CN114043295A - System and method for automatically sorting materials based on intelligent robot - Google Patents
System and method for automatically sorting materials based on intelligent robot Download PDFInfo
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- CN114043295A CN114043295A CN202210034574.5A CN202210034574A CN114043295A CN 114043295 A CN114043295 A CN 114043295A CN 202210034574 A CN202210034574 A CN 202210034574A CN 114043295 A CN114043295 A CN 114043295A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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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
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses an intelligent robot-based system for automatically sorting materials, which relates to the field of automatic sorting control and comprises the following components: the automatic material sorting device comprises an intelligent robot, a material sorting device and a coding machine, wherein the material sorting device comprises a material sorting system, an upper material channel and a lower material channel; the material sorting system comprises a machine tool connecting module, a material channel state judging module, an information positioning module and an intelligent robot control module; the machine tool comprises a preset first wire size machine tool and a preset second wire size machine tool; the upper layer material channel corresponds to a preset first wire number machine tool, and the lower layer material channel corresponds to a preset second wire number machine tool; when the current working state of the machine tool is a processing finished state and the current state of the material channel corresponding to the machine tool is an inlet material-free state, controlling the intelligent robot to grab the material from the machine tool through a paw of the intelligent robot and place the material at the material inlet of the corresponding material channel. By adopting the system, the material mixing risk can be effectively reduced, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of mechanical automation control, in particular to a system and a method for automatically sorting materials based on an intelligent robot.
Background
The process of feeding, detecting, classifying and sorting is a processing technology commonly adopted in the manufacturing industry. Traditional material loading and letter sorting rely on the manual work, and is inefficient, sorts the quality poor, and economic benefits nature is very poor. Traditional transfer machine is in the mixed line production process, and the product of different line numbers adopts same material way to carry out the blowing, chooses for use same material way to carry out the blowing occasionally following shortcoming: the material mixing is easily caused during manual material taking, the material is easily subjected to false detection or missing detection through manual identification, the production efficiency is low, and the material stacking is very easy.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is how to avoid material mixing, false detection and missing detection in the mixed production of an automatic line, and provides a system and a method for automatically sorting materials based on an intelligent robot, wherein the system for automatically sorting materials based on the intelligent robot comprises the following steps: the intelligent robot, the material sorting device and the coding machine, wherein the material sorting device comprises a material sorting system, an upper material channel and a lower material channel; the material sorting system comprises a machine tool connecting module, a material channel state judging module, an information positioning module and an intelligent robot control module;
the machine tool connecting module is used for connecting with a machine tool for processing materials and detecting the current working state information of the connected machine tool in real time, wherein the current working state information comprises a processing completion state and a processing state;
the material channel state judging module is used for judging the current state information of the material channel, and the material channel respectively comprises a feeding port and a discharging port; the current state information of the material channel comprises an inlet material state and an inlet material-free state;
the machine tool comprises a preset first wire size machine tool and a preset second wire size machine tool; the upper material channel is used for placing materials processed by a machine tool with a preset first line number, and the lower material channel is used for placing materials processed by a machine tool with a preset second line number;
and the intelligent robot control module is used for controlling the intelligent robot to grab the materials from the machine tool through a paw of the intelligent robot and place the materials at a feeding port of the corresponding material channel when the current working state of the machine tool is a processing completion state and the current state of the material channel corresponding to the machine tool is an inlet material-free state.
Furthermore, the coding machine comprises a circulating coding unit, the circulating coding unit is used for dispatching corresponding line number information to the material according to a preset coding rule, and the line number information of the machine tool for processing the material are correspondingly arranged.
The intelligent robot system further comprises an intelligent robot initialization unit, wherein the initialization unit is used for initializing after receiving the preset sorting starting information and controlling the intelligent robot to return to the preset original point position.
