belt structure light optical system 22, when the board 9 to be detected is conveyed on the conveying mechanism 1, the CCD camera 21 is used for shooting a surface image of the board 9 to be detected, and the belt structure light optical system 22 is used for generating a plurality of belt structure lights 225 symmetrically arranged at two sides of the CCD camera 21 in different angular postures along the moving direction of the board 9; the image captured by the CCD camera 21 is transmitted to the control mechanism for information processing, wherein the arrow direction in the figure is the moving direction of the sheet material 9.
The plurality of band structured lights 225 are uniformly arranged on both sides of the CCD camera 21, and the angle range of the arrangement is 0 to 180 °. The light 225 of the present application is a band-shaped light with a clear outline, which does not interfere with each other and covers the full width of the feeding platform 23 (if the width of the feeding platform 23 exceeds the width of the light 225 of the band structure, a parallel multi-light-source covering mode can be adopted).
As shown in fig. 8-12, the plurality of band structured lights 225 are symmetrically arranged and arranged at multiple angles in the manner shown in fig. 8-a, and can be uniformly arranged on both sides of the CCD camera 21, and the arrangement angle ranges from 0 to 180 °, and the light is projected onto the surface of the conveying platform 23 to form the graph shown in fig. 8-b. This kind of light source overall arrangement mode can solve the problem of light source blind area, for example, it is alpha to establish the contained angle of panel 9 and conveying platform 23, the contained angle of taking structure light 225 and conveying platform 23 is beta, when the contained angle alpha of panel 9 and conveying platform 23 is greater than the contained angle beta of taking structure light 225 and conveying platform 23, the C region on panel 9 surface can never be shone by the light source, thereby form the vision blind area, this application adopts behind the light source of multi-angle and symmetrical layout, can be synchronous with different angles, the structure light source of symmetric distribution shines, the light source blind area when shooing can be eliminated.
The optical system 22 for band structure light comprises a plurality of light sources for band structure light symmetrically arranged on both sides of the CCD camera 21 along the moving direction of the plate 9, the light sources for band structure light comprise a laser 221, a powell prism 222 and a mask 223, and the mask 223 is added below the powell prism 222. The mask 223 is a rectangular mask 2231 or a mask 2233 with characteristics, wherein a rectangular light-passing region 2232 is disposed on the rectangular mask 2231, a light-passing region 2234 with characteristics is disposed on the mask 2233 with characteristics, and a characteristic pattern 2235 such as a characteristic square grid is disposed on the upper and lower edges of the mask 2233 with characteristics, so that the accuracy of recognizing the edges of the region irradiated by the band structure light 225 can be improved.
In addition, the invention provides a working method of the intelligent sorting system, which comprises the following steps:
s1, feeding: sequentially placing each plate 9 with the information of the model, the size and the order number in a conveying area of the feeding mechanism 1, and scanning the plate information by the first code scanning mechanism 5 and transmitting the plate information to the control mechanism;
s2, detection: the conveying mechanism 1 conveys the plate 9 to a detection area, the detection mechanism 2 measures whether the size of the plate 9 and the positions and the sizes of holes and grooves on the plate 9 meet requirements or not, the plate 9 meeting the requirements is conveyed to the storage sorting mechanism 3, and the plate which does not meet the requirements is rejected;
s3, storage and sorting: the second code scanning mechanism 6 scans the plate information and transmits the plate information to the control mechanism, the control mechanism controls each plate 9 meeting the requirement to be conveyed to the corresponding hopper 37 of the storage sorting mechanism 3, and when each plate 9 of the same order is completely stored, the control mechanism controls different plates 9 of the same order to be continuously output to the stacking area;
s4, stacking: and (5) stacking the plates 9 conveyed to the stacking area according to requirements, and sorting the plates with the same order number.
In step S2, the plate material with holes and grooves on both sides is returned through the plate material returning line 13 after being subjected to the primary measurement, and is turned over by the plate turnover mechanism 7 and then enters the detection mechanism 2 for the secondary measurement; for satisfactory sheets 9, they are conveyed by the infeed conveyor line 14 into the respective hoppers 37 of the storage and sorting mechanism 3; the unqualified plate 9 is directly conveyed to the plate recovery area without entering the plate turnover mechanism 7 after passing through the plate return line 13.
