CN113443227A

CN113443227A - Chess packaging system and chess packaging method

Info

Publication number: CN113443227A
Application number: CN202110714628.8A
Authority: CN
Inventors: 来建良; 吴有特; 谢江生; 侯高强; 潘利杰
Original assignee: Hangzhou Smart Technology Co ltd
Current assignee: Hangzhou Smart Technology Co ltd
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2021-09-28
Anticipated expiration: 2041-06-25
Also published as: CN113443227B

Abstract

The invention relates to a chess packaging system and a chess packaging method. The chess container system comprises a chess piece conveying device, a loading device, a sorting device and a transfer device; the feeding device comprises a feeding mechanism and a detection mechanism which are arranged at the input end of the chess piece conveying device, and the detection mechanism comprises an image identification component facing the chess piece conveying device; the sorting device comprises a guide mechanism arranged on the chess piece conveying device and a sorting mechanism movably arranged on the guide mechanism, the guide mechanism is provided with a plurality of cache channels, and the cache channels are communicated with one end of the guide mechanism close to the feeding device and one end of the guide mechanism close to the transferring device; the sorting mechanism can drive the chessmen to enter each cache channel; move and carry the device including set up in move the mechanism and follow-up install in moving the pick-up mechanism who carries the mechanism of carrying of piece conveyor output, move and carry the mechanism and can drive and pick up the mechanism reciprocating motion between sorting device and chess box to shift the chess piece to the chess box through picking up the mechanism.

Description

Chess packaging system and chess packaging method

Technical Field

The invention relates to the technical field of automatic conveying and packaging, in particular to a chess packaging system and a chess packaging method.

Background

In the packaging work of chess, it is a time-consuming and tedious work to carry, detect, sort, classify and concentrate dress box to the piece, because the restriction of cost constraint and factors such as operating efficiency inefficiency, traditional manpower has been difficult to be competent in above-mentioned collection dress work.

Taking a chess as an example, the total number of the chess pieces, the colors of the chess pieces, the word patterns of the chess pieces and the number of various chess pieces in a pair of chess pieces are determined, which means that the packaging operation of the chess is not limited to loading the chess pieces into a chess box, but the word patterns, the colors and the number of the chess pieces are required to be identified, detected and counted in advance before the chess pieces are loaded into the box, and then the chess pieces are loaded into the box according to the number requirements of the various chess pieces so as to ensure that the number and the colors of the various chess pieces meet the requirements, and avoid the repetition of the word patterns of the chess pieces or the loss of the chess pieces.

Therefore, how to more efficiently complete the chess boxing operation, save the labor cost, reduce the time consumption of the operation and the boxing error rate is a problem to be solved urgently at present.

Disclosure of Invention

In view of the above, the present invention provides a chess packaging system and a chess packaging method.

The chess container system comprises a feeding device, a sorting device, a transfer device and a chess piece conveying device, wherein the feeding device, the sorting device and the transfer device are sequentially arranged along the conveying direction of the chess piece conveying device; the feeding device comprises a feeding mechanism and a detection mechanism, the feeding mechanism is arranged at the input end of the chess piece conveying device, the detection mechanism comprises an image recognition component arranged towards the chess piece conveying device, and the image recognition component is used for shooting the chess pieces and recognizing the characters and/or colors of the chess pieces;

the sorting device comprises a guide mechanism and a sorting mechanism, the guide mechanism is arranged on the chess piece conveying device and is provided with a plurality of cache channels, and the cache channels are communicated with one end of the guide mechanism close to the feeding device and one end of the guide mechanism close to the transferring device and are used for accommodating the chess pieces in groups; the sorting mechanism is movably arranged on the guide mechanism and can drive the chesses to enter each cache channel;

move and carry the device and include picking up the mechanism and move the mechanism that moves, pick up the mechanism follow-up and install in moving and carry the mechanism, move and carry the mechanism and set up in piece conveyor's output, can drive and pick up the mechanism reciprocating motion between sorting device and chess box to shift the chess piece to the chess box through picking up the mechanism.

The chess packaging system provided by the invention completes the work of loading, detecting, transporting, sorting, classifying and caching and centralized boxing of the chess pieces through the loading device, the sorting device and the transfer device respectively, and realizes large-batch, automatic and standardized packaging of the chess pieces. Compared with the traditional manual sorting and packaging operation, the chess packaging system provided by the invention reduces the labor and time cost, improves the packaging operation efficiency and the chess packaging accuracy, can avoid the phenomenon that workers cannot concentrate on boxing due to long-time work, can further prevent the bad conditions of chess piece loss or repetition, and is beneficial to improving the product qualification rate of the chess.

In one embodiment, the feeding mechanism comprises a chess piece accommodating component and a discharging component which are movably connected, the chess piece conveying device comprises a first conveying part connected with the chess piece accommodating component, and one side of the chess piece accommodating component, which is connected with the first conveying part, is correspondingly provided with a discharging opening; the width dimension of bin outlet and the width dimension looks adaptation of first conveying part, row's material subassembly can be for bin outlet reciprocating motion to the repeated piece that drives reachs first conveying part through the bin outlet one by one.

So set up, feed mechanism can discharge the piece one by one and carry to sorting device, is favorable to realizing the orderliness of piece letter sorting and buffer memory, avoids the piece to pile up and then causes the piece to fall, block up piece conveyor or sorting device, guarantees that the transport of piece and detection achievement go on smoothly and can not unexpected the interrupt.

In one embodiment, the detection mechanism further comprises a size detection assembly, and the size detection assembly and the image recognition assembly are arranged along the conveying direction and used for detecting the external dimensions of the chess pieces.

So set up, detection mechanism can detect out the unqualified piece of shape or size.

In one embodiment, the feeding device further comprises a material turning mechanism, the material turning mechanism comprises a supporting component, a rotating component and a clamping component, the rotating component is mounted on the supporting component, and the clamping component is mounted on the rotating component in a follow-up manner; when the image recognition component shoots the back of the chess piece, the material turning mechanism can pick up the chess piece through the clamping component and drive the clamping component and the chess piece to rotate through the rotating component, so that the image recognition component shoots the front of the chess piece and obtains the image information of the chess piece.

So set up, the stirring mechanism can in time overturn the piece so that the image recognition subassembly obtains the typeface and/or the colour and/or the appearance defect condition of every piece that passes through, prevents to appear the condition of lou examining the piece to avoid bad piece to be packed into the chess box better, be favorable to guaranteeing the product percent of pass of chess utensil.

In one embodiment, a plurality of the buffer channels are arranged along the width direction of the chess piece conveying device, and each buffer channel comprises a sorting area relatively close to the feeding device and a buffer area relatively close to the transferring device; any two adjacent sorting areas are communicated with each other, and any two adjacent cache areas are separated from each other;

the sorting mechanism comprises sorting components which are suspended relative to the guide mechanism, and each sorting component corresponds to one cache channel; the sorting assembly has a guiding state and a releasing state during sorting;

when the sorting assembly is in a guiding state, the sorting assembly extends into the sorting area of the cache channel corresponding to the sorting assembly so as to guide the chessmen to enter the sorting area of another cache channel adjacent to the cache channel from the sorting area; when the sorting assembly is in a release state, the sorting assembly exits from the sorting area of the corresponding cache channel so as to enable the chess pieces to move along the conveying direction.

So set up, select separately the subassembly and can be according to the typeface and/or the colour of piece, pertinence switches between direction state and clearance state to in with the piece direction with shunting to different buffer memory passageways, so that the piece can neatly, orderly according to colour, typeface or affiliated grouping distribution in specific buffer memory passageway, so that follow-up packing into the box to the piece.

