CN113680690B - Automatic sorting and packing method for customized plates - Google Patents
Automatic sorting and packing method for customized plates Download PDFInfo
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- CN113680690B CN113680690B CN202110774550.9A CN202110774550A CN113680690B CN 113680690 B CN113680690 B CN 113680690B CN 202110774550 A CN202110774550 A CN 202110774550A CN 113680690 B CN113680690 B CN 113680690B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/50—Stacking one article, or group of articles, upon another before packaging
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention provides an automatic sorting and packing method for customized plates, which comprises the following steps: s1, caching, namely firstly identifying information of a plate produced by mixed bill customization, and then inputting the plate subjected to information identification into a caching unit for caching through a working assembly line according to a dynamic caching algorithm; s2, sorting and packaging, wherein the caching unit caches the plates, and meanwhile, the continuously-changing plate information in the plates is processed according to a dynamic sorting and packaging algorithm, and the plates are selected to be laid out into packages and output to a production line; s3, stacking, namely stacking the plates according to the output package information calculated by the dynamic sorting and packaging algorithm and the number of the plates and the specific position of each layer by the packaging execution unit, and finishing sorting and packaging of the plates. The invention can realize the dynamic buffering and output of the plates, not only improves the plate sorting efficiency, but also reduces the plate sorting cost, and replaces the existing sorting and packing modes with large occupied area and expensive equipment.
Description
Technical Field
The invention relates to the technical field of plate sorting, in particular to an automatic sorting and packaging method for customized plates.
Background
In the processing of panel furniture, in order to improve the utilization rate of raw materials, boards of different sizes from different orders are generally cut on the same raw material, and then are uniformly placed on a conveying line to be conveyed to a next processing production line. That is, a plurality of orders are singly started and cut, one order is divided into a plurality of packages, the packages are produced in a mixed mode, and the produced plates need to be re-sorted, selected and packaged in the later period.
At present, manual sorting or robot sorting is generally performed, and the time for manual sorting is long and the efficiency is low; the existing robot sorting device is high in price, a plurality of robots are required to work simultaneously, a large storage space is required to store plates, the occupied area is large, the feeding and discharging synchronization cannot be realized, and the sorting efficiency is still low.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic sorting and packing method for customized plates.
The technical scheme of the invention is as follows: an automatic sorting and packing method for customized plates comprises the following steps:
s1, caching, namely firstly identifying information of a plate produced by mixed bill customization, and then inputting the plate subjected to information identification into a caching unit for caching through a working assembly line according to a dynamic caching algorithm;
s2, sorting and packaging, wherein the caching unit caches the plates, and meanwhile, the plate information which is continuously changed inside is processed according to a dynamic sorting and packaging algorithm, and the plates are selected to be laid out into packages and output to a production line;
s3, stacking, namely stacking the plates in the package according to the number of plate layers and specific positions of each layer by the package execution unit according to the output package information calculated by the dynamic sorting and packaging algorithm, and sorting and packaging the plates.
Preferably, in the step S1, the dynamic caching algorithm calculates a state of each layer of storage units of the cache unit, and determines an overall storage state of the cache unit according to the state of each layer of storage units of the cache unit; and searching for storable positions in the cache unit according to the principle of minimizing the action time.
Preferably, after searching for the storable position in the cache unit, a push plate mechanism matched with the production line pushes the plate into the designated position of the cache unit, and updates the overall storage state of the cache unit.
Preferably, the state of each layer of storage units of the buffer unit is divided into 6 types, wherein type 1 is used for storing one large plate, type 2 is used for storing one small plate and one medium plate, type 3 is used for storing three small plates, type 4 is used for storing one medium plate, type 5 is used for storing two small plates, and type 6 is used for storing one small plate. The specific sizes of the large plate, the medium plate and the small plate are divided according to the size of the space of each layer of storage unit and the specification and the size of the specific plate.
Preferably, in step S2, a pushing plate mechanism is disposed on the buffer unit, and the pushing plate mechanism sequentially pushes the plates in the package out onto the operation assembly line.