In step S2, the specific detection process includes the following steps:
s21, mounting the CCD camera 21 and the band structure light optical system 22, wherein the band structure light optical system 22 is symmetrically distributed on two sides of the CCD camera 21;
s22, manufacturing the band structured light, wherein the process is as follows: starting a laser 221 in the optical system 22 for band structure light, passing the laser beam generated by the laser 221 through a powell prism 222 and a mask 223 in sequence, if the mask 223 is not added, directly generating a light ray 224 with a certain width as shown in fig. 10 after the laser beam passes through the powell prism 222, because the upper and lower edges of the generated light ray 224 are not clear enough, the application adds the mask 223 under the powell prism 222, and after the light ray 224 passes through a light passing region on the mask 223, generating band structure light 225 with a specific size range and a clear edge;
s23, starting the CCD camera 21 to obtain the four-dimensional coordinates of any point on the surface of the plate 9, wherein the process is as follows: the plate 9 moves forwards on the conveying platform 23 at a certain speed, the CCD camera 21 continuously scans and photographs to obtain a two-dimensional image of the surface of the plate 9 and transmits the two-dimensional image to the control mechanism, the control mechanism receives the image and then performs information processing to obtain a three-dimensional coordinate of any point on the surface of the plate 9, and a four-dimensional coordinate of any point on the surface of the plate 9 is obtained by superposing gray values of all points in the image.
Preferably, in step S22, the generated band structured light 225 is a parallel band laser line with a width of 5-20mm, and the top and bottom edges thereof have a clear profile and a straightness of less than 0.1mm, which is specifically selected according to the measurement precision requirement.
When this application is when preparation structure light 225, at bauwell prism 222 below additional installation mask 223, through the size that changes the length and the width that lead to light region on the mask 223, confirm the size range that structure light 225 shines on panel 9 surface, acquire clear and accurate structure light 225 about the edge profile simultaneously.
As shown in fig. 13 to 17, in step S23, the process of obtaining the three-dimensional coordinates of any point on the surface of the plate material is as follows: calculating the three-dimensional coordinates of the projected edge profile based on the calibration data of the CCD camera 21 by combining the width and the incident angle of the band structure light 225 and the theoretically projected coordinates on the surface of the conveying table 3 with the projected width and the projected coordinates of the band structure light 225 in the two-dimensional image; three-dimensional coordinates of a plurality of lines on the surface of the plate 9 can be obtained by symmetrically arranging a plurality of band structured lights 225 at two sides of the CCD camera 21 in different angular postures, and three-dimensional coordinates (X, Y, Z) of any point on the surface of the plate 9 are obtained by mathematical fitting, where the four-dimensional coordinates are (X, Y, Z, P), where P is a gray value obtained from the brightness of the band structured lights in the two-dimensional image.
The derivation process specifically comprises: taking a strip structured light 225 as an example, when the strip structured light 225 is directly irradiated onto the surface of the conveying platform 23, the angle between the strip structured light 225 and the conveying platform 23 is θ in the XOZ coordinate system shown in fig. 131The X-axis coordinate of the upper and lower edges of the band structured light 225 obtained by the CCD camera 21 is XaAnd XbAnd the Z coordinate is 0.
When the plate 9 to be measured passes through the band structure light 225, the X coordinate of the front and rear edges of the band structure light 225 is Xa1And Xb1The corresponding Z coordinates are:
Za1＝(Xa-Xa1)*tan(θ1)
Zb1＝(Xb-Xb1)*tan(θ1)
for the multi-strip structured light 225, the X-axis coordinates have a fixed distance relationship, and the included angles of the two strip structured light 225 are respectively theta1And theta2The base coordinates are respectively Xa、XbAnd Xc、XdThe coordinate systems of the images scanned by the two strips of structured light 225 can be unified into one coordinate system.
The three-dimensional profile curve as shown in fig. 16 can be obtained by continuously scanning the CCD camera 21 based on the plurality of structured lights 225. The density of the contour lines can be increased by increasing the amount of the band structured light 225 and decreasing the scanning speed, improving the measurement accuracy.
The two-dimensional image information shot by the camera comprises three parameters (U, V and P), wherein U and V are pixel coordinates, and P is a gray value of the pixel point. Obtaining a conversion matrix R of the pixels to a world coordinate system through calibration, and obtaining (X, Y, Z) ═ U, V, theta1) And R is shown in the specification. Further introducing the gray value P of the point, four-dimensional data (X, Y, Z, P) of each point on the edge curve of the band structure light 225 is obtained1,P)R。
Physical seating for internal images at the upper and lower edges of the structured light 225The mark is calculated by adopting a space spline curve fitting mode, C is any point in the edge contour line, and the intersection point N of the same surface of the screenshot Y value and each edge contour line1(X1,Y,Z1)、N2(X2,Y,Z2)、N3(X3,Y,Z3)、N4(X4,Y,Z4) And respectively obtaining the data through 3 times of spline curve fitting.