In one embodiment, the plurality of buffer lanes are divided into two groups along a width of the pawn conveyor, and the sorting mechanism comprises a first sorting assembly;

one group of the cache channels comprises a first cache channel, the other group of the cache channels comprises a second cache channel, and the first cache channel and the second cache channel are arranged adjacently;

the first sorting component is suspended in the sorting area of the first cache channel so as to guide the chess pieces to enter the second cache channel when the first sorting component is in a guiding state, or allow the chess pieces to move along the first cache channel when the first sorting component is in a releasing state; or

The first sorting assembly is suspended in the sorting area of the second cache channel to guide the chess pieces into the first cache channel when the first sorting assembly is in a guiding state, or to allow the chess pieces to move along the second cache channel when the first sorting assembly is in a releasing state.

So set up, first sorting subassembly can lead mixed and disorderly unordered piece respectively and shunt to two sets of buffer memory passageways in to the completion is to the first work of selecting separately of piece, can reduce the consuming time of selecting separately the piece.

In one embodiment, the number of the buffer channels is four, and the four sorting areas sequentially form a first sorting channel, a second sorting channel, a third sorting channel and a fourth sorting channel in the width direction of the chess piece conveying device, wherein the first buffer channel comprises the second sorting channel, and the second buffer channel comprises the third sorting channel;

the sorting mechanism further comprises a second sorting component and a third sorting component, the second sorting component and the third sorting component are positioned on one side, relatively far away from the feeding device, of the first sorting component and respectively correspond to the second sorting channel and the third sorting channel, so that the second sorting component or the third sorting component can sort the chess pieces again after the chess pieces are sorted by the first sorting component;

when the second sorting component sorts the pieces, the second sorting component extends into the second sorting channel under a guiding state so as to guide the pieces to enter the first sorting channel from the second sorting channel; or when the second sorting component is in a release state, allowing the chessmen to enter a cache region directly communicated with the second sorting channel;

when the third sorting component sorts the chess pieces, the third sorting component extends into the third sorting channel under a guiding state so as to guide the chess pieces to enter the fourth sorting channel from the third sorting channel; or when the third sorting component is in a release state, allowing the chessmen to enter a buffer area directly communicated with the third sorting channel.

According to the arrangement, the first sorting component, the second sorting component and the third sorting component are matched in a cooperative mode, and disordered chessmen are scattered into different sorting channels in a tidy and orderly mode according to the requirement of putting the disordered chessmen into a box; on the basis that the first sorting component sorts the chess pieces for the first time, the second sorting component sorts one part of the chess pieces sorted by the first sorting component for the second time between two sorting areas of one group of cache channels, namely between the first sorting channel and the second sorting channel, and the third sorting component sorts the other part of the chess pieces sorted by the second sorting component for the second time between two sorting areas of the other group of cache channels, namely between the third sorting channel and the fourth sorting channel.

In one embodiment, the first sorting module, the second sorting module and the third sorting module are respectively provided with guide surfaces which are obliquely arranged relative to the conveying direction;

the guide mechanism comprises a middle barrier piece, a first barrier piece and a second barrier piece which extend along the conveying direction, and the first barrier piece and the second barrier piece are respectively positioned at two sides of the middle barrier piece;

the second gate dividing channel is positioned between the first barrier and the middle barrier, the third gate dividing channel is positioned between the second barrier and the middle barrier, the first gate dividing channel is positioned on one side of the first barrier relatively far away from the middle barrier, and the fourth gate dividing channel is positioned on one side of the second barrier relatively far away from the middle barrier;

the middle separating piece is provided with a first communicating hole, the first separating piece and the second separating piece are respectively provided with a second communicating hole and a third communicating hole, the guide surface of the first separating assembly faces the first communicating hole and the feeding device, the guide surface of the second separating assembly faces the second communicating hole and the feeding device, and the guide surface of the third separating assembly faces the third communicating hole and the feeding device.

By the arrangement, the guide device is simple in structure, easy to obtain and convenient to assemble; the sorting component is matched with the first communicating hole, the second communicating hole and the third communicating hole in a cooperative manner, when the chess pieces move to the position contacting with the guide surface, the sorting component can switch between the guide state and the release state by controlling and changing the position of the guide surface relative to the sorting area, so that the moving direction of the chess pieces is changed or continuously maintained; the guide surface is obliquely arranged relative to the conveying direction, so that a better guiding effect can be achieved, the guide surface and the outer circular surface of the chess pieces can roll conveniently, the chess pieces can be guided to other sorting areas as soon as possible, and the chess pieces are prevented from being blocked in the sorting areas.

In one embodiment, the number of the cache channels is N, the sorting mechanism comprises N-1 sorting assemblies, the N-1 sorting assemblies are in one-to-one correspondence with the N-1 cache channels, and N is an integer greater than 2; in the width direction of the chess piece conveying device, the distance between the sorting component and the feeding device is changed in an increasing trend; the rest of the cache channels are arranged adjacent to the cache channel corresponding to the one of the sorting assemblies which is farthest from the feeding device; the chess piece conveying device comprises a first conveying part, one end of the first conveying part is connected to the feeding device, and the other end of the first conveying part extends to a cache channel corresponding to the closest one of the sorting assemblies to the feeding device.

So set up, sorting assembly's the form of arranging is more various, can arrange the relative position between rule and the guider according to the difference to different control program, except that the piece that continues along direction of delivery motion, other pieces get into next sorting district step by step along piece conveyor's width direction in, until sorting assembly in the sorting district switches to the state of letting pass.

In one embodiment, the transfer mechanism comprises a first sliding unit, a second sliding unit and a lifting unit, wherein the first sliding unit is fixed relative to the chess piece conveying device and is provided with a first horizontal sliding rail; the second sliding unit is in sliding fit with the first horizontal sliding rail and is provided with a second horizontal sliding rail, and the first horizontal sliding rail and the second horizontal sliding rail form an angle with each other; the lifting unit comprises a translation assembly and a telescopic assembly, the translation assembly is in sliding fit with the second horizontal slide rail and is provided with a first vertical slide rail, and the telescopic assembly is in sliding fit with the first vertical slide rail; the picking mechanism is arranged at one end of the telescopic assembly, which is relatively close to the ground.

So set up, pick up the degree of freedom that the mechanism has removal on mutually perpendicular's three direction, consequently move and carry the mechanism and can drive and pick up the mechanism and move in the rectangle space range that first horizontal slide rail length, second horizontal slide rail length and first vertical slide rail length injectd jointly, improved the flexibility of picking up the mechanism motion to make move and carry the device and all transport the chess piece in the different buffer memory passageways to the chess box.

In one embodiment, the picking mechanism comprises a pneumatic control assembly and a chess piece picking assembly, the pneumatic control assembly is connected with the chess piece picking assembly, and the chess container system further comprises a bearing device for bearing the chess box; move and carry mechanism and can drive the piece and pick up subassembly reciprocating motion between sorting device and load-bearing device, the piece picks up the subassembly and includes first sucking disc and/or first centre gripping unit.

So set up, pick up the mechanism and can pick up the piece through the mode that pneumatic clamp is tight or the extraction vacuum and inhale tight piece to drive the piece and shift to the chess box on bearing the device from sorting device, consequently pick up the mechanism and can guarantee firmly snatching the piece, reduce the risk that the piece dropped from picking up the mechanism, also eliminated and picked up the risk that the mechanism caused the damage to the piece outside.

In one embodiment, the picking mechanism further comprises a chess box picking assembly, the chess collection system further comprises a bearing device for bearing the chess box and a chess conveying device, and the chess conveying device extends towards the direction far away from the bearing device; move and carry the mechanism and can drive the chess box and pick up the subassembly and carry the device and carry the input end of the chess utensil conveyor reciprocating motion between, the chess box picks up the subassembly and includes second sucking disc and/or second clamping unit.

So set up, when the piece finishes in chess box collection dress, chess box picks up the subassembly and can picks up chess box and transport to chess utensil conveyor from bearing device to follow-up transportation, the stacking to chess utensil are convenient for.

In one embodiment, the chess assembly system further comprises a stacking device and an object placing device, wherein the stacking device comprises a clamping mechanism for clamping the chess, and the stacking device can drive the clamping mechanism to reciprocate between the chess conveying device and the object placing device.

