CN116002362A - Automatic batching system and method - Google Patents
Automatic batching system and method Download PDFInfo
- Publication number
- CN116002362A CN116002362A CN202211623638.1A CN202211623638A CN116002362A CN 116002362 A CN116002362 A CN 116002362A CN 202211623638 A CN202211623638 A CN 202211623638A CN 116002362 A CN116002362 A CN 116002362A
- Authority
- CN
- China
- Prior art keywords
- batching
- station
- robot
- material box
- box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
The application relates to an automatic batching system, which comprises a material shelf, a batching robot, a batching table and a controller, wherein material boxes are orderly arranged on the material shelf; the batching robot comprises a mechanical arm and a clamping seat which is arranged at the front end of the mechanical arm and matched with the materials; the material shelf is positioned in the moving range of the mechanical arm; the batching platform is located the movable range of arm, and the batching platform includes first conveyer belt, and the batching is equipped with material information and confirms station, artifical batching station and material box recovery station along the direction of delivery of first conveyer belt. The scheme can realize automatic batching operation, is difficult for makeing mistakes and can improve efficiency by a wide margin for manual batching. The application also provides an automatic batching method based on the automatic batching system.
Description
Technical Field
The invention relates to the technical field of intelligent control production lines, in particular to an automatic batching system and an automatic batching method.
Background
In the production of parts of materials such as paints, it is necessary to mix the various raw materials in proportions. In the prior art, materials are usually selected manually and mixed after being manually weighed. On one hand, the whole process needs to be manually selected, weighed and mixed, so that the efficiency is low; on the other hand, due to the fact that multiple materials are involved, mistakes are easy to be made in the process of manually carrying out the flow operation, and the operation proficiency of workers is greatly dependent; and the manual operation process cannot be traced when an error occurs, so that the step with a problem is inconvenient to determine. Therefore, it is necessary to provide an intelligent system and method for automatically mixing materials for selecting, weighing and mixing various materials.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide an automatic batching system, which can realize automatic batching operation, is not easy to make mistakes relative to manual batching, and can greatly improve efficiency.
An automatic batching system is characterized by comprising a material shelf, a batching robot, a batching table and a controller,
the material shelf comprises a plurality of storage grids, material boxes are orderly arranged in the storage grids, and the material boxes are provided with identification codes for representing material information therein;
the batching robot comprises a mechanical arm and a clamping seat which is arranged at the front end of the mechanical arm and matched with the materials; the mechanical arm is provided with a first identification device for identifying the identification code; the material shelf is positioned in the moving range of the mechanical arm;
the material distributing platform is positioned in the moving range of the mechanical arm and comprises a first conveying belt, and a material information confirmation station, a manual material distributing station and a material box recycling station are arranged along the conveying direction of the first conveying belt; and the material information confirmation station is provided with a second identification device for identifying the identification code on the material box.
Preferably, the batching robot comprises a sliding seat, the sliding seat is arranged on a ground rail in a sliding manner, and the material goods shelf and the batching table are arranged along the ground rail.
Preferably, the storage grid bottom plate is provided with a notch arranged in the width direction, and the notch direction is arranged towards the material taking direction of the material dispensing robot in the storage grid; the clamping seat comprises a cushion block matched with the notch and side plates positioned at the left side and the right side of the base plate, and the distance between the two side plates is larger than the width of the material box.
Preferably, a detection device for detecting whether a material box exists in the storage grid is arranged on the clamping seat of the batching robot.
Preferably, the detection device is a diffuse reflection type photoelectric sensor.
Preferably, a partition board is arranged among the material information confirmation station, the manual batching station and the material box recycling station respectively, the partition board driving device drives the partition board to switch between a contracted state and an expanded state, and the adjacent stations are communicated under the contracted state of the partition board; in the extended state of the partition, adjacent stations are separated by the partition.
Preferably, the first conveyor belt of the batching table is a roller type first conveyor belt, the conveying surface of the first conveyor belt is composed of a plurality of rollers arranged side by side, and gaps exist between the adjacent rollers; the partition board is positioned between two adjacent rollers, and in the contracted state of the partition board, the partition board is positioned below the conveying plane of the first conveying belt; in the extended state of the partition, the partition is at least partially below the conveying plane of the first conveyor belt.