Preferably, in the step S2, the package is divided into a bottom layer, a middle layer and a top layer, and the process of laying out and outputting the package according to the dynamic sorting and packaging algorithm is as follows:
(1) Layout bottom layer: selecting a plate A with the largest sum of length and width dimensions in all unpacked plates as a bottom layer of the current package;
(2) Layout middle layer:
(a) Selecting a plate with the same width as the bottom layer to be laid out in the middle layer, and if no plate with the same width as the bottom layer exists, turning to the step (b); if the sum of the sizes of the plates with the same width as the bottom layer along the length direction of the bottom layer is smaller than the length of the bottom layer, firstly, arranging the plates with the same width as the bottom layer to the middle layer of the current package, and then turning to the step (b); if the sum of the sizes of the plates with the same width size as the bottom layer along the length direction of the bottom layer is larger than the length of the bottom layer, adopting a dynamic programming method to obtain the most suitable plate combination, enabling the sum of the sizes of the selected plates along the length direction of the bottom layer to be closest to the length of the bottom layer, and then turning to the step (3); if there is room left in the second layer after the layout of the boards having the same width as the bottom layer, proceeding to step (b);
(b) Given the position and size of the routable region, a greedy algorithm is used to route the remaining region: firstly, selecting a maximum plate B which can be accommodated in a residual area for layout, then taking the width occupied by the maximum plate B and the residual layout length as a layout sub-layer, and adopting a greedy algorithm to continuously search the layout sub-layer for the plate which can be laid according to the searching rule of the maximum plate B until the plate cannot be laid; wherein the maximum panel B is defined as the panel length and width dimensions being less than the length and width dimensions or width and length dimensions, respectively, of the remaining area, with the sum of the panel length and width dimensions being the maximum in the unpacked panels;
(c) Removing the layout sub-layer and the layout area of the largest plate B from the rest area given in the step (B), defining a new layout area, repeating the step (B) until the position of the plate which can be laid out cannot be found, and turning to the step (3);
(3) A top layer of the package is laid out, whether limitation is exceeded or not is judged according to the height of the current package, plates with the same size as the bottom layer are searched for as the top layer if limitation is not exceeded, and if the plates meeting the requirement are not transferred to the top layer in the step (a); if the limit is exceeded, the package layout is ended; and (2) turning to the step (1) to start to layout new packages until the layout of the plates in all the buffer units is finished.
(4) And (3) outputting all packages laid out in the steps (1) to (3) to a cache unit in sequence.
Preferably, in step S3, the packing execution unit is a truss robot.
Preferably, the truss robot has four degrees of freedom including three translational degrees of freedom X/Y/Z and one rotational degree of freedom for rotation of the plate along the Z axis.
Preferably, 2 to 4 cache units are provided.
The beneficial effects of the invention are as follows:
the invention provides an automatic sorting and packing method for customized plates, which can realize dynamic buffering and output of plates, not only improves the plate sorting efficiency, but also reduces the plate sorting cost, replaces the existing sorting and packing mode with large occupied area and expensive equipment, and efficiently and economically solves the problem of automatic sorting and packing in the production of customized plates.
Drawings
Fig. 1 is a schematic structural view of the present invention.
In the figure: 1, a control module; 2, a cache unit; 3, packaging an execution unit; 31 an actuator; 4, working pipeline.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the attached drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
Referring to fig. 1, a customized plate automatic sorting and packaging system and method, the system comprises a control module 1, a cache unit 2, a packaging execution unit 3 and a working assembly line 4, wherein the control module 1 is connected with the cache unit 2, the packaging execution unit 3 and the working assembly line 4, and the sorting and packaging of the plates are controlled through a dynamic cache algorithm, a dynamic sorting and packaging algorithm and the like. The buffer units 2 may be provided in 1 or more than 1, such as 2-4. The buffer unit 2 may adopt an existing buffer structure, such as a plate buffer device in the patents CN201920438493.5, CN201922283370.1, etc., or may adopt other existing buffer structures. The job flow line 4 is used for completing the conveying task of the plate, and may be an existing conveying line, such as a conveying belt, a conveying roller, etc. for conveying the plate in the whole process, including conveying the produced plate into the buffer unit 2 for buffering, conveying the plate pushed out from the buffer unit 2 to the area of the packing execution unit 3 for stacking, and outputting the stacked plate. In order to extend the service life of the work line 4, wear structures, such as wear plates, wear sleeves, etc., may be provided on the work line 4.
The sorting and packing method comprises the following steps:
s1, caching, namely firstly identifying information of a plate produced by mixed bill customization, and then inputting the plate subjected to information identification into a caching unit 2 for caching through a working assembly line 4 according to a dynamic caching algorithm;
the dynamic caching algorithm firstly calculates the state of each layer of storage units of the cache unit 2, and finally determines the overall storage state of the cache unit 2 according to the state of each layer of storage units of the cache unit 2; and searches for storable positions in the cache unit 2 according to the principle of minimizing the action time. Then, the matched push plate mechanism on the operation pipeline 4 pushes the plate into the designated position of the cache unit 2, and updates the overall storage state of the cache unit 2.