So set up, bunching device can constantly transport the chess utensil that comes from chess utensil conveyor to putting the thing device in order to accomplish putting neatly, orderly to the chess utensil.

In one embodiment, the chess assembly system further comprises a chess box turning device, wherein the chess box turning device comprises a positioning mechanism for fixing a chess box body and a turning mechanism for turning a chess box cover body; the turning mechanism comprises a rotating unit, a third sucking disc and/or a third clamping unit, the rotating unit is installed on the positioning mechanism and is in driving connection with the third sucking disc and/or the third clamping unit, and the chess box turning device can turn over the chess box cover body and cover the chess box body through the third sucking disc and/or the third clamping unit.

So set up, chess utensil collection dress system can be applicable to the collection of flip formula chess box and pack into box use occasion, and after the piece finishes in flip formula chess box collection dress, the chess box turns over to close the device and just can overturn and cover chess box lid and box body to the follow-up operation of transporting of chess box has further improved the degree of automation of chess utensil collection dress system, need not the work of manpower participation lid chess box body and chess box lid.

The invention also provides a chess packaging method, which is implemented by adopting the chess packaging system provided by the invention, and the packaging method comprises the following steps:

putting the chess pieces into a feeding mechanism, and conveying the chess pieces to a chess piece conveying device through the feeding mechanism;

acquiring images of the chess pieces through an image identification component to obtain information of the images of the chess pieces;

the sorting mechanism moves or keeps fixed relative to the guide mechanism according to the information of the images of the chessmen so as to drive the chessmen to enter different cache channels;

the transfer mechanism drives the picking mechanism to move according to the information of the images of the chesses so as to convey the chesses to the chess box from the sorting device.

Compared with the traditional manual sorting and packaging operation, the chess packaging method provided by the invention reduces the labor and time cost, improves the packaging efficiency and the chess packaging accuracy, can avoid the phenomenon that workers cannot concentrate on boxing due to long-time work, can further prevent the bad conditions of missing or repeated chessmen, and is beneficial to improving the product qualification rate of the chess.

In one embodiment, the detection mechanism further comprises a size detection component, and after the step of placing the chess pieces into the feeding mechanism and conveying the chess pieces to the chess piece conveying device through the feeding mechanism, the detection mechanism further comprises the following steps: the size detection component is used for detecting the external dimensions of the chess pieces so as to obtain the size information of the chess pieces.

Drawings

FIG. 1 is a perspective view of a chess assembly system according to an embodiment of the present invention;

FIG. 2 is a perspective view of the chess assembly system of FIG. 1 from a second perspective;

fig. 3 is a schematic perspective view of a loading device in the chess assembly system shown in fig. 1 at a first viewing angle;

FIG. 4 is a schematic perspective view of the loading device shown in FIG. 3 at a second viewing angle;

fig. 5 is a schematic perspective view of the feeding device shown in fig. 3 at a third viewing angle;

fig. 6 is a schematic perspective view of a sorting device in the chess packaging system shown in fig. 1 at a first viewing angle;

fig. 7 is a schematic perspective view of the sorting apparatus shown in fig. 6 at a second viewing angle;

FIG. 8 is an enlarged partial schematic view of the sorting apparatus shown in FIG. 7;

fig. 9 is a schematic perspective view of the sorting apparatus shown in fig. 6 from a third perspective view;

fig. 10 is a schematic perspective view of a transfer device in the chess assembly system shown in fig. 1 at a first viewing angle;

fig. 11 is a schematic perspective view of the transfer device shown in fig. 10 from a second perspective;

fig. 12 is a schematic perspective view of the transfer device shown in fig. 10 from a third perspective;

FIG. 13 is a schematic perspective view of a transporting device of the system for loading pieces of chess set shown in FIG. 1;

fig. 14 is a schematic perspective view of a stacking device and a placement device in the chess packaging system shown in fig. 1.

Description of reference numerals:

100. a chess packaging system; 10. a feeding device; 11. a feeding mechanism; 111. a chess piece accommodating component; 121. an image recognition component; 122. a size detection assembly; 14. a material turning mechanism; 141. a support assembly; 142. a rotating assembly; 143. a clamping assembly; 20. a sorting device; 21. a guide mechanism; 211. caching a channel; 2111. a first sorting channel; 2112. a second sorting channel; 2113. a third sorting channel; 2114. a fourth sort channel; 212. sorting the areas; 213. a buffer area; 22. a sorting mechanism; 221. a first sorting assembly; 222. a second sorting assembly; 223. a third sorting assembly; 2241. a guide surface; 230. a middle barrier; 2301. a first communication hole; 231. a first barrier member; 2311. a second communication hole; 232. a second barrier member; 2321. a third communication hole; 233. a third barrier member; 234. a fourth barrier; 24. fixing a bracket; 30. a transfer device; 31. a first sliding unit; 311. a first horizontal slide rail; 32. a second sliding unit; 321. a second horizontal slide rail; 33. a lifting unit; 331. a translation assembly; 3311. a first vertical slide rail; 332. a telescoping assembly; 34. a pickup mechanism; 341. a pawn pickup assembly; 3411. a first suction cup; 342. a chess box pick-up assembly; 3422. a second clamping unit; 35. a column; 40. a chess piece conveying device; 41. a first conveying section; 411. a first slideway; 412. a second slideway; 42. a second conveying section; 421. a third slideway; 50. a chess conveying device; 60. a stacking device; 70. a placement device; 81. a carrying device; 82. a chess box turning device; 821. a positioning mechanism; 822. a turning-over mechanism; 8221. a rotating unit; 8222. a third suction cup; 83. a weighing unit; 84. a waste recovery assembly; 90. an upper computer; 201. chess pieces; 202. chess boxes; 2021. a chess box body; 2022. a chess box cover body.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 2, fig. 1 is a schematic perspective view of a chess assembly system 100 according to an embodiment of the present invention; fig. 2 is a perspective view of the chess assembly system 100 shown in fig. 1 from a second perspective.

In view of this, the present invention provides a chess assembly system 100 for grouping a plurality of disordered chessmen 201 according to the characters, colors, and numbers of various chessmen 201 and loading the grouped chessmen into a chess box 202 to obtain a complete chess, and finally, it is required to ensure that the colors of the chessmen 201 in the chess box 202 are correct and the number of the chessmen 201 with each character meets the requirements of the chess.

For the sake of descriptive convenience, the following concepts are first explained: the chess box 202 is a containing device which does not contain the chess pieces 201, and the chess tool is a general name of the chess box 202 which contains the chess pieces 201 and the chess pieces 201 inside the chess box 202.

The chess container system 100 provided by the invention comprises a feeding device 10, a sorting device 20, a transferring device 30 and a chess piece conveying device 40, wherein the feeding device 10, the sorting device 20 and the transferring device 30 are sequentially arranged along the conveying direction of the chess piece conveying device 40. The feeding device 10 includes a feeding mechanism 11 and a detecting mechanism, the sorting device 20 includes a guiding mechanism 21 and a sorting mechanism 22, and the transferring device 30 includes a picking mechanism 34 and a transferring mechanism.

Unless otherwise stated, the conveying direction in the following description refers to the direction of the movement of the chess piece conveying device 40 with the animal material; the width direction of the pawn conveyor 40 is perpendicular to the conveying direction and parallel to the horizontal ground.

The structure and principles of the system 100 will be described in detail below with respect to the case of loading the playing pieces 201 into boxes, but other types of loading the playing pieces 201 into boxes will not be described in detail.

Referring to fig. 3 to 5, fig. 3 is a schematic perspective view of a loading device 10 of the chess assembly system 100 shown in fig. 1 at a first viewing angle; fig. 4 is a schematic perspective view of the feeding device 10 shown in fig. 3 at a second viewing angle; fig. 5 is a schematic perspective view of the feeding device 10 shown in fig. 3 in a third viewing angle.

