CN113458009A - Sorting device, sorting system and sorting method for disordered wires - Google Patents
Sorting device, sorting system and sorting method for disordered wires Download PDFInfo
- Publication number
- CN113458009A CN113458009A CN202110753611.3A CN202110753611A CN113458009A CN 113458009 A CN113458009 A CN 113458009A CN 202110753611 A CN202110753611 A CN 202110753611A CN 113458009 A CN113458009 A CN 113458009A
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- wire
- sucker
- disordered
- unordered
- suction cup
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000000994 depressogenic effect Effects 0.000 claims abstract description 4
- 241000252254 Catostomidae Species 0.000 claims description 2
- 230000036544 posture Effects 0.000 claims 4
- 239000000463 material Substances 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
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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
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
Abstract
The present disclosure provides an unordered wire rod sorting device, it includes: the mounting piece is provided with a guide hole, a hollow shaft is arranged at one end of the mounting piece, a sucker is arranged at the other end of the hollow shaft, the hollow shaft is slidably arranged in the guide hole of the mounting piece, and the limiting piece and the sucker are positioned at two sides of the mounting piece; and an elastic member for providing a resetting force to the suction cup so that when the suction cup moves to a position close to the mounting member, the resetting force makes the suction cup move away from the mounting member; wherein a surface of the suction cup is depressed inward to suck the wire by the suction cup when a negative pressure is supplied to the hollow shaft. The present disclosure provides a disordered wire sorting system and sorting method.
Description
Technical Field
The present disclosure relates to material transfer devices, and more particularly, to an unordered wire sorting device, sorting system, and sorting method.
Background
In the production process of the liquid crystal display, the wire is required to be placed at the designated position of the packing box; in the existing liquid crystal display production line, the wires need to be picked up from the basket manually and then read and put in, which wastes time and labor.
However, when the feeding of the wire is performed by the robot, since the wire is placed in the basket out of order, the binding band of the wire is transparent, inclined, and overlapped, etc., the general camera cannot effectively recognize the center position of the binding band of the wire.
Moreover, even if the center position of the wire binding band can be identified, the manipulator cannot effectively suck the wires and the feeding efficiency is low, considering that the wire binding band is transparent, and the height information of the center position of the binding band cannot be judged by the manipulator; even when the height information of the center position of the binding band is erroneous, damage of the wire rod is caused.
Disclosure of Invention
In order to solve one of the technical problems, the present disclosure provides an unordered wire rod sorting device, a sorting system and a sorting method.
According to an aspect of the present disclosure, there is provided an unordered wire sorting device, including:
a mounting member having a guide hole,
the hollow shaft is slidably arranged in a guide hole of the mounting piece, and the limiting piece and the suckers are positioned on two sides of the mounting piece; and
the elastic piece is used for providing a resetting force for the sucker, so that when the sucker moves to a position close to the mounting piece, the resetting force enables the sucker to be far away from the mounting piece;
wherein a surface of the suction cup is depressed inward to suck the wire by the suction cup when a negative pressure is supplied to the hollow shaft.
According to the unordered wire sorting device of at least one embodiment of this disclosure, the hollow shaft is located to the elastic component cover, the one end top of elastic component is established the sucking disc, and the other end top is established the installed part.
The unordered wire sorting device according to at least one embodiment of this disclosure further includes:
the guide sleeve is fixed on the mounting part and is positioned in the guide hole, and the hollow shaft is arranged in the guide sleeve and slides along the guide sleeve.
The unordered wire sorting device according to at least one embodiment of this disclosure further includes:
and one end of the connecting piece is fixed at one end of the hollow shaft, and the other end of the connecting piece is fixed at the sucker.
The unordered wire sorting device according to at least one embodiment of the present disclosure, the suction cup includes a corrugated suction cup.
According to the unordered wire sorting device of at least one embodiment of this disclosure, the wire rod is tied up through transparent bandage, be provided with the sign portion on the transparent bandage, the sucking disc is through absorbing the bandage absorption of sign portion department the wire rod.
According to the unordered wire sorting device of at least one embodiment of this disclosure, the sign portion includes the two-dimensional code that forms on the transparent bandage.
According to another aspect of the present disclosure, there is provided a disordered wire sorting system including the disordered wire sorting apparatus described above.
The unordered wire sorting system according to at least one embodiment of this disclosure, still includes:
the mounting part is mounted at the tail end of the mechanical arm, and the sucker can reach a preset position in a preset posture by controlling the movement of the mechanical arm.
