CN112850114A - Automatic sorting and boxing equipment for paper money processing assembly line - Google Patents
Automatic sorting and boxing equipment for paper money processing assembly line Download PDFInfo
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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
- B65G47/34—Devices for discharging articles or materials from conveyor
- B65G47/42—Devices for discharging articles or materials from conveyor operated by article or material being conveyed and discharged
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/10—Sequence control of conveyors operating in combination
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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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
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Abstract
An automatic sorting and boxing device of a paper money processing production line comprises a paper money package conveyor belt, a paper money box, a five-axis robot and a PLC control system, the two-dimensional code scanner is arranged at the end position of the banknote bag conveyor belt, when the banknote bag attached with the two-dimensional code stops at the position, the two-dimensional code scanner can automatically scan the two-dimensional code on the money packet, the scanned two-dimensional code information is transmitted to the PLC control system of the robot, the PLC control system identifies the face value of the current money packet and the position of the money box to be placed after receiving the two-dimensional code information, and calculates the position coordinates of the money packet to be placed in the money box and the relative translation rotation amount of the mechanical arm, and the control motion instruction is sent to an output circuit of the PLC control system, and the output circuit controls a mechanical arm of the robot to clamp the current money packet through a clamping jaw and place the money packet into a corresponding money box. The invention has the beneficial effects that: can realize the automatic sorting and boxing of the paper money package of the paper money processing assembly line.
Description
Technical Field
The invention relates to intelligent automatic equipment, in particular to automatic sorting and boxing equipment for a paper money processing production line.
Background
The current multifunctional intelligent cash processing system consists of a cash intelligent sorting and bundling integrated machine, an automatic stamping and steering mechanism, an automatic lifting distribution mechanism, an ATM (automatic Teller machine) cash automatic processing line, a circulation cash automatic processing line and counterfeit and damaged cash processing matched equipment, and can complete the functions of dynamic counterfeit identification, counting and sorting, bundling and stamping, lifting and distribution, layered conveying, cash sorting, large bundle bundling, hot molding of a package, sealing and labeling and the like of cash. But the finished bundled paper money is still put in storage by adopting manual boxing and manual carrying. The manual boxing and manual carrying mode not only does not release people from physical labor, but also reduces the working efficiency of the whole cash intelligent processing system, and is not beneficial to the establishment and management of a subsequent automatic warehouse. In order to improve the placing quality and the boxing efficiency of the paper money and reduce the labor cost, the intelligent automatic equipment is adopted to carry out the subsequent automatic boxing work of the intelligent cash processing system, and the automatic boxing method has important significance.
Disclosure of Invention
The invention aims to provide automatic sorting and boxing equipment of a paper money processing assembly line, which realizes automatic sorting and boxing of paper money by a manipulator, can improve boxing efficiency and placement quality of paper money processing, can reduce labor cost, is beneficial to subsequent establishment and management of an automatic warehouse, and improves working efficiency and automation degree of the whole intelligent paper money processing system.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic sorting and boxing device of a paper money processing production line comprises a paper money package conveying belt, a paper money box, a robot and a PLC control system, the two-dimensional code scanner is arranged at the end position of the banknote bag conveyor belt, when the banknote bag attached with the two-dimensional code stops at the position, the two-dimensional code scanner can automatically scan the two-dimensional code on the money packet, the scanned two-dimensional code information is transmitted to the PLC control system of the robot, the PLC control system identifies the face value of the current money packet and the position of the money box to be placed after receiving the two-dimensional code information, and calculates the position coordinates of the money packet to be placed in the money box and the relative translation rotation amount of the mechanical arm, and the control motion instruction is sent to an execution circuit of the PLC control system, and the execution circuit controls a mechanical arm and a clamping jaw of the robot to clamp the current money packet and place the money packet into a corresponding money box.
Furthermore, the robot is a five-axis robot with a vertical rotating shaft and a rectangular coordinate motion system, an electric clamping jaw is arranged at the tail end of a five-axis joint, the clamping width of the electric clamping jaw is self-adaptive and adjustable, the maximum opening width of the electric clamping jaw is 95mm, and the minimum opening width of the electric clamping jaw is 60 mm.