Further, the material sorting system further comprises: a material grabbing and moving module; the material grabbing and moving module comprises a moving grabbing control unit and a material placing unit;
the mobile grabbing control unit is used for acquiring the line number information of the material to be grabbed currently, determining a material grabbing point needing to grab the material according to the acquired line number information, and controlling the intelligent robot to move to the material grabbing point;
and the material placing unit is used for controlling the intelligent robot to move to the corresponding material channel inlet and placing the grabbed material at the material channel inlet.
The material grabbing and moving module also comprises a grasping judging in-place unit;
and the in-place judging unit is used for starting timing when the intelligent robot grabs the material on the machine tool, and judging whether the paw of the intelligent robot is clamped according to a preset judging rule after a preset time interval.
The material grabbing and moving module also comprises a loosening in-place judging unit;
and the in-place judging and loosening unit is used for moving the intelligent robot to the corresponding material channel inlet, and judging whether the claw of the intelligent robot is loosened in place according to a preset judging rule when the grabbed material is placed at the material channel inlet.
The preset judgment rule comprises the step of judging the position of a magnetic ring arranged in a control cylinder corresponding to the intelligent robot paw, wherein the position of the magnetic ring comprises a preset grasping position, a preset releasing position and a preset action interval position.
Furthermore, the material sorting system also comprises a route calling unit, a route selecting unit and a route sorting unit, wherein the route calling unit comprises a material grabbing route calling unit and a material putting route calling unit;
the material grabbing route calling unit is used for calling a material grabbing route of the intelligent robot corresponding to the preset database by combining the current position information of the intelligent robot after the mobile grabbing control unit determines a material grabbing point needing to grab the material;
and the material putting route calling unit is used for calling the material putting route of the intelligent robot corresponding to the preset database by combining the current position information of the robot after the material placing unit determines the material channel inlet where the material needs to be put.
And further, the intelligent robot further comprises a state confirming unit for confirming whether the state of the inlet of the material channel is an inlet material-free state or not when the intelligent robot moves to the corresponding inlet of the material channel, and if so, controlling the intelligent robot to place the grabbed material at the inlet of the material channel.
A method of a system for automatically sorting materials based on an intelligent robot comprises the following steps:
s1: detecting current working state information of a machine tool for processing materials in real time, wherein the current working state information comprises a processing completion state and a processing state; the machine tool comprises a preset first wire size machine tool and a preset second wire size machine tool;
s2: judging the current state information of a material channel corresponding to a machine tool for processing materials, wherein the material channel comprises a feeding port and a discharging port respectively; the current state information of the material channel comprises an inlet material state and an inlet material-free state;
the material channel comprises an upper material channel and a lower material channel, the upper material channel is used for placing materials processed by a machine tool with a preset first line number, and the lower material channel is used for placing materials processed by a machine tool with a preset second line number;
s3: when the current working state of the machine tool for processing the materials is a processing completion state and the current state of the material channel corresponding to the machine tool is an inlet material-free state, controlling the intelligent robot to grab the materials from the machine tool through a paw of the intelligent robot and placing the materials at the material inlet of the corresponding material channel.
The invention at least comprises the following beneficial effects:
according to the invention, machine tools with different wire sizes correspond to different material channels, and the intelligent robot is controlled to grab materials from the material taking points of the machine tools and place the grabbed materials at the inlets of the material channels, so that the risk of material mixing is reduced, and the production efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the background art of the present invention, the drawings required to be used in the embodiments or the background art of the present invention will be described below.
Fig. 1 is a system structure diagram for automatically sorting materials based on an intelligent robot in the embodiment.
Fig. 2 is a first flowchart of a method for automatically sorting materials based on an intelligent robot in this embodiment.
Fig. 3 is a flowchart of a method for automatically sorting materials based on an intelligent robot in the present embodiment.
Detailed Description
The embodiments of the present invention will be described below with reference to the drawings.
