CN112974276A - Material removing and supplementing control method of intelligent production line system of liquid transfer head - Google Patents
Material removing and supplementing control method of intelligent production line system of liquid transfer head Download PDFInfo
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- CN112974276A CN112974276A CN202110201460.0A CN202110201460A CN112974276A CN 112974276 A CN112974276 A CN 112974276A CN 202110201460 A CN202110201460 A CN 202110201460A CN 112974276 A CN112974276 A CN 112974276A
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- station
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- feeding
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- production line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a material removing and supplementing control method of a liquid moving head intelligent production line system, which is applied to the technical field of liquid moving head processing and comprises the following specific steps: the method comprises the steps that materials enter a feeding station, and first data are obtained, wherein the first data are obtained according to a detection station; the rotary station turntable enters a material picking station, and the manipulator is controlled to pick a non-defective product according to the first data; the rotary station turntable enters a material supplementing station, and the manipulator is controlled to capture a good product for supplementing according to second data obtained after the first data is captured; and the rotary station turntable enters a discharging station to discharge. The whole process of the invention utilizes data memory, the material removing and supplementing process is not participated by a detection device, and the material removing and supplementing process is completed on the station turntable, thus saving space, and the whole process is full-automatic without manual intervention, thus greatly improving the automation degree.
Description
Technical Field
The invention relates to the technical field of liquid-moving head processing, in particular to a material removing and supplementing control method of an intelligent liquid-moving head production line system.
Background
The pipetting head is a consumable material with large usage amount in the fields of medical treatment, biology, chemistry and the like, and is matched with a pipetting gun to play a role in quantitatively measuring liquid.
In the prior art, the production of the liquid-transferring head mostly adopts an injection molding process, the material placing and the detection are required before the line-discharging and boxing, the tray is removed from the unqualified product at the material removing station, and the tray is not full under the condition of removing the unqualified product, so that the blank is vacant during the blanking process, the manual material supplement is required, and the time and the labor are wasted.
In addition, the detection mechanism, the material rejecting mechanism and the material supplementing mechanism in the existing equipment are linearly and sequentially arranged on the working platform, so that the whole detection equipment is large in size and occupies more space, and after the material belt is detected and supplemented, the moving distance of the whole material belt is long, so that the material belt moving error is easily caused, and the material rejecting and supplementing precision is insufficient.
Therefore, how to provide a material rejecting and supplementing control method with small occupied space and high automation degree is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of this, the invention provides a material rejecting and supplementing control method for an intelligent production line system of a liquid-moving head, which occupies less space and has high automation degree.
In order to achieve the above purpose, the invention provides the following technical scheme:
a material rejecting and supplementing control method of a liquid-moving head intelligent production line system comprises the following specific steps:
a feeding step, wherein the material enters a feeding station and first data is obtained, wherein the first data is obtained according to a detection station;
a material picking step, namely rotating a station turntable to enter a material picking station, and controlling a manipulator to pick a non-defective product according to the first data;
feeding, namely rotating a station turntable to enter a feeding station, and controlling a manipulator to grab a good product to feed according to second data obtained after the first data is grabbed;
and a discharging step, namely, rotating the station turntable to enter a discharging station for discharging.
Preferably, in the method for controlling material rejecting and supplementing of the intelligent production line system with a liquid-moving head, the first data is obtained, the material to be detected is marked, and the mapping relationship between the detection result and the mark on the material to be detected is determined through detection.
Preferably, in the material picking and supplementing control method of the intelligent production line system with the liquid moving head, in the material picking step, the controller controls the manipulator to pick the material which is represented as a non-good product and corresponds to the label position according to the mapping relation between the obtained detection result and the label on the material to be detected.
Preferably, in the material removing and supplementing control method of the intelligent liquid transfer head production line system, in the material supplementing step, the controller controls the manipulator to grasp a good product in the material supplementing disc to a vacant position in the material disc according to the second data.
Preferably, in the method for controlling a material rejecting and feeding of the intelligent production line system of the pipetting head, the second data is the same as the first data, or the acquired vacancy data.
Preferably, in the method for controlling the material picking and supplementing of the intelligent production line system of the liquid transfer head, the station turntable is driven to rotate by the driving motor; the station turntable is provided with four station trays corresponding to four stations, and the four stations are a feeding station, a material rejecting station, a material supplementing station and a discharging station respectively; the station setting direction does not change, and the station tray is driven to realize station sequence change through rotation.
According to the technical scheme, compared with the prior art, the material picking and supplementing control method of the intelligent production line system of the liquid moving head is provided, the material disc enters the feeding station by utilizing the first data acquired by the detection module, the controller controls the station turntable to rotate to respectively pick, supplement and discharge materials, the whole process utilizes data memory, the material picking and supplementing process is not participated by the detection device and is completed on the station turntable, the space is saved, the whole process is full-automatic, manual intervention is not needed, and the automation degree is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a three-dimensional schematic diagram of a tray filling device of an intelligent production line system of a pipetting head.