Furthermore, the end position of the money packet conveyor belt and the position of the money box are both positioned in the movable range of the mechanical arm of the robot and the clamping jaws of the robot, so that the clamping jaws can clamp and place the money packet conveniently.
Furthermore, the robot is also provided with an offline demonstrator, the operation of clamping the money packet for the first time and the operation of putting the money packet into the money box of the robot are completed by assistance of manual offline teaching, the money packets with different face values are respectively subjected to different teaching operations, and the taught operation data are stored into a database of the PLC control system.
Furthermore, the PLC control system of the robot firstly stores the collected two-dimensional code information of the current banknote package into a database through a two-dimensional code scanner, compares the two-dimensional code information with data in the database to determine a corresponding banknote box, calculates the translation amount and the rotation amount of the current banknote package relative to a teaching position, and controls mechanical arms of the robot and clamping jaws at the tail ends of joints to clamp the banknote package and place the banknote package into the corresponding banknote box.
Further, when the two-dimensional code of the current banknote package appearing on the banknote package conveyor belt cannot be identified, the offline demonstrator is used for carrying out identification positioning and sorting operation of placing the current banknote package into the banknote box to be processed, teaching data are stored in the database, and when the banknote package conveyor belt appears again, the banknote package is placed into the banknote box to be processed according to the teaching mode.
Furthermore, a field partition and a light curtain fence are arranged in the working area of the robot.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the automatic sorting and boxing equipment of the paper money processing assembly line, the control system adopts the two-dimensional code scanner to collect the paper money package information on the paper money package conveying belt, the information identification technology is mature, the information processing process is simple and reliable, the two-dimensional code scanner is easy to install and use, and when new varieties of paper money packages are added, the online identification, the automatic clamping and boxing operation of the new paper money packages can be realized only by performing simple offline teaching.
2. The automatic sorting and boxing equipment of the paper money processing assembly line adopts a fully integrated automatic control scheme, and the positioning and teaching functions of the mechanical arm are completed through the handheld equipment, and the placing positions of the paper money bag and the paper money box are determined. After the mechanical arm coordinates, the banknote bags and the banknote box coordinates are determined, the action angles and the action distances of all the axes of the robot are calculated by adopting a multi-dimensional coordinate transformation algorithm, and finally, the function of full-automatic intelligent sorting and boxing is realized.
Drawings
Fig. 1 is a schematic structural diagram of the automatic sorting and packing equipment of the banknote processing line of the present invention.
Fig. 2 is a schematic plan view of the automated sorting and boxing apparatus of the paper money processing line of the present invention.
Fig. 3 is a schematic structural diagram of a robot of the automatic sorting and boxing apparatus.
Fig. 4 is a schematic structural diagram of four axes and five axes of the robot.
Fig. 5 is a schematic view of a jaw structure of the robot.
Fig. 6 is a basic structural schematic diagram of a gripping part of the clamping jaw.
Fig. 7 is a block diagram schematically illustrating the components of the PLC control system.
Fig. 8 is a schematic diagram of a touch panel screen composition of the teaching machine.
FIG. 9 is an input wiring diagram of a proximity switch in a robot arm of the PLC control system.
Fig. 10 is an output wiring diagram of the PLC control system.
In the figure: the system comprises a banknote box 1, a PLC control system 2, an off-line demonstrator 3, a robot 4-four-axis, a robot 5, a robot 6-one axis, a mechanical arm 7, a three-axis, a 9-two-axis, a 10-five-axis, a 11-site partition, an infrared light curtain fence 12, a clamping jaw 13, a two-dimensional code scanner 14, a banknote bag 15, a banknote box to be processed 16, a banknote bag conveyor belt 17, a contact switch 18 and a photoelectric switch 19.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Fig. 1 and 2 are schematic diagrams showing the detailed structure of the automatic sorting and boxing apparatus of the banknote processing line of the present invention.