Specifically, the state of each layer of storage units of the buffer unit 2 may be classified into various types according to the plate specification and the buffer space, for example, 3 types are preferable, type 1 is to store one large plate, type 2 is to store one small plate and one medium plate, and type 3 is to store 3 small plates. If there is no matched plate combination which can occupy one layer, other types can be classified according to the actual situation, for example, type 4 is used for storing a medium plate, type 5 is used for storing two small plates, and type 6 is used for storing one small plate.
S2, sorting and packaging, wherein the buffer unit 2 buffers the plate, and simultaneously processes the plate information which is continuously changed in the buffer unit according to a dynamic sorting and packaging algorithm, selects the plate layout to be wrapped and outputs the wrapped plate information to the operation assembly line 4;
specifically, a push plate mechanism is arranged on the buffer unit 2, and the push plate mechanism sequentially pushes the plates in the package out to the operation assembly line 4.
In addition, the package is divided into a bottom layer, a middle layer and a top layer, and the process of distributing and outputting the package according to a dynamic sorting and packaging algorithm is as follows:
(1) Layout bottom layer: selecting a plate A with the largest sum of length and width dimensions in all unpacked plates as a bottom layer of the current package;
(2) Layout middle layer:
(a) Selecting a plate with the same width as the bottom layer to be laid out in the middle layer, and if no plate with the same width as the bottom layer exists, turning to the step (b); if the sum of the plate pieces with the same width dimension as the bottom layer is smaller than the length of the bottom layer along the length direction of the bottom layer, firstly arranging the plate pieces with the same width dimension as the bottom layer to the middle layer of the current package, and then turning to the step (b); if the sum of the sizes of the plates with the same width size as the bottom layer along the length direction of the bottom layer is larger than the length of the bottom layer, adopting a dynamic programming method to obtain the most suitable plate combination, enabling the sum of the sizes of the selected plates along the length direction of the bottom layer to be closest to the length of the bottom layer, and then turning to the step (3); if there is room left in the second layer after the layout of the boards having the same width as the bottom layer, proceeding to step (b);
(b) Given the position and size of the routable region, a greedy algorithm is used to route the remaining region: firstly, selecting a maximum plate B which can be accommodated in a residual area for layout, then taking the width occupied by the maximum plate B and the residual layout length as a layout sub-layer, and adopting a greedy algorithm to continuously search the layout sub-layer for the plate which can be laid according to the searching rule of the maximum plate B until the plate cannot be laid; wherein the maximum panel B is defined as the panel length and width dimensions being less than the length and width dimensions or width and length dimensions, respectively, of the remaining area, with the sum of the panel length and width dimensions being the maximum in the unpacked panels;
(c) Removing the layout sub-layer and the layout area of the largest plate B from the rest area given in the step (B), defining a new layout area, repeating the step (B) until the position of the plate which can be laid out cannot be found, and turning to the step (3);
(3) A top layer of the package is laid out, whether limitation is exceeded or not is judged according to the height of the current package, a plate with the same size as the bottom layer is searched for as the top layer if the limitation is not exceeded, and if the plate meeting the requirement is not changed into the top layer (a) for laying out the top layer (namely, if the plate with the same size as the bottom layer is not provided, the top layer is laid out by the same method as the middle layer); if the limit is exceeded, the package layout is ended; and (2) turning to the step (1) to start to layout new packages until the layout of the plates in all the buffer units 2 is finished.
(4) And (3) outputting all packages laid out in the steps (1) to (3) to a cache unit in sequence. At the time of export, the preferred export package meets the following requirements: 1) The filling area is small and concentrated; 2) The package is a sandwich structure, i.e. the bottom layer and the top layer are all individual large plates. The plates in the package are pushed out in sequence to the working line 4.
S3, stacking, namely sequentially grabbing and placing the plates according to the output package information calculated by the dynamic sorting and packaging algorithm by the packaging execution unit 3, stacking the plates in the package according to the number of the plates and the specific position of each layer, and sorting and packaging the plates.