In one embodiment, the feeding mechanism 11 is disposed at an input end of the chess piece conveying device 40 and is used for accommodating the chess pieces 201 and further discharging and conveying the chess pieces 201 inside one by one to the chess piece conveying device 40; the detection mechanism comprises an image recognition component 121 arranged towards the chess piece conveying device 40, and the image recognition component 121 is used for shooting the passing chess piece 201 and recognizing the character/character color/appearance defect of the chess piece 201; the image recognition component 121 specifically includes an industrial camera and a light supplement element for illuminating the pawn 201.

In addition, the image recognition component 121 can also communicate with a control program of the chess assembly system 100, and the control program can mark and track the chess pieces 201 with abnormal typeface/typeface color/appearance.

Specifically, the feeding mechanism 11 includes a movably connected chess piece accommodating component 111 and a discharging component (not shown), the chess piece conveying device 40 includes a first conveying part 41 and a second conveying part 42 sequentially arranged along the conveying direction, and the chess piece accommodating component 111 is connected with the input end of the first conveying part 41 and is correspondingly provided with a discharging opening.

The width dimension of the discharge opening is matched with the width dimension of the first conveying part 41, and the discharge assembly can reciprocate relative to the discharge opening to drive the chess pieces 201 to pass through the discharge opening one by one to reach the first conveying part 41, and the process can be repeated.

Preferably, an annular or cylindrical accommodating space is formed in the chess piece accommodating component 111, one end of the discharging component is rotatably connected to the chess piece accommodating component 111 and forms a connecting end, and the other end of the discharging component protrudes along the radial direction of the annular or cylindrical accommodating space and forms a discharging end; the discharge opening is opened at the side wall of the chess piece accommodating component 111.

The discharge assembly can rotate around the axis of annular or cylindrical containing space for the chess piece containing assembly 111 through the connecting end, and the tangential that the discharge end contained the 111 lateral wall of assembly is close to the bin outlet along the chess piece to discharge chess piece 201 from the bin outlet, treat that last chess piece 201 discharges the back that finishes, the discharge assembly drives the tangential that the discharge end contained the 111 lateral wall of assembly along the chess piece and keeps away from the bin outlet, thereby continue to discharge other chess pieces 201.

Of course, in other embodiments, the loading mechanism 11 may also convey the pawn 201 to the pawn conveying device 40 by other manners, for example, the pawn accommodating component 111 may discharge the pawn 201 by a centrifugal rotation manner, and is not limited to the above embodiments.

In order to increase the discharging rate of the chess pieces 201 from the discharge opening to the chess piece conveying device 40, a first slideway 411 is further arranged between the first conveying part 41 and the chess piece accommodating component 111, one end of the first slideway 411 extends towards the discharge opening, and the other end is connected with the input end of the first conveying part 41; the bottom wall of the pawn accommodation component 111 is higher than the first conveying part 41, so that the height of the first slideway 411 in the vertical direction is higher than that of the end of the first slideway 411 connected with the first conveying part 41, which is relatively close to the discharge opening; the width dimension of the first chute 411 is adapted to the width dimension of the discharge opening.

In order to improve the efficiency of conveying the chess pieces 201 from the first conveying part 41 to the second conveying part 42 and prevent the chess pieces 201 from blocking the chess piece conveying device 40, a second slideway 412 is arranged between the first conveying part 41 and the second conveying part 42; the first conveying part 41 is higher in height in the vertical direction than the second conveying part 42, so that the end of the second slide 412 relatively close to the first conveying part 41 is higher in height in the vertical direction than the end of the second slide 412 relatively close to the second conveying part 42; the width dimension of the second chute 412 is matched with the width dimension of the discharge opening/the dimension of the chess pieces 201, and the chess pieces 201 can be conveyed to the second conveying part 42 one by one.

In the present embodiment, the conveying directions of the first conveying part 41 and the second conveying part 42 are the same, that is, the width directions thereof are the same; first conveying part 41, second conveying part 42 all adopt the form of motor drive and belt drive mechanism combination to form, have the advantage that the transmission is stable, life is of a long time.

It will be appreciated that in other embodiments, the first and

second conveyors

41, 42 may not be distinguished, and the pawn conveyor 40 comprises only one belt drive and one set of motor drive units.

Further, the feeding mechanism 11 further includes a size detection component 122 and a material turning mechanism 14, the size detection component 122 and the image recognition component 121 are arranged along the conveying direction, and include a lifting cylinder and a displacement sensor for detecting the size accuracy of the chess pieces 201 passing through. For example, the axial height of the chess piece 201.

In addition, the size detection component 122 can also communicate with a control program in the chess assembly system 100 to facilitate the control system in marking and tracking the abnormally sized pieces 201.

The turning mechanism 14 comprises a supporting assembly 141 fixedly arranged relative to the chess piece conveying device 40, a rotating assembly 142 mounted on the supporting assembly 141, and a clamping assembly 143 mounted on the rotating assembly 142 in a follow-up manner.

When the image recognition component 121 shoots that the back of the chess piece 201 faces upwards and the front character and the color of the chess piece 201 cannot be shot, the image recognition component 121 communicates with the control program, the control program sends out a control signal to control the material turning mechanism 14 to operate, at this time, the clamping component 143 picks up the chess piece 201, the rotating component 142 rotates relative to the supporting component 141 and drives the clamping component 143 to rotate synchronously with the chess piece 201, and therefore the chess piece 201 is turned to face upwards so that the image recognition component 121 shoots the chess piece 201 again and obtains the front image information of the chess piece 201.

In order to avoid the interference between the material turning mechanism 14 and the first conveying part 41, the supporting assembly 141 includes a jacking unit which can move telescopically in the vertical direction and drive the rotating assembly 142 and the clamping assembly 143 to move up and down, so as to change the gap between the clamping assembly 143 and the first conveying part 41.

Referring to fig. 6 to 9, fig. 6 is a schematic perspective view of the sorting device 20 in the chess assembly system 100 shown in fig. 1 at a first viewing angle; fig. 7 is a schematic perspective view of the sorting apparatus 20 shown in fig. 6 at a second viewing angle; fig. 8 is an enlarged partial schematic view of the sorting apparatus 20 shown in fig. 7; fig. 9 is a schematic perspective view of the sorting apparatus 20 shown in fig. 6 from a third perspective.

In one embodiment, the sorting device 20 is mounted on the second conveyor 42, and the plurality of buffer passages 211 formed by the guiding mechanism 21 on the second conveyor 42 are arranged along the width direction of the pawn conveyor 40, i.e. along the width direction of the second conveyor 42.

Each buffer passage 211 includes a sorting area 212 relatively close to the loading device 10/first conveyance part 41, and a buffer area 213 relatively close to the transfer device 30. Therefore, a plurality of sorting sections 212 arranged in sequence and a plurality of buffer sections 213 arranged in sequence are formed in the width direction of the second conveying section 42. In these sorting sections 212 and buffer sections 213, any two adjacent sorting sections 212 communicate with each other, and any two adjacent buffer sections 213 are separated from each other.

Specifically, in the present embodiment, the number of the buffer passages 211, the sorting area 212, and the buffer area 213 is four, and four buffer passages 211 are arranged in parallel in the width direction of the second conveying section 42. The guide mechanism 21 includes a middle barrier 230 extending in the conveying direction of the second conveying portion 42, a first barrier 231 and a second barrier 232 located on both sides of the middle barrier 230, a third barrier 233 located on a side of the first barrier 231 opposite to the middle barrier 230, and a fourth barrier 234 located on a side of the second barrier 232 opposite to the middle barrier 230.

It should be noted that the provision of four buffer lanes 211 arranged in parallel on the second conveying section 42 is only one suitable for chess packaging. In other embodiments, the number of buffer channels 211 is not limited to four, for example, for weiqi or gobang, at least two buffer channels 211 may be provided, and the buffer channels may be sorted according to the colors of the playing pieces 201 and assembled into different boxes 202.