The automatic sorting and boxing equipment of the paper money processing assembly line comprises a paper money package conveying belt 17, a paper money box 1, a robot 5 and a PLC (programmable logic controller) control system 2. The two-dimensional code scanner 14 is installed at the end position of the banknote package conveyor belt 17, when the banknote package 15 pasted with the two-dimensional code stops at the position, the two-dimensional code scanner 14 can automatically scan the two-dimensional code on the banknote package 15, the scanned two-dimensional code information is transmitted to the PLC control system 2 of the robot 5, after the PLC control system 2 receives the two-dimensional code information, the surface value of the current banknote package 15 and the position of the banknote box 1 to be placed are identified, the position coordinate of the banknote package 15 to be placed in the banknote box 1 and the relative translation rotation amount of the mechanical arm 7 are calculated, a control motion instruction is sent to an execution circuit of the PLC control system 2, and the execution circuit controls the mechanical arm 7 and the clamping jaw 13 of the robot 5 to clamp the current banknote package 15 and place the current banknote package 15 in the corresponding banknote box 1.
Further, the robot 5 is a five-axis robot with a vertical rotating shaft and a rectangular coordinate motion system, an electric clamping jaw 13 is arranged at the tail end of a five-axis joint, the clamping width of the electric clamping jaw 13 is self-adaptive and adjustable, the maximum opening width is 95mm, and the minimum opening width is 60 mm.
Further, the terminal position of the banknote bag conveyor 17 and the position of the banknote box 1 are both located within the movable range of the mechanical arm 7 of the robot 5 and the clamping jaws 13 thereof, so that the clamping jaws 13 can clamp and place the banknote bag 15.
Further, the robot 5 also has an offline demonstrator 3, the operation of the robot 5 for clamping the banknote package 15 for the first time and the operation of putting the banknote package into the banknote box 1 are completed by assistance of manual offline teaching, the banknote packages 15 with different face values are respectively subjected to different teaching operations, and the taught operation data are stored in a database of the PLC control system 2.
Further, the PLC control system 2 of the robot 5 firstly stores the two-dimensional code information of the current banknote package 15 collected in the database through the two-dimensional code scanner 14, determines the corresponding banknote box 1 by comparing the two-dimensional code information with data in the database, calculates the translation amount and the rotation amount of the current banknote package 15 relative to the taught position, and controls the mechanical arm 7 of the robot 5 and the clamping jaw 13 at the end of the joint to clamp the banknote package 15 and place the banknote package into the corresponding banknote box 1 by the PLC control system 2.
Further, when the two-dimensional code of the current banknote package 15 appearing on the banknote package conveyor belt 17 cannot be identified, the offline demonstrator 3 is used for carrying out identification positioning and sorting operations of placing the current banknote package 15 into the banknote box 16 to be processed, teaching data is stored in the database, and when the type of banknote package 15 appears on the banknote package conveyor belt 17 again, the banknote package 15 is placed into the banknote box 16 to be processed according to a teaching mode.
Furthermore, a field partition 11 and an infrared light curtain rail 12 are arranged in the working area of the robot 5.
The automatic sorting and boxing equipment of the paper money processing assembly line can intelligently identify the paper money packets 15 (formed by 1000 pieces/packet and plastic packaging or bundling) at the end position of the paper money packet conveying belt 17 in a two-dimensional code scanning mode, and automatically and orderly place the identified paper money packets 15 into the corresponding paper money boxes 1 in sequence. The information characteristics of the two-dimension code are as follows: banknote denomination, wallet number. The denomination of the banknote bag 15 is three, including a hundred yuan denomination (size: 155X 77X 105mm), a fifty yuan denomination (size: 150X 70X 105mm) and a ten yuan denomination (size: 140X 70X 105 mm); the banknote box 1 corresponds to three specifications, including a hundred-yuan banknote box (the size: 536X 386X 200mm), a fifty-yuan banknote box (the size: 526X 365X 200mm) and a ten-yuan banknote box (the size: 490X 365X 200 mm); the weight of the single banknote pack 15 is approximately 1 kg. The single money box 1 is provided with 12 money packets 15 on each layer, and the packing time of the single money packets 15 is no more than 20s at most. The area of the light curtain closed area of the device is not more than 3.5 multiplied by 3.5 m.