The unordered wire sorting system according to at least one embodiment of this disclosure, still includes:
a 3D camera for acquiring images of the unordered wire; and
the automatic wire sorting device comprises a main controller, wherein the main controller acquires position data and angle data of an identification part of at least one unordered wire in an image according to the image of the unordered wire acquired by the 3D camera, and sends the position data and the angle data of the identification part of the wire to the mechanical arm controller, and the mechanical arm controller controls the mechanical arm to act according to the position data and the angle data of the identification part of the wire, so that a sucker of the unordered wire sorting device reaches a sucking position in a preset posture.
The unordered wire sorting system according to at least one embodiment of the present disclosure, such that the suction cup of the unordered wire sorting device reaches the suction position in a preset posture includes:
and making the sucker reach a preset position above the identification part of the unordered wire rod, applying negative pressure to the sucker, and making the sucker move downwards to reach a sucking position.
The unordered wire sorting system according to at least one embodiment of this disclosure, still includes:
the pressure sensor is used for detecting the force applied to the sucker by the wire to be sucked;
when the wire rod to be sucked is approached from the preset position above the identification part of the unordered wire rod in the movement process, whether the pressure value detected by the pressure sensor reaches a preset threshold value is judged:
when the pressure value detected by the pressure sensor reaches a preset threshold value, judging that the wire is successfully sucked, and stopping the sucker from moving in the current moving direction;
otherwise, judging whether the position of the sucker reaches a preset position or not, and judging that the sucking fails when the position of the sucker reaches the preset position; otherwise, controlling the sucker to continue to move along the current movement direction until the sucker reaches a preset position or the pressure value detected by the pressure sensor reaches a preset threshold value.
According to another aspect of the present disclosure, there is provided an unordered wire sorting method including:
acquiring an image of a disordered wire, wherein the disordered wire is placed in at least one storage container;
obtaining position data and angle data of the identification part of at least one disordered wire in the image according to the image of the disordered wire;
controlling the mechanical arm to act according to the position data and the angle data of the identification part of the disordered wire, controlling a sucker of the disordered wire sorting device arranged on the mechanical arm to reach a preset position above the identification part of the disordered wire, applying negative pressure to the sucker, and controlling the sucker to move downwards so that the sucker of the disordered wire sorting device reaches a sucking position in a preset posture; and
acquiring the force applied to the sucker by the wire to be sucked through a pressure sensor;
wherein, in the motion process of the wire rod to be sucked from the preset position above the identification part of the unordered wire rod, whether the pressure value detected by the pressure sensor reaches the preset threshold value is judged:
when the pressure value detected by the pressure sensor reaches a preset threshold value, judging that the wire is successfully sucked, and stopping the sucker from moving in the current moving direction;
otherwise, judging whether the position of the sucker reaches a preset position or not, and judging that the sucking fails when the position of the sucker reaches the preset position; otherwise, controlling the sucker to continue to move along the current movement direction until the sucker reaches a preset position or the pressure value detected by the pressure sensor reaches a preset threshold value.
According to the unordered wire sorting method of at least one embodiment of the present disclosure, when the suction of the wire by the suction cup fails, the mechanical arm is controlled to act, so that the suction cup is away from the wire to be sucked and is ready for the next suction.
According to the unordered wire sorting method of at least one embodiment of the disclosure, after the wire is successfully sucked by the sucker, the mechanical arm is controlled to act, and the wire sucked by the sucker is thrown to a preset position.
According to the disordered wire sorting method of at least one embodiment of the present disclosure, when the position of the wire and/or the marked portion of the wire cannot be recognized from the image of the disordered wire, it is prompted to sort the wire to be sucked up, or to replace a new container containing the wire.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is a schematic structural view of a disordered wire sorting apparatus according to one embodiment of the present disclosure.
Fig. 2 is a schematic structural view of another angle of the disordered wire sorting device according to one embodiment of the present disclosure.
Fig. 3 is a schematic structural view of another angle of the disordered wire sorting device according to one embodiment of the present disclosure.
Fig. 4 is a schematic structural view of another angle of the unordered wire sorting system according to one embodiment of the present disclosure.
The reference numbers in the figures are in particular:
100 unordered wire sorting device
110 mounting
120 hollow shaft
130 suction cup
140 position limiting element
150 elastic member
160 guide sleeve
170 connecting piece
200 unordered wire sorting system
210 robot arm
2203D camera
230 master controller
240 pressure sensor.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Accordingly, unless otherwise indicated, features of the various embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.
The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise noted, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality between the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two processes described consecutively may be performed substantially simultaneously or in reverse order to that described. In addition, like reference numerals denote like parts.