The four sorting areas 212 sequentially form a first branch gate 2111, a second branch gate 2112, a third branch gate 2113, and a fourth branch gate 2114 in the width direction of the second conveying portion 42, the first branch gate 2111 is located between the first barrier 231 and the third barrier 233, the second branch gate 2112 is located between the first barrier 231 and the middle barrier 230, the third branch gate 2113 is located between the second barrier 232 and the middle barrier 230, and the fourth branch gate 2114 is located between the second barrier 232 and the fourth barrier 234.

It is understood that, in other embodiments, the guide mechanism 21 may not include the third barrier 233 and the fourth barrier 234, the third barrier 233 and the fourth barrier 234 may be replaced by side rails or side plates on both sides of the second conveying portion 42, and the first barrier 231 and the second barrier 232 are respectively enclosed to form the first branch passage 2111 and the second branch passage 2112, and the arrangement of the four sorting areas 212 in the width direction of the second conveying portion 42 may also be realized.

In this embodiment, the middle barrier 230 is opened with a first communication hole 2301 so that the second and third

divided channels

2112 and 2113 communicate with each other, the first and

second barriers

231 and 232 are opened with a second and

third communication holes

2311 and 2321 respectively so that the first and second divided

channels

2111 and 2112 communicate with each other through the second communication hole 2311, and the third and fourth divided

channels

2113 and 2114 communicate with each other through the third communication hole 2321.

Specifically, the distance from the first communication hole 2301 to the loading device 10 is smaller than the distance from the second communication hole 2311 to the loading device 10, and is also smaller than the distance from the third communication hole 2321 to the loading device 10.

The four buffer passages 211 are divided into two groups in the width direction of the second conveying section 42:

the buffer channel 211 located between the third barrier 233 and the first barrier 231 and including the first branch channel 2111, and the buffer channel 211 located between the first barrier 231 and the middle barrier 230 and including the second branch channel 2112 are used as a first group; the buffer channels 211 located between the second barrier 232 and the middle barrier 230 and including the third branch gate 2113, and the buffer channels 211 located between the second barrier 232 and the fourth barrier 234 and including the fourth branch gate 2114 are taken as a second group.

The first set of cache channels 211 comprises a first cache channel and the second set of cache channels comprises a second cache channel. Specifically, the first cache channel is the cache channel 211 including the second branch gate 2112, and the second cache channel is the cache channel 211 including the third branch gate 2113, that is, the first cache channel and the second cache channel are disposed adjacent to each other.

Taking the container chess as an example, in one embodiment, two sets of buffer channels 211 are respectively used for buffering two pieces of chess 201, that is, two buffer areas 213 in the first set of buffer channels 211 are respectively used for buffering the red chess and the black chess of the first secondary chess, and two buffer areas 213 in the second set of buffer channels 211 are respectively used for buffering the red chess and the black chess of the second secondary chess.

Of course, in other embodiments, the two sets of buffer channels 211 may buffer the chess pieces 201 according to other manners or rules, the buffered chess pieces are not limited to two sets, and may also be four sets, and one chess piece 201 is buffered in each buffer channel 211.

Further, in correspondence with the four buffer channels 211, the sorting mechanism 22 includes three sorting modules suspended relative to the guide mechanism 21, and each of the three sorting modules corresponds to one buffer channel 211 and has a guiding state and a releasing state. The corresponding buffer channel 211 is that each sorting component is located above one buffer channel 211, and can extend into the buffer channel 211 or exit from the buffer channel 211.

When the sorting element is in the guiding state, the sorting element extends into the sorting area 212 of the corresponding buffer channel 211 to guide the pawn 201 from the sorting area 212 into the sorting area 212 of another buffer channel 211 adjacent to the buffer channel 211; when the sorting element is in the released state, it exits the sorting area 212 of its corresponding buffer channel 211, so that the pawn 201 enters the buffer area 213 in direct communication with said sorting area 212 in the transport direction.

Specifically, the three sorting components are a first sorting component 221, a second sorting component 222, and a third sorting component 223, respectively. In this case, the first sorting assembly 221 extends into the second branch gate 2112 or the third branch gate 2113 in the guide state, and exits from the second branch gate 2112 or the third branch gate 2113 in the release state.

Taking this embodiment as an example, the first sorting assembly 221 is suspended above the second branch gate 2112, and when it extends into the second branch gate 2112, the first sorting assembly 221 blocks the chess pieces 201 in the second branch gate 2112 from moving along the conveying direction, but guides the chess pieces 201 to pass through the first connecting hole 2301 and enter the adjacent second buffer channel in the other group, that is, enter the third branch gate 2113; when its vertical upward movement exits the second branch 2112, the first buffer channel is unblocked, thereby enabling the pawn 201 in the second branch 2112 to move further in the conveying direction.

More specifically, in the present embodiment, an end of the second chute 412 opposite to the end far from the first chute 411 extends toward the second branch chute 2112, that is, the buffer channel 211 communicating with the second chute 412 and the buffer channel 211 corresponding to the first sorting component 221 are the same buffer channel 211.

So arranged, the first sorting component 221 is convenient for sorting the pieces 201 arriving one by one.

Therefore, the first sorting component 221 can perform primary sorting on the chess pieces 201 arriving at the second conveying part 42, the control program performs logic judgment according to the characters/colors of the arriving chess pieces 201, and controls the first sorting component 221 to perform shunting action on the chess pieces 201 according to the logic judgment result, and the primary screening of the chess pieces 201 can be completed by repeating the step, wherein the primary screening result can be that the chess pieces 201 are divided into two pairs and cached in the two cache channels 211 respectively, or the chess pieces 201 are divided into two parts according to colors and cached respectively.

Of course, the first sorting module 221 may be suspended above the third branch channel 2113, and the effect of such an arrangement is the same as that of the embodiment in which the first sorting module 221 is suspended above the second branch channel 2112, and therefore, the detailed description thereof is omitted.

The second sorting assembly 222 is suspended above the second sorting passage 2112 and is located on a side of the first sorting assembly 221 relatively far from the loading device 10. When the second sorting component 222 is switched to the guiding state and extends into the second branch gate 2112, the second sorting component 222 blocks the chess pieces 201 in the second branch gate 2112 from continuing to move along the conveying direction, and guides the chess pieces 201 to pass through the second communication holes 2311 and enter the adjacent and same group of buffer channels 211, namely the first branch gate 2111.

When it moves vertically upwards out of the second partial gate 2112, the buffer channel 211 comprising the second partial gate 2112 is unblocked, so that a pawn 201 in the second partial gate 2112 can be released for further movement in the transport direction and directly into the buffer area 213 in direct communication with the second partial gate 2112.

The third sorting assembly 223 is suspended above the third sorting passage 2113 and is located on a side of the first sorting assembly 221 relatively distant from the loading device 10. When the third sorting element 223 is switched to the guiding state and extends into the third sorting pass 2113, the third sorting element 223 blocks the chess pieces 201 in the third sorting pass 2113 from further moving in the conveying direction, and guides the chess pieces 201 to pass through the third communication hole 2321 and enter the adjacent and same group of buffer channels 211, namely the fourth sorting pass 2114.

When it moves vertically upwards out of the third gate 2113, the buffer passage 211 comprising the third gate 2113 is unblocked, so that the pawn 201 in the third gate 2113 can be released for further movement in the transport direction and directly into the buffer area 213 in direct communication with the third gate 2113.

Thus, the second sorting component 222 and the third sorting component 223 cooperate to perform a second sorting of the initially sorted pawns 201 of the first sorting component 221, such that the pawns 201 in each set of buffer channels 211 are internally guided split between the same set of buffer channels 211.

Furthermore, in the present embodiment, the sorting apparatus 20 further includes a fixing bracket 24 fixed to a side of the guide mechanism 21 relatively far from the second conveying portion 42, and the first sorting unit 221, the second sorting unit 222, and the third sorting unit 223 are respectively fixed to the fixing bracket 24.

The first sorting module 221, the second sorting module 222, and the third sorting module 223 are provided with guide blocks at ends relatively close to the second conveying section 42, the guide blocks are provided with guide surfaces 2241, and the guide surfaces 2241 are arranged obliquely with respect to the conveying direction of the second conveying section 42.