The production process flow of the automatic sorting and boxing equipment of the paper money processing assembly line comprises the following steps: the banknote box 1 is placed at a specified position → the banknote bag conveyor belt 17 positions the banknote bag 15 → the sensor is used for determining that the banknote bag 15 is placed at the specified position → the two-dimensional code information of the banknote bag 15 is read → the banknote box 1 where the banknote bag 15 needs to be placed is determined according to the two-dimensional code identification result, the position coordinate of the banknote bag 15 in the banknote box 1 is calculated → the end effector of the robot 5 moves to the fixed position where the banknote bag 15 is located → the clamping jaw 13 starts to grab the banknote bag 15 → the grabbed banknote bag 15 is placed at the proper position in the corresponding banknote box 1 → the banknote bag 15 is placed for the next work cycle. The banknote bag 15 which can not read the information due to the damage of the two-dimensional code and the like is picked out and placed into a banknote box 16 to be processed (the size is 200 multiplied by 240 multiplied by 180 mm). The banknote bags 15 placed in the box body of the banknote box 1 need to be accurate in position and orderly arranged, and cannot be overlapped, broken and toppled.
As shown in fig. 3, the robot 5 of the automatic sorting and boxing apparatus of the present invention is composed of a rotating shaft and a rectangular coordinate motion system, and is divided into five-axis structures, specifically: a shaft 6 of the base part can rotate; a rectangular coordinate motion system is formed by the two shafts 9 and the three shafts 8; four shafts 4 and five shafts 10 form a double-swing-head mechanism. The five axes can move simultaneously or separately. In the embodiment, the height of the base of the robot 5 is 420mm, and the height of one shaft 6 is 1000 mm; the length 1802mm of the biaxial shaft 9 and the effective stroke 1100 mm; the length of triaxial 8 is 980mm, and effective stroke 700mm, the working stroke of clamping jaw 13 is 600 mm. One shaft 6 uses a Nabtesco RV reducer, model: 80E is reduced in speed by 81. The biaxial guide rail 9 is made of 150mm wide aluminum alloy section, 400W of Tdada servo motor + Lingke coupler (SCPW46-8-14) + silver guide rail (15mm) + TBI lead screw (20mm, lead 10 mm). Limiting of the limit position is completed by an OMRON groove correlation type photoelectric switch. The three shafts 8 adopt a Baigla grabbing shaft (60 specifications, the inside is driven by a synchronous belt) and are driven by a 400W Taida servo motor and a Niujiuda PL60L2-20-P2-S2-14-30-50-70-M5 precision speed reducer.
As shown in FIG. 4, four-axis 4 and five-axis 10 are respectively composed of a servo motor of 200W, CSF-25-50 of Harmonic corporation, and a servo motor of 100W, CSF-20-50 of Harmonic corporation.
As shown in fig. 5, the clamping jaw 13 is an electric clamping jaw of an IAI-14 model of IAI company, and is provided with related accessories, so that the clamping requirement of the banknote bundle can be met, and the clamping stroke is controllable. The basic structural principle is shown in fig. 6. Contact switches 18 are shown, (a distance of 0-50mm can be detected, for detecting the distance between the gripper and the purse); the model is as follows: OMRON E3Z-D61K-M3J0.3M; a diffusion type photoelectric switch 19 (single light) detects the 5mm range, and an ON/OFF signal is used for controlling the robot to stop moving downwards continuously in three axes.
The working process of the clamping jaw 13 is as follows: 1) after the robot 5 receives the two-dimensional code information of the banknote package 15, the first shaft 6, the second shaft 9 and the third shaft 8 of the robot 5 are driven to move to relevant angles, after the first shaft 6 and the second shaft 9 are in place, the third shaft 8 starts to drive the clamping jaw 13 to vertically move downwards to a corresponding height, and after the diffusion type photoelectric switch 19 on the clamping jaw 13 is triggered, the third shaft 8 stops moving. When the electromagnet is switched on, the clamping jaw 13 starts to clamp, and after the clamping force of the clamping jaw 13 reaches a set value, the clamping jaw electricity cylinder stops clamping after the banknote package 15 is clamped firmly. At the moment, the robot 5 can lift the height of the three shafts 8, then drives the first shaft 6 and the second shaft 9 to reach the position of the banknote box 1, and then drives the three shafts 8 to fall to a certain height, and then releases the banknote bag 15 to finish one-time boxing work.