FIG. 2 is a three-dimensional schematic view of a feeding cabin of the present invention.
Fig. 3 is a three-dimensional schematic diagram of a first robot according to the present invention.
Fig. 4 is a three-dimensional schematic view of a second robot according to the present invention.
FIG. 5 is a three-dimensional schematic view of a station carousel according to the present invention.
FIG. 6 is a flow chart of a method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a material rejecting and supplementing control method of a liquid-moving head intelligent production line system, which comprises the following specific steps of:
s101, a material loading step, namely, feeding the material into a material loading station and acquiring first data, wherein the first data is acquired according to a detection station;
s102, material picking, namely rotating a station turntable to enter a material picking station, and controlling a manipulator to pick a non-defective product according to first data;
s103, feeding, namely rotating the station turntable to enter a feeding station, and controlling the manipulator to grab a good product to feed according to second data obtained after the first data is grabbed;
s104, a step of discharging, in which the station rotating disc is rotated to enter a discharging station for discharging.
In an embodiment of the invention, the first data is obtained by labeling the material to be detected, and determining the mapping relationship between the detection result and the label on the material to be detected through detection.
For example, 1-96 pipetting heads are arranged on each material tray and are respectively numbered from 1 to 96, and the numbers can be numbered sequentially or by coordinates;
the detection result of the detection module has two conditions of OK and NG, for example, the detection results of the number 1-8 pipetting heads are OK, OK, OK, NG, OK, OK and NG respectively according to the sequence labels; that is, the fourth and eighth samples are non-defective samples;
in an embodiment of the invention, in the material rejecting step, the controller controls the manipulator to grab the material indicated as the non-good product corresponding to the label position according to the mapping relationship between the acquired detection result and the label on the material to be detected.
Further, the manipulator grabs the fourth and eighth materials;
in one embodiment of the invention, in the material supplementing step, the controller controls the mechanical arm to grab the good product in the material supplementing disc to the vacant position in the material disc according to the second data.
In one embodiment of the invention, the second data is the same as the first data, or null data is acquired.
In one embodiment of the invention, the station turntable is driven to rotate by a driving motor; the station turntable is provided with four station trays corresponding to four stations, and the four stations are a feeding station, a material rejecting station, a material supplementing station and a discharging station respectively; the station setting direction does not change, and the station tray is driven to realize station sequence change through rotation.
In another embodiment, as shown in the attached drawings, the material rejecting device of the present invention comprises a material supplementing bin 3, a first manipulator 1 and a second manipulator 2; the material supplementing bin 3, the first manipulator 1 and the second manipulator 2 are fixedly connected with a bottom plate of the main body frame 5 and are close to the material supplementing station 43;
the feeding bin 3 comprises a fixed support 31, and the fixed support 31 is fixedly connected with the bottom plate of the main body frame 5; one end of the fixed support 31 is positioned under the first manipulator 1, and the other end is positioned under the second manipulator 2; the fixed bracket 31 is provided with a rodless cylinder 32; a first rotary cylinder 33 is arranged on the motion device of the rodless cylinder 32, and a feed supplement tray 34 for placing a liquid transfer head is arranged on the working part of the first rotary cylinder 33;
the first manipulator 1 comprises a first support 11, and the top end of the first support 11 is fixedly connected with one end of an X-axis motion system 12; a Y-axis motion system 13 is arranged below the X-axis motion system 12; a Z-axis working system 14 is arranged below the Y-axis motion system 13; the first manipulator 1 is used for placing a liquid-transferring head of the material supplementing bin 3 at the material shortage position of the material supplementing station 43;
the second manipulator 2 comprises a second support column 21, and the top end of the second support column 21 is fixedly connected with one end of a moving device 22; the second support 21 has the same structure and function as the first support 11, and the moving device 22 has the same structure and function as the X-axis moving system 12; the moving device 22 is provided with a material taking and placing device 23; the second manipulator 2 is used for placing the material of the blanking station 44 in the feeding bin 3 or the blanking tray.
The feed tray 34 is provided with a plurality of accommodating holes for accommodating pipetting heads.
The X-axis motion system 12 includes a beam 128, one end of the beam 128 is fixedly connected to the first support 11 and is provided with a servo motor 121, and the output end of the servo motor 121 is provided with a synchronous pulley 122; the other end of the beam 128 is provided with a driven wheel 127; the synchronous pulley 122 is connected with the driven pulley 127 through a synchronous belt 123 to realize transmission; a fixing device is arranged on the synchronous belt 123 and fixedly connected with the sliding plate 125; a plurality of sliding blocks 126 are arranged on the sliding plate 125, sliding rails 124 are connected in the sliding blocks 126 in a sliding manner, and the sliding rails 124 are fixedly connected with one side of a cross beam 128; the bottom of the slide 125 is fixedly connected to the Y-axis motion system 13.