Wherein the guide surface 2241 of the first sorting member 221 faces the first communication hole 2301 and the loading unit 10, the guide surface 2241 of the second sorting member 222 faces the second communication hole 2311 and the loading unit 10, and the guide surface 2241 of the third sorting member 223 faces the third communication hole 2321 and the loading unit 10.

Preferably, the guide surface 2241 of the second sorting assembly 222 and the guide surface 2241 of the third sorting assembly 223 are symmetrically disposed with respect to the middle spacer 230, and the second communication hole 2311 and the third communication hole 2321 are symmetrically disposed with respect to the middle spacer 230; the guide surface 2241 is a plane, and is convenient to contact with an outer circular surface roller of the chess piece 201, so that the chess piece 201 can be shunted to each sorting area 212 at a lower resistance and a higher speed, damage to the surface of the chess piece 201 is avoided, or unsmooth guiding of the chess piece 201 is caused, and the buffer memory channel 211 is blocked.

In one embodiment not shown in the figures, if the number of buffer channels 211 is N, the sorting mechanism 22 includes N-1 sorting modules, where N-1 sorting modules correspond to N-1 buffer channels 211 of the N buffer channels 211 one to one, where N is an integer greater than 2.

In the width direction of the second conveying part 42, the distance between the sorting assembly and the feeding device 10 is in an increasing trend, and the remaining one buffer channel 211 is arranged adjacent to the buffer channel 211 corresponding to the one of the sorting assemblies which is farthest from the feeding device 10; one end of the second slide way 412, which is relatively far away from the first slide way 411, extends to the buffer channel 211 corresponding to the closest one of the sorting assemblies to the feeding device 10.

Due to the arrangement, the arrangement modes of the sorting components are more diversified, and the sorting components are arranged in a diagonal manner relative to the conveying direction; in the above embodiment, the chess pieces 201 can enter the buffer channel 211 corresponding to the closest one of the sorting units to the feeding device 10 through the second slideway 412, and then under the guiding action of the N-1 sorting units, the chess pieces 201 can enter the next sorting area 212 one by one along the width direction of the second conveying part 42.

In one embodiment, the chess piece packaging system 100 further includes a counting device. The counting means may consist of a number of counting sensors, which are in communication with the control program for counting the presence of pawns 201 in the buffer channel 211 and counting the number of pawns 201 in the buffer channel 211. For example, when the counting device detects that the number of the chessmen 201 in each of the two sets of buffer channels 211 reaches the number of the chessmen 201 of one complete chess set, the control program sends out a control signal to control the transfer device 30 to start operation.

It should be noted that, when the number of the buffer channels 211 is two, only one sorting component is needed to complete the guided sorting of the chess pieces 201. At this time, the two buffer channels 211 may buffer the chess pieces 201 of two pairs of chess sets, or buffer the chess pieces 201 of two different colors in the same pair of chess sets, such as go and gobang.

Referring to fig. 10 to 14, fig. 10 is a schematic perspective view of a transfer device 30 in the chess assembly system 100 shown in fig. 1 at a first viewing angle; fig. 11 is a schematic perspective view of the transfer device 30 shown in fig. 10 from a second perspective; fig. 12 is a schematic perspective view of the transfer device 30 shown in fig. 10 from a third perspective; fig. 13 is a schematic perspective view of the chess transport device 50 in the chess packaging system 100 shown in fig. 1; fig. 14 is a schematic perspective view of the stacking device 60 and the placement device 70 in the chess container system 100 shown in fig. 1.

In one embodiment, the transfer mechanism comprises a first sliding unit 31, a second sliding unit 32 and a lifting unit 33, wherein the first sliding unit 31 is fixedly arranged relative to the chess piece conveying device 40 and is provided with a first horizontal slide rail 311; the second sliding unit 32 is slidably engaged with the first horizontal sliding rail 311, and is provided with a second horizontal sliding rail 321, and the second horizontal sliding rail 321 and the first horizontal sliding rail 311 form an angle with each other.

Preferably, the first horizontal sliding rail 311 and the second horizontal sliding rail 321 are perpendicular to each other.

The lifting unit 33 comprises a translation component 331 and a telescopic component 332, wherein the translation component 331 is slidably matched with the second horizontal slide rail 321, and is provided with a first vertical slide rail 3311, and the telescopic component 332 is slidably matched with the first vertical slide rail 3311 and can move in the vertical direction relative to the translation component 331; the pickup mechanism 34 is mounted to the telescoping assembly 332 at an end relatively close to the ground.

Specifically, in the present embodiment, the transferring mechanism further includes a column 35, and the column 35 is fixedly disposed relative to the chess piece conveying device 40 and is used for installing and supporting the first sliding unit 31, the second sliding unit 32 and the lifting unit 33, so that the lifting unit 33 has a height space allowance for movement in the vertical direction.

Preferably, the number of the upright posts 35 is plural and is perpendicular to the horizontal ground, and the first sliding unit 31 and the second sliding unit 32 enclose the upright posts 35 to form a prismatic activity space.

Further, the system for assembling the chessmen 201 further comprises a carrying device 81 for carrying the chess box 202, a chess conveying device 50 for conveying the chess, a storage device 70 for carrying the chess in a centralized manner, and a stacking device 60 for clamping to transfer the chess from the chess conveying device 50 to the storage device 70.

The bearing device 81 is arranged at the bottom of a prismatic movable space formed by enclosing the transfer mechanism and positioned outside the chessman conveying device 40, and the chessman boxes 202 are intensively placed on the bearing device 81 in a manual piece feeding mode; one end of the chess conveying device 50 faces the bearing device 81, and the other end extends in a direction away from the bearing device 81 and close to the object placing device 70; the object placing device 70 is provided with a plurality of object placing spaces for placing the chess pieces in a stacking manner, so that the chess pieces can be stored for a long time; the stacking device 60 includes a clamping mechanism for clamping the chess pieces, and the clamping mechanism can be driven to reciprocate between the chess piece conveying device 50 and the object placing device 70.

In this embodiment, the carrying device 81 includes a plurality of supporting columns, which are arranged to form a carrying area, so that the chess boxes 202 can be stacked in the carrying area; the chess conveying device 50 is realized by combining a motor drive mechanism and a belt transmission mechanism; the stacking device 60 employs a multi-axis robot.

Picking mechanism 34 includes a pneumatic control assembly coupled to pawn picking assembly 341, and pawn picking assembly 341. The transfer mechanism can drive the chess piece picking assembly 341 to reciprocate between the sorting device 20 and the bearing device 81 through the lifting unit 33, so that the sorted chess pieces 201 in the sorting device 20 are continuously loaded into the chess box 202, and a complete chess set is obtained.

In particular, the pawn picking assembly 341 comprises a first suction cup 3411 connected to the pneumatic control assembly, i.e. the picking mechanism 34 sucks the pawn 201 through the first suction cup 3411, thereby achieving the purpose of carrying and transporting the pawn 201. So set up, can avoid causing the damage to the outward appearance of piece 201, prevent that new appearance defect from appearing in piece 201, guarantee the chess utensil quality.

In other embodiments, the pawn picking assembly 341 may also be provided with a first clamping unit, and the pneumatic control assembly controls the way in which the first clamping unit clamps the pawn 201 for transferring.

Further, the picking mechanism 34 further includes a chess box picking assembly 342 connected to the pneumatic control assembly, and the transfer mechanism can drive the chess box picking assembly 342 to reciprocate between the carrying device 81 and the input end of the chess conveying device 50 through the lifting unit 33.

Chess box pickup assembly 342 has two functions: the cover 2022 of the cover-type chess box 202 is picked up and covered to the chess box 2021, and the loaded chess is transferred to the input end of the chess conveying device 50.