The two-dimensional code scanner 14 is a single-line two-dimensional code scanner for laser scanning, the definition is not less than 4ML, the error rate is 1/500 ten thousand, the scanning angle is +/-65 degrees, the data interface adopts RS-232, and an automatic scanning mode is adopted.
Fig. 7 is a block diagram of the PLC control system 2 of the automatic sorting and packing apparatus according to the present invention. The PLC control system 2 adopts Siemens SMART200 series programmable controllers. Fig. 9 is an input wiring diagram of the proximity switch in the robot arm 7 of the PLC control system 4. Fig. 10 is an output wiring diagram of the PLC control system 4. The circuits of fig. 9-10 are prior art, and many data are introduced and analyzed, which are not described herein.
The driving equipment adopts a Taida ASD-A2 series alternating current servo system to drive the mechanical arm. The ASD-a2 series driver is a mainstream driver device with medium to medium power, and can realize a plurality of control modes: JOG mode, Pr position control mode, S speed control mode, T torque control simulation, hybrid mode, and multiple hybrid modes.
The A2 series driving device is matched with a 20-bit (1280000p/rev) incremental encoder to realize accurate positioning control under low-speed operation. The speed response bandwidth can reach 1kHz, and the performance is excellent.
Providing a cantilever shaking restraining device: the Pulse Command Notch Filter and FFT mechanical resonance point analysis can achieve the automatic mechanical resonance inhibition.
A powerful "motion control" mode is built in.
The internal position register is increased to 64 points, the speed register is increased to 16 points, and the parameter data amount is increased to 32-bit.
Provide "path definition" function, greatly increasing the freedom of route planning.
The automatic sorting and boxing equipment adopts an intelligent tracing algorithm, selects and places the banknote box 1 according to the information of the banknote bag 15, and reasonably places the banknote bag 15 in the banknote box 1. Coordinates of the robot 5 are determined, and coordinates of the banknote pack 15 are confirmed using the offline teaching machine 3. The position relation of the cash box 1 and the robot 5 is confirmed by adopting a multi-dimensional coordinate transformation algorithm, and the rotation angle of the first shaft 6 and the advancing distance of the second shaft 9 of the mechanical arm 7 are calculated, so that the center of the clamping jaw 13 of the robot 5 is aligned with the center of the cash bag 15. And calculating the banknote clamping angle of the clamping jaw 13 by using a position algorithm, and accurately clamping the banknote bag 15.
The whole working area of the automatic sorting and boxing equipment is provided with a field partition 11 and an infrared light curtain fence 12, when the light curtain detects that an abnormal object enters, the robot 5 stops moving, and the operation is continued after artificial triggering.
The off-line demonstrator 3 of the invention adopts an embedded integrated touch screen with model number TPC7062Ti in Kunlun state as the demonstrator. An operator controls the motion of the motor by using the handheld offline demonstrator 3, can realize the control of starting and stopping, forward and backward rotation, acceleration and deceleration and the like, and can record the relevant coordinate data of the banknote package 15 packing box.
The screen operation screen of the offline teach pendant 3 is shown in fig. 8. The key setting of debugging interface includes:
the position of one shaft 6-five shafts 10, namely 'acquisition' and 'money clamping', 'system starting' and 'system stopping' are provided with self-locking buttons, and when the self-locking buttons are pressed, the motor is required to be operated and is in an activated and standby state.
Two input boxes are provided, one for setting the speed of the currently operating motor and the other for changing the currently operating motor. And the switching of the steering of the currently operated motor, namely the forward rotation or the reverse rotation and the stop and speed setting of the motor are realized through four buttons.
A shaft 6: overlooking the anticlockwise direction to be a positive direction, and clockwise direction to be a negative direction;
a biaxial orientation 9: the direction far from the 1# axis is a positive direction in overlooking, and the direction close to the 1# axis is a reverse direction;
three shafts 8: the downward direction of the side view is a positive direction, and the upward direction is a negative direction;
and (4) four-axis: the direction of the side view away from the 1# axis is a positive direction, and the direction of the side view close to the 1# axis is a negative direction;
five shafts 10: the overlooking anticlockwise direction is a positive direction, and the clockwise direction is a negative direction.
Pressing the "stop" key will stop the motion of the currently selected axis.