The Y-axis motion system 13 is a linear sliding table electric cylinder which is fixedly connected with the bottom of the sliding plate; and the sliding table of the linear sliding table electric cylinder is fixedly connected with the Z-axis working system 14.
The Z-axis working system comprises a second rotary cylinder 141, a first push rod cylinder 142 and a material suction head 143; the second rotary cylinder 141 is fixedly connected with a sliding table of the linear sliding table electric cylinder, the working part of the second rotary cylinder 141 is fixedly connected with the first push rod cylinder 142, and the working part of the first push rod cylinder 142 is fixedly connected with the material suction head 143; the material suction head 143 is used to suck the pipetting head.
The material taking and placing device 23 comprises a second push rod cylinder 231 and a material sucking disc 232, the second push rod cylinder 231 is connected with the moving device 22, the working part of the second push rod cylinder 231 is fixedly connected with the material sucking disc 232, and the material sucking disc 232 is used for sucking the liquid moving head.
In order to better embody the using effect of the invention, the invention provides a structural drawing of the station turntable 4, as shown in fig. 5, the station turntable 4 comprises a support frame 48, a driving motor 47 is arranged on the support frame 48, the driving motor 47 is used for driving a rotating disc 45 to rotate, four station trays 46 are arranged on the rotating disc 45, the four stations correspond to the four stations, and the four stations are a feeding station 41, a material rejecting station 42, a material supplementing station 43 and a blanking station 44 respectively; the station setting direction is not changed, and the station tray 46 is driven to realize station sequence change through the rotation of the rotating disc 45.
The working principle of the invention is as follows: after the feeding station feeds materials, the feeding station rotates to a material lifting station, the material rejecting station rejects unqualified products, meanwhile, rejection data are recorded, the rejection data are transmitted to a material supplementing station, the feeding station rotates to the material supplementing station, material supplementing is carried out according to the rejection data, the materials are sucked from a material supplementing bin through a first manipulator and placed on a station tray, and material supplementing is achieved; and simultaneously, the feeding station records the data grabbed from the feeding bin. When the materials are fed into the material feeding bin, the material feeding tray moves to the other end, the materials are sucked from the discharging station through the second mechanical arm and placed on the material feeding tray, and the material feeding tray returns to reset. When the material supplementing tray does not need materials, the second mechanical arm moves the materials of the blanking station to the blanking tray (not shown).
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A material rejecting and supplementing control method of a liquid-moving head intelligent production line system is characterized by comprising the following specific steps:
a feeding step, wherein the material enters a feeding station and first data is obtained, wherein the first data is obtained according to a detection station;
a material picking step, namely rotating a station turntable to enter a material picking station, and controlling a manipulator to pick a non-defective product according to the first data;
feeding, namely rotating a station turntable to enter a feeding station, and controlling a manipulator to grab a good product to feed according to second data obtained after the first data is grabbed;
and a discharging step, namely, rotating the station turntable to enter a discharging station for discharging.
2. The picking and feeding control method of the intelligent production line system with pipetting head as recited in claim 1, wherein the first data is obtained, the material to be detected is labeled, and the mapping relationship between the detection result and the label on the material to be detected is determined through detection.
3. The method for controlling material rejecting and feeding of an intelligent production line system of a pipetting head as recited in claim 1, wherein in the step of material rejecting, the controller controls the manipulator to grab the material indicated as a non-good product at the position corresponding to the label according to the mapping relationship between the obtained detection result and the label on the material to be tested.
4. The picking and feeding control method of the intelligent production line system with the pipetting head as recited in claim 1, wherein in the feeding step, the controller controls the manipulator to pick a good product in the feeding tray to a vacant position in the material tray according to the second data.
5. The picking material control method of the intelligent production line system of pipetting head as recited in claim 4, wherein the second data is the same as the first data or the acquired vacancy data.
6. The picking material control method of the intelligent production line system of pipetting heads as recited in claim 1, wherein the station turntable is driven to rotate by a driving motor; the station turntable is provided with four station trays corresponding to four stations, and the four stations are a feeding station, a material rejecting station, a material supplementing station and a discharging station respectively; the station setting direction does not change, and the station tray is driven to realize station sequence change through rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110201460.0A CN112974276A (en) | 2021-02-23 | 2021-02-23 | Material removing and supplementing control method of intelligent production line system of liquid transfer head |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110201460.0A CN112974276A (en) | 2021-02-23 | 2021-02-23 | Material removing and supplementing control method of intelligent production line system of liquid transfer head |
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| CN112974276A true CN112974276A (en) | 2021-06-18 |
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| CN202110201460.0A Pending CN112974276A (en) | 2021-02-23 | 2021-02-23 | Material removing and supplementing control method of intelligent production line system of liquid transfer head |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113385437A (en) * | 2021-06-24 | 2021-09-14 | 国能铁路装备有限责任公司 | Brake valve spring detection sorting system and sorting method |
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| CN104275946A (en) * | 2013-07-10 | 2015-01-14 | 富翔精密工业(昆山)有限公司 | Marking device |
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