Specifically, chess box pickup assembly 342 includes second sucking disc and the second centre gripping unit 3422 of being connected with the pneumatic control subassembly, and the second sucking disc can be used for adsorbing chess box 202 lid, perhaps releases chess box lid 2022 through losing heart in order to cover it to chess box body 2021 on, and second centre gripping unit 3422 is used for the centre gripping chess utensil in order to transport to chess utensil conveyor 50's input.

Of course, in other embodiments, housing pickup assembly 342 may take other forms of construction, such as electrically controlled mechanical jaws; in addition, the second suction cup may not be disposed in the chess box picking assembly 342, and only the second clamping unit 3422 may be disposed to clamp the chess box cover 2022 or the chess set.

In one embodiment, the chess assembly system 100 further includes a chess box flipping mechanism 82, and the chess assembly system 100 provided with chess box flipping mechanism 82 can be adapted to a use scenario in which the chess pieces 201 are loaded into the flip-top chess box 202. The chess box flipping device 82 comprises a positioning mechanism 821 for bearing the flip-type chess box body 2021 and a flipping mechanism 822 for flipping the flip-type chess box cover 2022.

Specifically, the positioning mechanism 821 is mounted on the bearing device 81 and includes a clamping cylinder for applying a clamping force to the chess box body 2021, and the positioning mechanism 821 can prevent the chess box body 2021 from being shaken when the chess box cover 2022 rotates, so as to prevent the chess pieces 201 in the chess box body 2021 from falling; the flipping mechanism 822 includes a rotation unit 8221 and a third suction cup 8222, the rotation unit 8221 is installed on the positioning mechanism 821 and is in driving connection with the third suction cup 8222, and the chess box flipping device 82 can be adsorbed on the outer side surface of the lid 2022 of the flip-type chess box through the third suction cup 8222, so as to flip the lid of the flip-type chess box 202.

In other embodiments, a third clamping unit may be further disposed in the flipping mechanism 822, and the third clamping unit clamps the chess box cover 2022 to achieve flipping and covering, and the third clamping unit may be used alone or cooperatively with the third suction cup 8222.

In one embodiment, the chess assembly system 100 further comprises a waste recovery component 84 for recovering unqualified chessmen 201 which cannot be detected by the detection mechanism in the loading device 10, wherein the reasons for the unqualified chessmen 201 include fuzzy typeface boundaries, color deviation, appearance defects, insufficient dimensional accuracy and the like.

Specifically, in this embodiment, a third slide 421 is disposed at an end of the second conveying portion 42 relatively far from the first conveying portion 41, one end of the third slide 421 extends toward the second conveying portion 42, and the other end is connected to and extends into the scrap collecting unit 84. After the unqualified chess pieces 201 are tracked and marked by the control program, a control signal is sent out, and the unqualified chess pieces 201 are transferred into the third slideway 421 by the transferring device 30.

Preferably, the second conveyor 42 is higher than the scrap collecting unit 84 in the vertical direction, that is, the end of the third chute 421 relatively close to the second conveyor 42 is higher than the end thereof relatively close to the scrap collecting unit 84, so that the pawns 201 can slide into the scrap collecting unit 84 quickly.

In one embodiment, the system 100 further comprises an upper computer 90 for human-computer interaction between the user and the system 100.

In one embodiment, the chess packaging system 100 further includes a weighing unit 83 for weighing the chess pieces. Specifically, the weighing unit 83 is provided on the chess piece conveying device 50.

In the present embodiment, the weighing unit 83 includes a plurality of pressure/weight sensors. It will be appreciated that in other embodiments, the weighing unit 83 may be provided in other configurations, such as a jacking weighing element capable of moving in a vertical direction relative to the playing piece conveyor 50, and weighing may be accomplished by way of jacking playing pieces.

The chess assembly system 100 provided by the invention completes the work of loading, detecting, transporting, sorting, classifying, caching and centralized boxing the chess pieces 201 through the loading device 10, the sorting device 20 and the transferring device 30 respectively, and realizes large-batch, automatic and standardized assembly of chess pieces. Compared with the traditional manual sorting and packaging operation, the chess packaging system 100 provided by the invention reduces the labor and time cost, improves the packaging operation efficiency and the chess packaging accuracy, can avoid the phenomenon that workers cannot concentrate on boxing due to long-time work, further can prevent the defect that the chessmen 201 are lost or repeated, and is beneficial to improving the product qualification rate of the chess.

The invention also provides a chess packaging method adopting the chess packaging system 100, which comprises the following steps:

s1, putting the chess pieces into a feeding mechanism, and conveying the chess pieces to a chess piece conveying device through the feeding mechanism;

s2, acquiring images of the chess pieces through an image recognition component to obtain image information of the chess pieces;

s3, the sorting mechanism moves or keeps fixed relative to the guide mechanism according to the image information of the chessmen so as to drive the chessmen to enter different cache channels;

and S4, the transfer mechanism drives the pickup mechanism to move according to the image information of the chesses so as to convey the chesses to the chess box from the sorting device.

In one embodiment, the detecting mechanism further comprises a size detecting component, and after the chess pieces are placed in the feeding mechanism and are conveyed to the chess piece conveying device by the feeding mechanism in step S1, the method further comprises the following steps:

s11, detecting the shape size of the chess piece through the size detection component to obtain the size information of the chess piece.

Furthermore, the feeding device also comprises a material turning mechanism, the material turning mechanism comprises a supporting component, a rotating component and a clamping component, the rotating component is arranged on the supporting component, and the clamping component is arranged on the rotating component in a follow-up manner; after step S2, acquiring an image of the pawn by the image recognition component to obtain image information of the pawn, the method may further comprise the following steps:

s21, when the image recognition component shoots the back of the chess piece, the chess piece is picked up through the material turning mechanism and is driven to rotate, so that the image recognition component shoots the front of the chess piece and obtains the image information of the chess piece; otherwise, the image recognition component directly obtains the image information of the chess pieces.

Furthermore, the chess piece assembling system also comprises a waste recovery component; step S11, detecting the dimensions of the pawn by the dimension detecting component to obtain the dimension information of the pawn, may include the following steps:

s111, when the size detection component detects that the size of the chess pieces is abnormal, conveying the chess pieces to a waste recovery component through a transfer device; otherwise, the image recognition component shoots and detects the chess pieces.

Step S21, when the image recognition component shoots the back of the chess piece, the chess piece is picked up by the material turning mechanism and is driven to rotate, so that the image recognition component shoots the front of the chess piece and obtains the image information of the chess piece; otherwise, after the image recognition component directly obtains the image information of the chess piece, the method may further include the following steps:

s22, when the image recognition component detects that the image information of the chessmen is abnormal, the chessmen are conveyed to a waste recovery component through a transfer device; otherwise, the chess pieces are conveyed to a sorting device through a chess piece conveying device.

Wherein, the abnormal condition of the image information comprises: the color deviation of the chessmen, the appearance defects of the chessmen and the fuzzy character boundaries of the chessmen.

In one embodiment, a plurality of buffer channels are arranged along the width direction of the chess piece conveying device, and each buffer channel comprises a sorting area relatively close to the feeding device and a buffer area relatively close to the transferring device; any two adjacent sorting areas are communicated with each other, and any two adjacent cache areas are separated from each other; sorting mechanism includes for the sorting subassembly of guiding mechanism suspension establishing, every sorting subassembly all corresponds a buffer memory passageway, sorts the subassembly and has direction state and clearance state.

Step S3, the sorting mechanism moving or keeping fixed relative to the guiding mechanism according to the image information of the chessmen to drive the chessmen to enter different buffer channels, may include the following steps:

s31, the sorting component switches between a guiding state and a releasing state according to the image information of the chess pieces; when the sorting component is in a guiding state, the sorting component extends into the sorting area of the corresponding cache channel so as to guide the chessmen to enter the sorting area of another cache channel adjacent to the cache channel; when the sorting component is in a release state, the sorting component exits the sorting area of the corresponding cache channel so as to enable the chess pieces to move along the conveying direction.