Preferably, the actuator 31 of the packing unit 3 may be a truss robot. The truss robot has four degrees of freedom including three translational degrees of freedom including X/Y/Z and one rotational degree of freedom for rotation of the plate along the Z axis. The plate can be controlled to move back and forth, left and right, up and down and rotate along the Z axis during stacking, so that plates in the package can be stacked according to the number of plate layers and the specific position of each layer, and the sorting and packaging of the plates are completed.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (10)
1. The automatic sorting and packing method for the customized plates is characterized by comprising the following steps of:
s1, caching, namely firstly identifying information of a plate produced by mixed bill customization, and then inputting the plate subjected to information identification into a caching unit for caching through a working assembly line according to a dynamic caching algorithm;
s2, sorting and packaging, wherein the caching unit caches the plates, and meanwhile, the plate information which is continuously changed inside is processed according to a dynamic sorting and packaging algorithm, and the plates are selected to be laid out into packages and output to a production line;
the package is divided into a bottom layer, a middle layer and a top layer, and the process of distributing and outputting the package according to a dynamic sorting and packaging algorithm is as follows:
(1) Layout bottom layer: selecting a plate A with the largest sum of length and width dimensions in all unpacked plates as a bottom layer of the current package;
(2) Layout middle layer:
(a) Selecting a plate with the same width as the bottom layer to be laid out in the middle layer, and if no plate with the same width as the bottom layer exists, turning to the step (b); if the sum of the plate pieces with the same width dimension as the bottom layer is smaller than the length of the bottom layer along the length direction of the bottom layer, firstly arranging the plate pieces with the same width dimension as the bottom layer to the middle layer of the current package, and then turning to the step (b); if the sum of the sizes of the plates with the same width size as the bottom layer along the length direction of the bottom layer is larger than the length of the bottom layer, adopting a dynamic programming method to obtain the most suitable plate combination, enabling the sum of the sizes of the selected plates along the length direction of the bottom layer to be closest to the length of the bottom layer, and then turning to the step (3); if there is a remaining space in the second layer after the layout of the board having the same width as the bottom layer, proceeding to step (b);
(b) Given the position and size of the routable region, a greedy algorithm is used to route the remaining region: firstly, selecting a maximum plate B which can be accommodated in a residual area for layout, then taking the width occupied by the maximum plate B and the residual layout length as a layout sub-layer, and adopting a greedy algorithm to continuously search the layout sub-layer for the plate which can be laid according to the searching rule of the maximum plate B until the plate cannot be laid; wherein the definition of the maximum plate B is: the length and width dimensions of the panel are respectively smaller than the length and width dimensions or the width and length dimensions of the remaining area, while the sum of the length and width dimensions of the panel is greatest in the unpacked panel;
(c) Removing the layout sub-layer and the layout area of the largest plate B from the rest area given in the step (B), defining a new layout area, repeating the step (B) until the position of the plate which can be laid out cannot be found, and turning to the step (3);
(3) A top layer of the package is laid out, whether limitation is exceeded or not is judged according to the height of the current package, plates with the same size as the bottom layer are searched for as the top layer if limitation is not exceeded, and if the plates meeting the requirement are not transferred to the top layer in the step (a); if the limit is exceeded, the package layout is ended; then turning to the step (1) to start to layout new packages until the layout of the plates in all the buffer units is completed;
(4) Sequentially outputting the cache units in all packages laid out in the steps (1) to (3);
s3, stacking, namely stacking the plates in the package according to the number of plate layers and specific positions of each layer by the package execution unit according to the output package information calculated by the dynamic sorting and packaging algorithm, and sorting and packaging the plates.
2. The automatic sorting and packing method of customized board according to claim 1, wherein in step S1, the dynamic caching algorithm calculates the state of each layer of storage units of the cache unit, and finally determines the overall storage state of the cache unit according to the state of each layer of storage units of the cache unit; and searching for storable positions in the cache unit according to the principle of minimizing the action time.
3. The automated custom board sorting and packing method according to claim 2, wherein after searching for storable positions in the cache unit, a push plate mechanism associated with the production line pushes the board into a designated position in the cache unit and updates an overall storage state of the cache unit.
4. The automatic sorting and packing method for customized board according to claim 2 or 3, wherein the status of each layer of storage units of the buffer unit is divided into 6 types, type 1 is to store one large board, type 2 is to store one small board and one medium board, type 3 is to store three small boards, type 4 is to store one medium board, type 5 is to store two small boards, and type 6 is to store one small board.
5. The automatic sorting and packing method for customized board according to claim 1, 2 or 3, wherein in step S2, a pushing plate mechanism is disposed on the buffer unit, and the pushing plate mechanism sequentially pushes the board in the package onto the operation assembly line.
6. The automatic sorting and packing method for customized board according to claim 4, wherein in step S2, a pushing plate mechanism is disposed on the buffer unit, and the pushing plate mechanism sequentially pushes the board in the package onto the operation assembly line.
7. The automatic sorting and packing method for customized board according to claim 1, 2, 3 or 6, wherein in the step S3, the packing execution unit is a truss robot.
8. The automated custom board sorting and packaging method of claim 7, wherein the truss robot has four degrees of freedom including three translational degrees of freedom X/Y/Z and one rotational degree of freedom for board rotation along the Z axis.
9. The automatic sorting and packing method for customized board according to claim 1, 2, 3 or 6, wherein the buffer units are provided with 2-4 buffer units.
10. The automatic sorting and packing method for customized board according to claim 8, wherein the buffer units are 2-4.
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