Example one
The embodiment provides a system for automatically sorting materials based on an intelligent robot, which comprises the intelligent robot, a material sorting device and a coding machine, wherein the material sorting device comprises a material sorting system, an upper material channel and a lower material channel; the material sorting system comprises a machine tool connecting module, a material channel state judging module, an information positioning module and an intelligent robot control module;
the marking machine alternately marks different line number information to the material, carries out the material loading for the lathe through intelligent robot, and when the intelligent robot obtained the completion signal of different lathes, the robot judged through the procedure, and the material that calls correspondence snatchs the procedure, puts the material to the material that corresponds and predetermines first line number lathe and predetermine second line number lathe corresponding upper material way and lower floor's material way respectively. The specific implementation is as follows:
the machine tool connecting module is used for connecting with a machine tool for processing materials and detecting the current working state information of the connected machine tool in real time, wherein the current working state information comprises a processing completion state and a processing state;
the material channel state judging module is used for judging the current state information of the material channel, and the material channel respectively comprises a feeding port and a discharging port; the current state information of the material channel comprises an inlet material state and an inlet material-free state;
the machine tool comprises a preset first wire size machine tool and a preset second wire size machine tool; the upper material channel is used for placing materials processed by a machine tool with a preset first line number, and the lower material channel is used for placing materials processed by a machine tool with a preset second line number;
and the intelligent robot control module is used for controlling the intelligent robot to grab the materials from the machine tool through a paw of the intelligent robot and place the materials at a feeding port of the corresponding material channel when the current working state of the machine tool is a processing completion state and the current state of the material channel corresponding to the machine tool is an inlet material-free state.
Before the intelligent robot grabs the materials, an equipment preparation module is further arranged, wherein the equipment preparation module comprises an equipment alarm unit, a robot alarm unit, a coding machine alarm unit and a material channel alarm unit;
the equipment alarm unit is used for judging whether the current material sorting system is in a normal non-alarm state or not;
the robot alarm unit is used for judging whether the intelligent robot is in a normal non-alarm state or not;
the code printer alarm unit is used for judging whether the code printer is in a normal non-alarm state or not;
the material channel alarm unit is used for judging whether the material channel is in a normal non-alarm state;
and when the material sorting system, the intelligent robot, the code printer and the material channel are in a normal non-alarm state, starting to execute an automatic material sorting process.
Furthermore, the coding machine comprises a circulating coding unit, the circulating coding unit is used for dispatching corresponding line number information to the material according to a preset coding rule, and the line number information of the machine tool for processing the material are correspondingly arranged.
The intelligent robot system further comprises an intelligent robot initialization unit, wherein the initialization unit is used for initializing after receiving the preset sorting starting information and controlling the intelligent robot to return to the preset original point position.
Further, the material sorting system further comprises: a material grabbing and moving module; the material grabbing and moving module comprises a moving grabbing control unit and a material placing unit;
the mobile grabbing control unit is used for acquiring the line number information of the material to be grabbed currently, determining a material grabbing point needing to grab the material according to the acquired line number information, and controlling the intelligent robot to move to the material grabbing point;
and the material placing unit is used for controlling the intelligent robot to move to the corresponding material channel inlet and placing the grabbed material at the material channel inlet.
The material grabbing and moving module also comprises a grasping judging in-place unit;
and the in-place judging unit is used for starting timing when the intelligent robot grabs the material on the machine tool, and judging whether the paw of the intelligent robot is clamped according to a preset judging rule after a preset time interval.
The material grabbing and moving module also comprises a loosening in-place judging unit;
and the in-place judging and loosening unit is used for moving the intelligent robot to the corresponding material channel inlet, and judging whether the claw of the intelligent robot is loosened in place according to a preset judging rule when the grabbed material is placed at the material channel inlet.
The preset judgment rule comprises the step of judging the position of a magnetic ring arranged in a control cylinder corresponding to the intelligent robot paw, wherein the position of the magnetic ring comprises a preset grasping position, a preset releasing position and a preset action interval position.
Whether clench after snatching the material and whether loosen after placing the material hand claw of judging intelligent robot through the material snatchs the removal module, guarantee snatching and placing of material.