Further, the plurality of buffer memory channels are divided into two groups along the width direction of the chess piece conveying device, and the sorting mechanism comprises a first sorting component.

Step S31, the sorting component switches between the guiding state and the releasing state according to the image information of the chess pieces; when the sorting component is in a guiding state, the sorting component extends into the sorting area of the corresponding cache channel so as to guide the chessmen to enter the sorting area of another cache channel adjacent to the cache channel; the sorting module exits the sorting region of the corresponding buffer channel when in the released state to move the chess pieces along the conveying direction, and the method comprises the following steps:

s311, the first sorting component switches between a guiding state and a releasing state according to the image information of the chess pieces; the first sorting component extends into one of the buffer memory channels when in a guiding state so as to guide the chessmen to enter one of the adjacent buffer memory channels; the first sorting assembly exits one of the set of buffer channels when in the released state to move the playing piece in the conveying direction.

Compared with the traditional manual sorting and packaging operation, the chess packaging method provided by the invention reduces the labor and time cost, improves the packaging efficiency and the chess packaging accuracy, can avoid the phenomenon that workers cannot concentrate on boxing due to long-time work, further can prevent the bad conditions of loss or repetition of the chess pieces 201, and is beneficial to improving the product qualification rate of the chess.

The features of the above-described embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above-described embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.

Claims

1. A chess packaging system is used for grouping chess pieces and packaging the chess pieces into chess boxes and is characterized by comprising a feeding device, a sorting device, a transferring device and a chess piece conveying device, wherein the feeding device, the sorting device and the transferring device are sequentially arranged along the conveying direction of the chess piece conveying device;

the feeding device comprises a feeding mechanism and a detection mechanism, the feeding mechanism is arranged at the input end of the chess piece conveying device, the detection mechanism comprises an image recognition component arranged towards the chess piece conveying device, and the image recognition component is used for shooting the chess pieces and recognizing the characters and/or colors of the chess pieces;

the sorting device comprises a guide mechanism and a sorting mechanism, the guide mechanism is mounted on the chess piece conveying device and is provided with a plurality of cache channels, and the cache channels are communicated with one end of the guide mechanism close to the feeding device and one end of the guide mechanism close to the transferring device and are used for accommodating the chess pieces in groups; the sorting mechanism is movably arranged on the guide mechanism and can drive the chessmen to enter each cache channel;

the moving and carrying device comprises a picking mechanism and a moving and carrying mechanism, the picking mechanism is mounted on the moving and carrying mechanism in a follow-up mode, the moving and carrying mechanism is arranged at the output end of the chess piece conveying device and can drive the picking mechanism to reciprocate between the sorting device and the chess box, and the chess pieces are transferred to the chess box through the picking mechanism.

2. A chess assembly system according to claim 1, wherein a plurality of said buffer storage channels are arranged along the width of said chess piece conveyor, each of said buffer storage channels including a sorting area relatively close to said loading means and a buffer area relatively close to said transfer means; any two adjacent sorting areas are communicated with each other, and any two adjacent cache areas are separated from each other;

when the sorting assembly is in a guiding state, the sorting assembly extends into the corresponding sorting area of the cache channel so as to guide the chessmen to enter the sorting area of another cache channel adjacent to the cache channel from the sorting area;

when the sorting assembly is in a release state, the sorting assembly exits from the corresponding sorting area of the cache channel so as to enable the chess pieces to move along the conveying direction.

3. A chess piece assembly system according to claim 2, wherein said plurality of buffer channels are divided into two groups along the width of said piece conveyor, and said sorting mechanism includes a first sorting assembly;

4. A chess assembly system according to claim 3, characterised in that the number of said buffer channels is four, and four of said sorting sections sequentially form a first sorting channel, a second sorting channel, a third sorting channel and a fourth sorting channel in the width direction of said chess piece conveyor, said first buffer channel including said second sorting channel, said second buffer channel including said third sorting channel;

5. A chess assembly system according to claim 4, characterised in that said first sorting module, said second sorting module and said third sorting module are provided with respective guide surfaces, said guide surfaces being arranged obliquely with respect to said conveying direction;

6. A chess assembly system according to claim 1, wherein said transfer mechanism comprises a first slide unit, a second slide unit and a lifting unit, said first slide unit being fixed relative to said chess piece conveyor and provided with a first horizontal slide rail;

the second sliding unit is in sliding fit with the first horizontal sliding rail and is provided with a second horizontal sliding rail, and the first horizontal sliding rail and the second horizontal sliding rail form an angle with each other;

the lifting unit comprises a translation assembly and a telescopic assembly, the translation assembly is in sliding fit with the second horizontal slide rail and is provided with a first vertical slide rail, and the telescopic assembly is in sliding fit with the first vertical slide rail; the picking mechanism is arranged at one end of the telescopic assembly, which is relatively close to the ground.

7. A chess assembly system as claimed in claim 1, wherein said pick mechanism includes a pneumatic control assembly and a chess piece pick assembly, said pneumatic control assembly being connected to said chess piece pick assembly, said chess assembly system further comprising a carrying means for carrying a chess box;

the transfer mechanism can drive the chess piece picking assembly to reciprocate between the sorting device and the bearing device, and the chess piece picking assembly comprises a first sucking disc and/or a first clamping unit; and/or the presence of a catalyst in the reaction mixture,

the chess assembling system also comprises a chess box turning device, wherein the chess box turning device comprises a positioning mechanism for fixing the chess box body and a turning mechanism for turning the chess box cover body;

the turning mechanism comprises a rotating unit, a third sucking disc and/or a third clamping unit, the rotating unit is installed on the positioning mechanism and is in driving connection with the third sucking disc and/or the third clamping unit, and the chess box turning device can turn over and cover the chess box cover body to the chess box body through the third sucking disc and/or the third clamping unit.

8. The chess packaging system of claim 1, wherein the pick mechanism further comprises a chess box pick assembly, the chess packaging system further comprising a carrier for carrying a chess box and a chess transport device, the chess transport device extending away from the carrier;

the transfer mechanism can drive the chess box picking assembly to reciprocate between the bearing device and the input end of the chess conveying device, and the chess box picking assembly comprises a second sucking disc and/or a second clamping unit;

the chess assembling system further comprises a stacking device and a storage device, wherein the stacking device comprises a clamping mechanism used for clamping chess, and the stacking device can drive the clamping mechanism to reciprocate between the chess conveying device and the storage device.

9. A chess assembly system as claimed in claim 1, wherein said loading mechanism comprises a movably connected chess piece holding component, a discharging component and a size detection component, said chess piece conveying device comprises a first conveying part connected with said chess piece holding component, and a discharging port is correspondingly arranged on one side of said chess piece holding component connected with said first conveying part;

the width dimension of the discharge opening is matched with the width dimension of the first conveying part, and the discharge assembly can reciprocate relative to the discharge opening so as to repeatedly drive the chesses to reach the first conveying part through the discharge opening one by one; the size detection assembly and the image recognition assembly are arranged along the conveying direction and used for detecting the overall size of the chess pieces.

10. A chess packaging system according to claim 9, further comprising a turnover mechanism, said turnover mechanism including a support assembly, a rotation assembly and a clamping assembly, said rotation assembly being mounted to said support assembly, said clamping assembly being mounted to said rotation assembly in a follow-up manner;

when the image recognition component shoots the back of the chess piece, the material turning mechanism can pick up the chess piece through the clamping component and drive the clamping component and the chess piece to rotate through the rotating component, so that the image recognition component shoots the front of the chess piece and obtains the image information of the chess piece.

11. A chess packaging method using the chess packaging system of any one of claims 1 to 10, wherein the packaging method comprises the following steps:

putting the chess pieces into the feeding mechanism, and conveying the chess pieces to the chess piece conveying device through the feeding mechanism;

acquiring images of the chess pieces through the image identification component to obtain information of the images of the chess pieces;

the sorting mechanism moves relative to the guide mechanism or keeps fixed according to the information of the image of the chessman so as to drive the chessman to enter different cache channels;