The gray value calculation process is shown in FIG. 17, and it is known that points a and b are adjacent pixels and the pixel coordinate is (U)a,Va,Pa) And (U)b,Vb,Pb) Corresponding to the physical point A coordinate (X)a,Ya,Za,Pa) And B coordinate (X)b,Yb,Zb,Pb) World coordinates for C are (X)c,Yc,Zc) The gray scale calculation method of the projection point c is as follows: p ═ ZC-ZA)/(ZB-ZA)*(Pb-Pa)。
In addition, in step S3, the storage sorting process is as follows:
the control mechanism plans the hopper 37 corresponding to each sheet material 9 and the storage position in the hopper 37 according to the sheet material information, and controls the driving assembly 32 to work, the driving assembly 32 drives the hopper 37 to rotate along the annular guide rail 35 in the vertical direction through the transmission assembly 33, so that the corresponding hopper 37 is driven to the feed port 38 according to the planned path, and the feeding push plate assembly 19 pushes the sheet material 9 to the corresponding position of the hopper 37; after the control mechanism identifies each plate with the same stored order, the corresponding hopper 3 is controlled to rotate to the discharge port, and the discharge push plate assembly 34 continuously outputs different plates 9 with the same order to the discharge conveying line 15 and conveys the plates to the stacking area for stacking, so that the plates with the same order number are sorted.
Preferably, in the storage and sorting process, according to the different sizes of the plates 9, the material blocking cylinder in the material blocking assembly 18 controls the material blocking plate 181 to ascend or descend so as to limit the plates 9 at different stations and enter different positions in the hopper 37.
In addition, because the spool of feeding transfer chain 14 is the rubber spool, and coefficient of friction is great, and the spool is difficult for changing, directly is pushed on the spool for reducing panel 9 the wearing and tearing of frictional force to the spool that produce when in sub-hopper layer 373, during the feeding, panel 9 is carried to behind the corresponding department of feed inlet 38, keep off material cylinder control and keep off material baffle 181 and rise, with each panel 9 restriction in different stations departments, then wear-resisting cylinder control antifriction plate 171 rises, so that antifriction plate 171 holds up panel 9 to breaking away from the spool of feeding transfer chain 14. The feeding cylinder corresponding to each station then controls the feeding push plate 191 to push each plate 9 on the wear plate 171 to a different position in the sub-hopper layer 373 at the same time to store the plate 9.
During discharging, the wear-resistant cylinder on the discharging conveying line 15 controls the wear-resistant plate 171 to rise, and the discharging push plate 341 controls the discharging push plate 341 to push out the plate 9 in the sub-hopper layer 3763 onto the wear-resistant plate 171 of the discharging conveying line 15.
In the present disclosure, terms such as "upper", "lower", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the respective portions of the present disclosure, and are not to be construed as limiting the present disclosure.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims (15)

1. An intelligent sorting system is characterized by comprising a conveying mechanism (1), a detection mechanism (2), a storage sorting mechanism (3), a stacking mechanism (4) and a control mechanism, wherein the input ends of the detection mechanism (2) and the storage sorting mechanism (3) are respectively provided with a first code scanning mechanism (5) and a second code scanning mechanism (6);
the conveying mechanism (1) is used for conveying plates (9) and comprises a conveying support, and a feeding area, a detection area, a storage sorting area and a stacking area which are sequentially arranged on the conveying support; the loading area is provided with a loading conveying line (11), the detection area is provided with a detection conveying line (12) and a plate return line (13), the storage sorting area is provided with a feeding conveying line (14), a discharging conveying line (15) and a feeding push plate assembly (19), the feeding push plate assembly (19) is used for pushing plates (9) on the feeding conveying line (14) into the storage sorting mechanism (3), and the stacking area is provided with a stacking conveying line (16); the feeding conveying line (11), the detecting conveying line (12) and the feeding conveying line (14) are sequentially connected, the discharging conveying line (15) is connected with the stacking conveying line (16), and the plate returning line (13) is correspondingly arranged on one side of the detecting conveying line (12) and is connected with the detecting conveying line (12);
the detection mechanism (2) is correspondingly arranged above a detection area of the conveying mechanism (1) and used for detecting the plates (9) on the conveying mechanism (1), the detection mechanism (2) comprises a CCD camera (21) and a belt structure light optical system (22), when the plates (9) to be detected are conveyed on the conveying mechanism (1), the CCD camera (21) is used for shooting surface images of the plates (9), and the belt structure light optical system (22) is used for generating a plurality of belt structure lights (225) which are symmetrically distributed at two sides of the CCD camera (21) in different angle postures along the movement direction of the plates (9);