When an element is referred to as being "on" or "on," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically, electrically, etc., and may or may not have intermediate components.
For descriptive purposes, the present disclosure may use spatially relative terms such as "below … …," below … …, "" below … …, "" below, "" above … …, "" above, "" … …, "" higher, "and" side (e.g., as in "side wall") to describe one component's relationship to another (other) component as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below … …" can encompass both an orientation of "above" and "below". Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the presence of stated features, integers, steps, operations, elements, components and/or groups thereof are stated but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.
Fig. 1 is a schematic structural view of a disordered wire sorting apparatus 100 according to one embodiment of the present disclosure. Fig. 2 is a schematic structural view of another angle of the disordered wire sorting device according to one embodiment of the present disclosure. Fig. 3 is a schematic structural view of another angle of the disordered wire sorting device according to one embodiment of the present disclosure.
As shown in fig. 1 to 3, the present disclosure provides a disordered wire sorting device 100, including:
a mounting member 110, the mounting member 110 having a guide hole,
a hollow shaft 120, one end of the hollow shaft 120 being provided with a suction cup 130, the other end of the hollow shaft 120 being provided with a stopper 140, the hollow shaft 120 being slidably disposed in the guide hole of the mounting member 110, and the stopper 140 and the suction cup 130 being located on both sides of the mounting member 110; and
a resilient member 150, the resilient member 150 being configured to provide a restoring force to the suction cup 130, such that when the suction cup 130 moves to a position close to the mounting member 110, the restoring force causes the suction cup 130 to move away from the mounting member 110;
wherein a surface of the suction cup 130 is depressed inward to suck the wire through the suction cup 130 when a negative pressure is supplied to the hollow shaft 120.
The unordered wire sorting device 100 of the present disclosure can effectively prevent damage to the wire by a buffering action when sucking the wire, and can also effectively suck the wire even under the condition that the identification part of the wire is not accurately recognized.
In the present disclosure, the elastic member 150 is sleeved on the hollow shaft 120, one end of the elastic member 150 is disposed on the suction cup 130, and the other end of the elastic member 150 is disposed on the mounting member 110, so that when the suction cup 130 contacts the wire, the elastic member 150 provides a restoring force, the suction cup can have a buffering effect.
In this disclosure, preferably, the unordered wire sorting apparatus 100 further includes:
and a guide sleeve 160, wherein the guide sleeve 160 is fixed to the mounting member 110 and is located in the guide hole, and the hollow shaft 120 is disposed in the guide sleeve 160 and slides along the guide sleeve 160.
In an embodiment of the present disclosure, the unordered wire sorting apparatus 100 further includes:
and a connecting member 170, one end of the connecting member 170 being fixed to one end of the hollow shaft 120, and the other end of the connecting member 170 being fixed to the suction cup 130, wherein the lower end of the elastic member 150 may be abutted against the connecting member.
In one implementation, the suction cup 130 includes a bellows suction cup 130.
In the present disclosure, the wire is bundled by a transparent band, a mark portion is provided on the transparent band, and the suction cup 130 sucks the wire by sucking the band at the mark portion; more preferably, the identification part includes a two-dimensional code formed on the transparent band.
Fig. 4 is a schematic structural view of another angle of the unordered wire sorting system according to one embodiment of the present disclosure.
According to another aspect of the present disclosure, as shown in fig. 4, the present disclosure provides a disordered wire sorting system 200 including the disordered wire sorting apparatus 100 described above.
In this disclosure, the unordered wire sorting system 200 further includes:
a robot arm 210, the robot arm 210 including at least two degrees of freedom, and the mounting part 110 being mounted to an end of the robot arm 210, the suction cup 130 reaching a predetermined position in a predetermined posture by controlling the movement of the robot arm 210.
More preferably, the unordered wire sorting system 200 further comprises:
a 3D camera 220, the 3D camera 220 for acquiring an image of the unordered wire; and
and a main controller 230, wherein the main controller 230 acquires position data and angle data of the identification portion of at least one unordered wire in the image according to the image of the unordered wire acquired by the 3D camera 220, and transmits the position data and the angle data of the identification portion of the wire to the controller of the robot arm 210, and the controller of the robot arm 210 controls the robot arm 210 to operate according to the position data and the angle data of the identification portion of the wire, so that the suction cup 130 of the unordered wire sorting device 100 reaches the suction position in a preset posture.
According to at least one embodiment of the present disclosure, causing the suction cup 130 of the unordered wire sorting device 100 to reach the suction position in the preset posture includes:
the suction cup 130 is brought to a preset position above the marked portion of the unordered wire rod, and a negative pressure is applied to the suction cup 130, and the suction cup 130 is moved downward to reach a suction position.