Furthermore, the material sorting system also comprises a route calling unit, a route selecting unit and a route sorting unit, wherein the route calling unit comprises a material grabbing route calling unit and a material putting route calling unit;
the material grabbing route calling unit is used for calling a material grabbing route of the intelligent robot corresponding to the preset database by combining the current position information of the intelligent robot after the mobile grabbing control unit determines a material grabbing point needing to grab the material;
and the material putting route calling unit is used for calling the material putting route of the intelligent robot corresponding to the preset database by combining the current position information of the robot after the material placing unit determines the material channel inlet where the material needs to be put.
And further, the intelligent robot further comprises a state confirming unit for confirming whether the state of the inlet of the material channel is an inlet material-free state or not when the intelligent robot moves to the corresponding inlet of the material channel, and if so, controlling the intelligent robot to place the grabbed material at the inlet of the material channel.
Through confirming the setting of material way entrance state unit, guaranteed that intelligent robot is when the material is placed to the material way entrance, the material is said and is not had the material in the entrance, has carried out double-deck affirmation, has guaranteed the process of automatic go-no-go.
This system of automatic go-no-go material, the effectual risk that reduces the compounding has improved production efficiency.
Example two
The embodiment provides a method for automatically sorting materials based on an intelligent robot, and as shown in fig. 2, the method includes the steps of:
s1: detecting current working state information of a machine tool for processing materials in real time, wherein the current working state information comprises a processing completion state and a processing state; the machine tool comprises a preset first wire size machine tool and a preset second wire size machine tool;
s2: judging the current state information of a material channel corresponding to a machine tool for processing materials, wherein the material channel comprises a feeding port and a discharging port respectively; the current state information of the material channel comprises an inlet material state and an inlet material-free state;
the material channel comprises an upper material channel and a lower material channel, the upper material channel is used for placing materials processed by a machine tool with a preset first line number, and the lower material channel is used for placing materials processed by a machine tool with a preset second line number;
s3: when the current working state of the machine tool for processing the materials is a processing completion state and the current state of the material channel corresponding to the machine tool is an inlet material-free state, controlling the intelligent robot to grab the materials from the machine tool through a paw of the intelligent robot and placing the materials at the material inlet of the corresponding material channel.
The specific steps are shown in figure 3,
before step S1, the method further includes an apparatus state detection step, specifically including:
judging whether the current material sorting system is in a normal non-alarm state or not through an equipment alarm unit;
judging whether the intelligent robot is in a normal non-alarm state or not through a robot alarm unit;
judging whether the coding machine is in a normal non-alarm state or not through a coding machine alarm unit;
judging whether the material channel is in a normal non-alarm state or not through a material channel alarm unit;
when one of the material sorting system, the intelligent robot, the code printer and the material channel is in an abnormal state, alarming, and when the material sorting system, the intelligent robot, the code printer and the material channel are in a normal and non-alarming state, executing an automatic material sorting process;
the specific automatic material sorting flow comprises the following steps:
the intelligent robot initialization unit is used for initializing after receiving preset sorting starting information and controlling the intelligent robot to return to a preset original point position.
Detecting the current working state information of the machine tool for processing the materials in real time, judging whether the current working state information of the machine tool is in a processing completion state or not, if so, confirming whether the current state of the inlet of the material channel is in an inlet material-free state or not through a state confirming unit at the inlet of the material channel, and if so, controlling the intelligent robot to grab the materials from the machine tool through a paw of the intelligent robot and place the materials at a material inlet of the corresponding material channel; the specific flow of controlling the intelligent robot is as follows:
the method comprises the steps that line number information of a material to be grabbed currently is obtained through a mobile grabbing control unit, a material grabbing point needing to grab the material is determined according to the obtained line number information, a material grabbing route of an intelligent robot corresponding to a preset database is called by combining current position information of the intelligent robot, and the intelligent robot is controlled to move to the material grabbing point;
after the material placing unit determines the material channel inlet where the material needs to be placed, the material placing unit calls the material placing route of the intelligent robot corresponding to the preset database in combination with the current position information of the robot, controls the intelligent robot to move to the corresponding material channel inlet, and places the grabbed material at the material channel inlet.