the storage sorting mechanism (3) is correspondingly arranged on one side of the storage sorting area of the conveying mechanism (1) and used for sorting and storing plates (9), the storage sorting mechanism (3) comprises a sorting rack, a driving assembly (32), a transmission assembly (33), an annular guide rail (35), a plurality of hoppers (37), a discharging push plate assembly (34), a feeding hole (38) and a discharging hole (31), the driving assembly (33) is fixedly connected with the hoppers (37), the driving assembly (32) drives the hoppers (37) to rotate along the annular guide rail (35) in the vertical direction through the transmission assembly (33) so as to drive each hopper (37) to the feeding hole (38) or the discharging hole (31), and the feeding hole (38) and the discharging hole (31) are respectively arranged corresponding to the feeding conveying line (14) and the discharging conveying line (15), the discharging push plate assembly (34) is arranged corresponding to the discharging hole (31) and used for pushing the plates (9) in the hopper (37) to the discharging conveying line (15);
the stacking mechanism (4) is correspondingly arranged at the output end of the stacking area and used for stacking and subpackaging plates (9) on the stacking conveying line (16), and comprises a stacking rack (41) and a sucker component (42) arranged on the stacking rack (41), wherein the sucker component (42) is connected with the stacking rack (41) through a three-dimensional movement component (43);
the control mechanism is connected with the conveying mechanism (1), the detection mechanism (2), the storage sorting mechanism (3) and the stacking mechanism (4) and controls the operation of the mechanisms.
2. An intelligent sorting system according to claim 1, wherein the sheet return line (13) is connected to the inspection conveyor line (12) at both ends, and a flap mechanism (7) is provided between the sheet return line (13) and the inspection conveyor line (12).
3. An intelligent sorting system according to claim 1, wherein there are two or more than two feeding push plate assemblies (19) and discharging push plate assemblies (34).
4. The intelligent sorting system according to claim 1, wherein a plurality of material blocking assemblies (18) are arranged on the feeding conveying line (14), each material blocking assembly (18) comprises a material blocking cylinder and a material blocking baffle plate (181) connected with the material blocking cylinder, and the material blocking cylinder drives the material blocking baffle plate (181) to lift so as to limit the position of the upper plate of the feeding conveying line (14) to enable the upper plate to be pushed into the hopper (37) at different stations.
5. The intelligent sorting system according to claim 1, wherein the feeding conveying line (14) and the discharging conveying line (15) are respectively provided with a plurality of wear-resistant assemblies (17), the wear-resistant assemblies (17) on the feeding conveying line (14) are arranged corresponding to the feeding port (38), and the wear-resistant assemblies (17) on the discharging conveying line (15) are arranged corresponding to the discharging port (31); wear-resisting subassembly (17) are including jacking cylinder and antifriction plate (171) of being connected with the jacking cylinder, the jacking cylinder drives antifriction plate (171) go up and down for panel (9) can be carried on antifriction plate (171).
6. An intelligent sorting system according to claim 1, wherein the control mechanism controls the hopper (37) to rotate clockwise or counter-clockwise.
7. An intelligent sorting system according to claim 1, wherein the hopper (37) is divided into several sub-hopper levels.
8. The intelligent sorting system according to claim 1, wherein a plurality of the band structure lights (225) are uniformly arranged on both sides of the CCD camera (21) and have an angle ranging from 0 to 180 °, the band structure light optical system (22) comprises a plurality of band structure light sources symmetrically arranged on both sides of the CCD camera (21) along a moving direction of the sheet material (9), the band structure light sources comprise a laser (221), a powell prism (222) and a mask (223), the mask (223) is attached below the powell prism (222), and the mask (223) is a rectangular mask (2231) or a mask with characteristics (2233).
9. The method of operating an intelligent sorting system according to claims 1-8, comprising the steps of:
s1, feeding: sequentially placing each plate (9) pasted with the information of the model, the size and the order number into a conveying area of the feeding mechanism (1), and scanning the information of the plates by the first code scanning mechanism (5) and transmitting the information to the control mechanism;
s2, detection: the conveying mechanism (1) conveys the plate (9) to a detection area, the detection mechanism (2) measures whether the size of the plate (9) and the positions and sizes of holes and grooves on the plate (9) meet requirements or not, the plate (9) meeting the requirements is conveyed to the storage sorting mechanism (3), and the plate (9) not meeting the requirements is removed;
s3, storage and sorting: the second code scanning mechanism (6) scans the plate information and transmits the plate information to the control mechanism, the control mechanism controls each plate (9) meeting the requirements to be conveyed to a corresponding hopper (37) of the storage sorting mechanism (3), and when all the plates (9) of the same order are completely stored, the control mechanism controls different plates of the same order to be continuously output to the stacking area;
s4, stacking: and (5) stacking the plates (9) conveyed to the stacking area after being sorted according to requirements, and finishing the sorting of the plates with the same order number.