In this disclosure, the unordered wire sorting system 200 further includes:
a pressure sensor 240 for detecting a force applied to the suction cup 130 by the wire to be sucked;
when the movement process from the preset position above the identification part of the unordered wire rod to the wire rod to be sucked approaches, whether the pressure value detected by the pressure sensor 240 reaches a preset threshold value is judged:
when the pressure value detected by the pressure sensor 240 reaches a preset threshold value, it is determined that the wire rod is successfully sucked, the sucker 130 stops moving in the current moving direction, and the action of the mechanical arm is controlled, so that the sucker 130 is far away from the sucking position, and the sucked wire rod is placed at the designated position.
Otherwise, judging whether the position of the sucker 130 reaches a preset position, and judging that the sucking fails when the position of the sucker 130 reaches the preset position; otherwise, the suction cup 130 is controlled to continue to move along the current movement direction until the suction cup 130 reaches the preset position or the pressure value detected by the pressure sensor 240 reaches the preset threshold value.
According to another aspect of the present disclosure, there is provided an unordered wire sorting method including:
acquiring an image of a disordered wire, wherein the disordered wire is placed in at least one storage container;
obtaining position data and angle data of the identification part of at least one disordered wire in the image according to the image of the disordered wire;
controlling the action of the mechanical arm 210 according to the position data and the angle data of the identification part of the disordered wire, controlling the suction cup 130 of the disordered wire sorting device 100 mounted on the mechanical arm 210 to reach the position above the identification part of the disordered wire, for example, 50mm above the identification part of the disordered wire, applying negative pressure to the suction cup, and controlling the suction cup 130 to move downwards, so that the suction cup 130 of the disordered wire sorting device 100 reaches the suction position in a preset posture; and
acquiring the force applied to the sucker 130 by the wire to be sucked through the pressure sensor 240;
wherein, when the movement process from the preset position above the identification part of the unordered wire rod to approaching the wire rod to be sucked is performed, whether the pressure value detected by the pressure sensor 240 reaches the preset threshold value is judged:
when the pressure value detected by the pressure sensor 240 reaches a preset threshold value, it is determined that the wire is successfully sucked, and the sucker 130 is made to stop moving in the current moving direction;
otherwise, judging whether the position of the sucker 130 reaches a preset position, and judging that the sucking fails when the position of the sucker 130 reaches the preset position; otherwise, the suction cup 130 is controlled to continue to move along the current movement direction until the suction cup 130 reaches a preset position (e.g., y) or a pressure value detected by the pressure sensor 240 reaches a preset threshold value.
In the present disclosure, it is more preferable that, after the suction of the wire by the suction cup 130 fails, the robot arm 210 is controlled to operate so that the suction cup 130 is away from the wire to be sucked and is ready for the next suction.
On the other hand, after the wire is successfully sucked by the suction cup 130, the robot arm 210 is controlled to move, and the wire sucked by the suction cup 130 is put to a preset position, for example, the sucked wire is placed on a code reading platform.
According to at least one implementation form of the present disclosure, when the position of the wire and/or the mark portion of the wire cannot be recognized from the image of the disordered wire, it is prompted to sort the wire to be sucked up, or to replace a new container containing the wire.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (10)
1. The utility model provides an unordered wire rod sorting device which characterized in that includes:
a mounting member having a guide hole,
the hollow shaft is slidably arranged in a guide hole of the mounting piece, and the limiting piece and the suckers are positioned on two sides of the mounting piece; and
the elastic piece is used for providing a resetting force for the sucker, so that when the sucker moves to a position close to the mounting piece, the resetting force enables the sucker to be far away from the mounting piece;
wherein a surface of the suction cup is depressed inward to suck the wire by the suction cup when a negative pressure is supplied to the hollow shaft.
2. The random wire sorting device according to claim 1, wherein the elastic member is sleeved on the hollow shaft, one end of the elastic member is arranged on the sucking disc in an abutting mode, and the other end of the elastic member is arranged on the mounting member in an abutting mode;
and/or, further comprising:
the guide sleeve is fixed on the mounting piece and is positioned in the guide hole, and the hollow shaft is arranged in the guide sleeve and slides along the guide sleeve;
and/or, further comprising:
one end of the connecting piece is fixed at one end of the hollow shaft, and the other end of the connecting piece is fixed at the sucker;
and/or, the suction cup comprises a corrugated suction cup;
and/or the wires are bound through a transparent binding band, a mark part is arranged on the transparent binding band, and the sucking discs suck the wires through the binding band sucking the mark part;
and/or the identification part comprises a two-dimensional code formed on the transparent bandage.