Pressing the "back to zero" key will return the currently selected axis to the axis zero point.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the automatic sorting and boxing equipment of the paper money processing assembly line, the control system adopts the two-dimensional code scanner to collect the paper money package information on the paper money package conveying belt, the information identification technology is mature, the information processing process is simple and reliable, the two-dimensional code scanner is easy to install and use, and when new varieties of paper money packages are added, the online identification, the automatic clamping and boxing operation of the new paper money packages can be realized only by performing simple offline teaching.
2. The automatic sorting and boxing equipment of the paper money processing assembly line adopts a fully integrated automatic control scheme, and the positioning and teaching functions of the mechanical arm are completed through the handheld equipment, and the placing positions of the paper money bag and the paper money box are determined. After the mechanical arm coordinates, the banknote bags and the banknote box coordinates are determined, the action angles and the action distances of all the axes of the robot are calculated by adopting a multi-dimensional coordinate transformation algorithm, and finally, the function of full-automatic intelligent sorting and boxing is realized.
Claims (7)
1. An automatic sorting and boxing device of a paper money processing production line is characterized by comprising a paper money package conveying belt, a paper money box, a robot and a PLC control system, the two-dimensional code scanner is arranged at the end position of the banknote bag conveyor belt, when the banknote bag attached with the two-dimensional code stops at the position, the two-dimensional code scanner can automatically scan the two-dimensional code on the money packet, the scanned two-dimensional code information is transmitted to the PLC control system of the robot, the PLC control system identifies the face value of the current money packet and the position of the money box to be placed after receiving the two-dimensional code information, and calculates the position coordinates of the money packet to be placed in the money box and the relative translation rotation amount of the mechanical arm, and the control motion instruction is sent to an execution circuit of the PLC control system, and the execution circuit controls a mechanical arm and a clamping jaw of the robot to clamp the current money packet and place the money packet into a corresponding money box.
2. The automated banknote sorting and packing apparatus of claim 1, wherein the robot is a five-axis robot having a vertical axis and a rectangular coordinate motion system, and a motorized gripper is mounted at a distal end of the five-axis joint, the motorized gripper having a gripping width that is adaptively adjustable, a maximum opening width of 95mm and a minimum opening width of 60 mm.
3. The automated sorting and boxing apparatus of the banknote processing line as claimed in claim 1, wherein the end position of the banknote package conveyor belt and the banknote box position are both within the range of motion of the robot arm and the clamping jaws thereof, so as to facilitate the clamping and placing of the banknote package by the clamping jaws.
4. The automatic sorting and boxing apparatus of the banknote processing assembly line as claimed in claim 1, wherein the robot further comprises an offline demonstrator, the first operation of the robot for picking and placing the banknote package and the manual offline demonstrator assist in the operation, the banknote packages with different surface values are respectively taught differently, and the taught operation data is stored in a database of the PLC control system.
5. The automatic sorting and boxing apparatus of the paper money processing assembly line as claimed in claim 1, wherein the PLC control system of the robot first stores the two-dimensional code information of the current paper money package collected by the two-dimensional code scanner into the database, determines the corresponding paper money box by comparing the two-dimensional code information with data in the database, calculates the translation amount and rotation amount of the current paper money package relative to the taught position, and controls the mechanical arm of the robot and the clamping jaw at the end of the joint to clamp the paper money package and place the paper money package in the corresponding paper money box.
6. The automated sorting and boxing apparatus of the banknote processing assembly line as claimed in claim 5, wherein when the two-dimensional code of the current banknote package appearing on the banknote package conveyor cannot be identified, an offline demonstrator is used to perform the operations of identifying, positioning and sorting the current banknote package into the banknote box to be processed, and store the teaching data into the database, and when such banknote package appears again on the banknote package conveyor, the banknote package is placed into the banknote box to be processed according to the teaching mode.
7. The automated banknote sorting and packing apparatus of claim 1, wherein the robot further comprises a field divider and a light curtain enclosure in the working area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011526765.0A CN112850114A (en) | 2020-12-22 | 2020-12-22 | Automatic sorting and boxing equipment for paper money processing assembly line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117429891A (en) * | 2023-05-10 | 2024-01-23 | 广州市德奥模具有限公司 | Gearbox body blank vanning mechanism |
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