10. The operating method of an intelligent sorting system according to claim 9, wherein in step S2, the sheet material (9) with holes and grooves on both sides is returned through the sheet material returning line (13) after being subjected to one measurement, and is turned over by the sheet turnover mechanism (7) and then enters the detection mechanism (2) for the second time for measurement; for satisfactory plates (9), conveying the plates by a feeding conveying line (14) to a corresponding hopper (37) of the storage and sorting mechanism (3); the unsatisfactory boards (9) are conveyed to a recovery area through a board returning line (13) to be rejected.
11. The operating method of an intelligent sorting system according to claim 9, wherein in the step S2, the detection process includes the following steps:
s21, mounting the CCD camera (21) and a band structure light optical system (22), wherein the band structure light optical system (22) is symmetrically distributed on two sides of the CCD camera (21);
s22, manufacturing the band structured light, wherein the process is as follows: starting a laser (221) in the optical system (22) of the band structure light, and enabling a laser beam generated by the laser (221) to pass through a Bawell prism (222) and a mask (223) in sequence to generate the band structure light (225) with a specific size range and clear edges;
s23, starting the CCD camera (21) to acquire the four-dimensional coordinates of any point on the surface of the plate (9), wherein the process is as follows: the method comprises the steps that a plate (9) to be detected moves forwards on a conveying platform (23) at a certain speed, a CCD camera (21) continuously scans and photographs to obtain a two-dimensional image of the surface of the plate (9), the two-dimensional image is transmitted to a control mechanism, the control mechanism receives the image and then carries out information processing to obtain a three-dimensional coordinate of any point on the surface of the plate (9), and a four-dimensional coordinate of any point on the surface of the plate (9) is obtained by superposing gray values of all points in the image.
12. The method of claim 11, wherein in step S22, the generated band structured light (225) is a parallel band laser line with a width of 5-20mm, and the upper and lower edges thereof have a sharp profile and a straightness of less than 0.1 mm.
13. The operating method of an intelligent sorting system according to claim 11, wherein in the step S23, the process of obtaining the three-dimensional coordinates of any point on the surface of the sheet material (9) comprises: calculating the three-dimensional coordinates of the projected edge profile based on the calibration data of the CCD camera (21) by combining the width and the incidence angle of the band structure light (225) and the coordinates projected on the conveying platform (23) theoretically with the projection width and the projection coordinates of the band structure light (225) in the two-dimensional image; three-dimensional coordinates of a plurality of lines on the surface of the plate can be obtained through a plurality of band structured lights (225) which are symmetrically arranged at two sides of a CCD camera (21) in different angle postures, and three-dimensional coordinates (X, Y, Z) of any point on the surface of the plate (9) to be measured are obtained through mathematical fitting, wherein the four-dimensional coordinates are (X, Y, Z, P), P is a gray value, and the gray value is obtained through the brightness of the band structured lights in the two-dimensional image.
14. The method of claim 9, wherein in step S3, the storage and sorting process comprises the following steps:
the control mechanism plans the hopper (37) corresponding to each plate (9) and the storage position in the hopper (37) according to the plate information, and controls the driving assembly (32) to work, the driving assembly (32) drives the hopper (37) to rotate along the annular guide rail (35) in the vertical direction through the transmission assembly (33), so that the corresponding hopper (37) is driven to the position of the feeding hole (38) according to the planned path, and the feeding push plate assembly (19) pushes the plate (9) to the corresponding position of the hopper (37); after the control mechanism identifies each plate (37) with the same stored order, the corresponding hopper (37) is controlled to rotate to the discharge hole (31), and the discharge push plate assembly (34) continuously outputs different plates (9) with the same order to the discharge conveying line (15) and conveys the plates to a stacking area for stacking, so that the plates (9) with the same order number are sorted.
15. The working method of the intelligent sorting system according to claim 14, wherein in the storage and sorting process, according to the size of each plate (9), the stock stop cylinder in the stock stop assembly (18) controls the stock stop (181) to ascend or descend so as to limit each plate (9) at different stations and enter different positions in the hopper (37).
CN202011282566.XA 2020-11-16 2020-11-16 Intelligent sorting system and working method thereof Pending CN112452792A (en)

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