In the process of grabbing materials and placing the materials, the method further comprises the steps of starting timing when the intelligent robot grabs the materials on the machine tool through the grasping in-place judging unit, and judging whether the paw of the intelligent robot grasps according to the preset judging rule after the preset time is separated. The intelligent robot is moved to the corresponding material channel inlet through the in-place loosening unit, and whether the claw of the intelligent robot is loosened in place or not is judged according to the preset judgment rule when the grabbed material is placed at the material channel inlet.
The preset judgment rule comprises the step of judging the position of a magnetic ring arranged in a control cylinder corresponding to the intelligent robot paw, wherein the position of the magnetic ring comprises a preset grasping position, a preset releasing position and a preset action interval position.
Whether clench after snatching the material and whether loosen after placing the material hand claw of judging intelligent robot through the material snatchs the removal module, guarantee snatching and placing of material.
Through confirming the setting of material way entrance state unit, guaranteed that intelligent robot is when the material is placed to the material way entrance, the material is said and is not had the material in the entrance, has carried out double-deck affirmation, has guaranteed the process of automatic go-no-go.
By the method, the mixing risk can be effectively reduced, and the production efficiency is improved.
Claims (10)
1. A system for automatically sorting materials based on an intelligent robot is characterized by comprising the intelligent robot, a material sorting device and a coding machine, wherein the material sorting device comprises a material sorting system, an upper material channel and a lower material channel; the material sorting system comprises a machine tool connecting module, a material channel state judging module, an information positioning module and an intelligent robot control module;
the machine tool comprises a preset first wire size machine tool and a preset second wire size machine tool; the upper material channel is used for placing materials processed by a machine tool with a preset first line number, and the lower material channel is used for placing materials processed by a machine tool with a preset second line number;
the machine tool connecting module is used for connecting with a machine tool for processing materials and detecting the current working state information of the connected machine tool in real time, wherein the current working state information comprises a processing completion state and a processing state;
the material channel state judging module is used for judging the current state information of the material channel, and the material channel respectively comprises a feeding port and a discharging port; the current state information of the material channel comprises an inlet material state and an inlet material-free state;
and the intelligent robot control module is used for controlling the intelligent robot to grab the materials from the machine tool through a paw of the intelligent robot and place the materials at a feeding port of the corresponding material channel when the current working state of the machine tool is a processing completion state and the current state of the material channel corresponding to the machine tool is an inlet material-free state.
2. The system for automatically sorting materials based on the intelligent robot is characterized in that the coding machine comprises a cyclic coding unit, the cyclic coding unit is used for dispatching corresponding line number information to the materials according to preset coding rules, and the line number information is correspondingly arranged with the line number information of a machine tool for processing the materials.
3. The system for automatically sorting materials based on the intelligent robot as claimed in claim 1, further comprising an intelligent robot initialization unit, wherein the initialization unit is configured to initialize the intelligent robot after receiving the preset starting sorting information, and control the intelligent robot to return to the preset origin position.
4. The system for automatically sorting materials based on the intelligent robot as claimed in claim 1, wherein the material sorting system further comprises: a material grabbing and moving module; the material grabbing and moving module comprises a moving grabbing control unit and a material placing unit;
the mobile grabbing control unit is used for acquiring the line number information of the material to be grabbed currently, determining a material grabbing point needing to grab the material according to the acquired line number information, and controlling the intelligent robot to move to the material grabbing point;
and the material placing unit is used for controlling the intelligent robot to move to the corresponding material channel inlet and placing the grabbed material at the material channel inlet.
5. The system for automatically sorting materials based on the intelligent robot as claimed in claim 4, wherein the material grabbing and moving module further comprises a judging and grasping in-place unit;
and the in-place judging unit is used for starting timing when the intelligent robot grabs the material on the machine tool, and judging whether the paw of the intelligent robot is clamped according to a preset judging rule after a preset time interval.