3. A disordered wire sorting system comprising the disordered wire sorting device defined in any one of claims 1-2.
4. The random wire sorting system of claim 3, further comprising:
the mounting part is mounted at the tail end of the mechanical arm, and the sucker can reach a preset position in a preset posture by controlling the movement of the mechanical arm.
5. The random wire sorting system of claim 4, further comprising:
a 3D camera for acquiring images of the unordered wire; and
the automatic wire sorting device comprises a main controller, wherein the main controller acquires position data and angle data of an identification part of at least one unordered wire in an image according to the image of the unordered wire acquired by the 3D camera, and sends the position data and the angle data of the identification part of the wire to the mechanical arm controller, and the mechanical arm controller controls the mechanical arm to act according to the position data and the angle data of the identification part of the wire, so that a sucker of the unordered wire sorting device reaches a sucking position in a preset posture.
6. The disordered wire sorting system of claim 5, wherein causing the suction cups of the disordered wire sorting device to reach the suction positions in the preset postures comprises:
and making the sucker reach a preset position above the identification part of the unordered wire rod, applying negative pressure to the sucker, and making the sucker move downwards to reach a sucking position.
7. The random wire sorting system of claim 6, further comprising:
the pressure sensor is used for detecting the force applied to the sucker by the wire to be sucked;
when the wire rod to be sucked is approached from the preset position above the identification part of the unordered wire rod in the movement process, whether the pressure value detected by the pressure sensor reaches a preset threshold value is judged:
when the pressure value detected by the pressure sensor reaches a preset threshold value, judging that the wire is successfully sucked, and stopping the sucker from moving in the current moving direction;
otherwise, judging whether the position of the sucker reaches a preset position or not, and judging that the sucking fails when the position of the sucker reaches the preset position; otherwise, controlling the sucker to continue to move along the current movement direction until the sucker reaches a preset position or the pressure value detected by the pressure sensor reaches a preset threshold value.
8. A method of sorting unordered wire, comprising:
acquiring an image of a disordered wire, wherein the disordered wire is placed in at least one storage container;
obtaining position data and angle data of the identification part of at least one disordered wire in the image according to the image of the disordered wire;
controlling the mechanical arm to act according to the position data and the angle data of the identification part of the disordered wire, controlling a sucker of the disordered wire sorting device arranged on the mechanical arm to reach a preset position above the identification part of the disordered wire, applying negative pressure to the sucker, and controlling the sucker to move downwards so that the sucker of the disordered wire sorting device reaches a sucking position in a preset posture; and
acquiring the force applied to the sucker by the wire to be sucked through a pressure sensor;
wherein, in the motion process of the wire rod to be sucked from the preset position above the identification part of the unordered wire rod, whether the pressure value detected by the pressure sensor reaches the preset threshold value is judged:
when the pressure value detected by the pressure sensor reaches a preset threshold value, judging that the wire is successfully sucked, and stopping the sucker from moving in the current moving direction;
otherwise, judging whether the position of the sucker reaches a preset position or not, and judging that the sucking fails when the position of the sucker reaches the preset position; otherwise, controlling the sucker to continue to move along the current movement direction until the sucker reaches a preset position or the pressure value detected by the pressure sensor reaches a preset threshold value.
9. The unordered wire sorting method according to claim 8, wherein, when the suction of the wire by the suction cup fails, the robot arm is controlled to move so that the suction cup is away from the wire to be sucked and is ready for the next suction.
10. The unordered wire sorting method according to claim 8, wherein after the wire is successfully sucked by the suction cup, the mechanical arm is controlled to act to throw the wire sucked by the suction cup to a preset position;
and/or, when the position of the wire and/or the marked portion of the wire cannot be recognized from the image of the disordered wire, prompting to sort out the wire to be sucked or to replace a new container containing the wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110753611.3A CN113458009A (en) | 2021-07-02 | 2021-07-02 | Sorting device, sorting system and sorting method for disordered wires |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110753611.3A CN113458009A (en) | 2021-07-02 | 2021-07-02 | Sorting device, sorting system and sorting method for disordered wires |
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| CN113458009A true CN113458009A (en) | 2021-10-01 |
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| CN202110753611.3A Pending CN113458009A (en) | 2021-07-02 | 2021-07-02 | Sorting device, sorting system and sorting method for disordered wires |
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| CN (1) | CN113458009A (en) |
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Application publication date: 20211001 |