6. The system for automatically sorting materials based on the intelligent robot as claimed in claim 1, wherein the material sorting system further comprises a route calling unit, the route calling unit comprises a material grabbing route calling unit and a material putting route calling unit;
the material grabbing route calling unit is used for calling a material grabbing route of the intelligent robot corresponding to the preset database by combining the current position information of the intelligent robot after the mobile grabbing control unit determines a material grabbing point needing to grab the material;
and the material putting route calling unit is used for calling the material putting route of the intelligent robot corresponding to the preset database by combining the current position information of the robot after the material placing unit determines the material channel inlet where the material needs to be put.
7. The system for automatically sorting materials based on the intelligent robot as claimed in claim 4, further comprising a material channel entrance state confirming unit for confirming whether the current material channel entrance state is an entrance material-free state when the intelligent robot moves to the corresponding material channel entrance, and if so, controlling the intelligent robot to place the grabbed material at the material channel entrance.
8. The system for automatically sorting materials based on the intelligent robot as claimed in claim 5, wherein the material grabbing and moving module further comprises a loosening in-place judging unit;
and the in-place judging and loosening unit is used for moving the intelligent robot to the corresponding material channel inlet, and judging whether the claw of the intelligent robot is loosened in place according to a preset judging rule when the grabbed material is placed at the material channel inlet.
9. The system for automatically sorting materials based on the intelligent robot as claimed in claim 5 or 8, wherein the predetermined determination rule includes determining the position of a magnetic ring disposed in the control cylinder corresponding to the intelligent robot gripper, and the position of the magnetic ring includes a predetermined grasping position, a predetermined releasing position and a predetermined motion section position.
10. A method for automatically sorting materials based on an intelligent robot, which is a system for automatically sorting materials based on an intelligent robot as claimed in any one of claims 1-8, and comprises the following steps:
s1: detecting current working state information of a machine tool for processing materials in real time, wherein the current working state information comprises a processing completion state and a processing state; the machine tool comprises a preset first wire size machine tool and a preset second wire size machine tool;
s2: judging the current state information of a material channel corresponding to a machine tool for processing materials, wherein the material channel comprises a feeding port and a discharging port respectively; the current state information of the material channel comprises an inlet material state and an inlet material-free state;
the material channel comprises an upper material channel and a lower material channel, the upper material channel is used for placing materials processed by a machine tool with a preset first line number, and the lower material channel is used for placing materials processed by a machine tool with a preset second line number;
s3: when the current working state of the machine tool for processing the materials is a processing completion state and the current state of the material channel corresponding to the machine tool is an inlet material-free state, controlling the intelligent robot to grab the materials from the machine tool through a paw of the intelligent robot and placing the materials at the material inlet of the corresponding material channel.
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| US20090200141A1 (en) * | 2006-03-14 | 2009-08-13 | Shigekazu Noda | Panel Sorting Method And Panel Sorting Device |
| CN106078208A (en) * | 2016-07-28 | 2016-11-09 | 平湖拓伟思自动化设备有限公司 | A kind of intelligent manufacturing system based on industrial robot |
| CN207748498U (en) * | 2017-12-12 | 2018-08-21 | 杭州三奥智能科技有限公司 | A kind of bilayer bin device |
| CN109178889A (en) * | 2018-10-25 | 2019-01-11 | 达力普石油专用管有限公司 | Oil casing collar production material circulation technique |
| CN109978453A (en) * | 2019-03-14 | 2019-07-05 | 济南千一智能科技有限公司 | Material automatic identification and emulation assembly system |
| CN212607328U (en) * | 2020-07-08 | 2021-02-26 | 北京计算机技术及应用研究所 | Intelligent robot storage letter sorting unit |
| CN112758657A (en) * | 2021-01-25 | 2021-05-07 | 珠海瑞凌焊接自动化有限公司 | Loading and unloading workstation for bearing frame |
| CN215390925U (en) * | 2021-07-30 | 2022-01-04 | 苏州小优智能科技有限公司 | Sole detection scanning device |
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