Preferably, the driving device is a telescopic cylinder.
Preferably, the weighing device is connected with the cloud server, and the weighing device sends weighing data to the cloud server for storage.
Preferably, the feeding platform is located in the moving range of the mechanical arm, the feeding platform comprises a second conveying belt, a feeding station, a manual operation station and a discharging station are respectively arranged along the conveying direction of the second conveying belt, and the batching robot conveys a material box needing to be fed from a material shelf to the feeding station of the feeding platform and conveys the material box located in the feeding platform to a corresponding storage grid of the material shelf.
It is also an object of the present application to provide an automatic batching method for use with the automatic batching system, the method being applied to the automatic batching system according to any of the above, the method comprising:
the method comprises the steps that the position of a material contained in a batching sheet on a material frame is obtained on a controller;
controlling a batching robot to obtain corresponding material boxes at corresponding positions on a material rack, and conveying the material boxes to a material information confirmation station of a batching table;
the material information confirming station recognizes the material information on the material information confirming station and compares the material information with the current batching list through the controller to judge whether the material information is a target material or not;
if the current target material is detected, conveying the material box of the material information confirmation station to the manual batching station; after the manual batching work operation is completed, the material boxes are conveyed to the material box recovery station of the batching table, and the transfer robot transfers the material boxes positioned at the material box recovery station to the corresponding positions of the material frames.
Preferably, the controller obtains the position of the material contained in the batching list on the material rack, and the method comprises the following steps:
the system records the position of each storage grid on the material rack, stores the material boxes, the materials in the material boxes and the storage grids in a one-to-one correspondence manner, and constructs a material storage position database;
and the controller determines the storage position of the corresponding material on the material rack based on the material storage position database according to the materials contained in the batching list.
Preferably, the controlling the batching robot to obtain the corresponding material box to the corresponding position on the material rack comprises:
after the controller controls the batching robot to move to the corresponding position, the first identification device on the batching robot is used for identifying the identification code on the material box, whether the identification code is a target material is determined, and if the identification code is the target material, the batching robot is controlled to acquire the material box at the corresponding position.
Preferably, if the current target material is detected, the material box of the material information confirmation station is conveyed to the manual batching station, and the method comprises the following steps:
if the material is detected to be the target material, the controller controls the partition plate between the material information confirmation station and the manual batching station to be switched to a contracted state, and then the material box is conveyed to the manual batching station by the action of the conveying belt.
Preferably, the method comprises: the controller records the material information which is transmitted to the manual batching station this time;
the controller acquires weighing data recorded by the weighing equipment on the current material, and stores the weighing data in one-to-one correspondence with the current material information;
comparing the material and the weighing data thereof with the components of the corresponding material in the batching list; if the material boxes are consistent, prompting that the material proportioning is successful, and conveying the material boxes to a material box recovery station from a manual material proportioning station; otherwise, prompting error information.
Preferably, the method comprises: the controller records the initial weight of the materials in the material box, and updates the latest weight of the materials in the material box according to the weighing data of the weighing equipment after each material taking;
judging whether the materials in the material box need to be supplemented according to the weight of the latest materials; if necessary, carrying the material box to a material supplementing platform for material supplementing operation, and updating the weight of the materials in the material box after material supplementing.
Preferably, the conveying the material box from the manual batching station to the material box recycling station comprises:
the controller controls the partition plates between the manual batching stations and the material box recycling stations to be switched to a contracted state, and then the conveying belt acts to convey the material box to the material box recycling stations.
Preferably, before the transfer robot transfers the material box located at the material box recycling station to the corresponding position of the material shelf, the transfer robot includes:
identifying an identification code on the material box through a first identification device on the batching robot, determining whether the material box is a target material, and if so, carrying the material box to a corresponding position on a material shelf by a carrying robot; otherwise, prompting error information.
By adopting the technical scheme, the material boxes are orderly stored on the material shelf, so that the storage positions of all materials can be determined, and the material storage positions are conveniently determined by the batching robot and moved to the corresponding positions to acquire target materials; the material shelf and the batching table are in the moving range of the mechanical arm of the batching robot, so that the material box can be transported between the material shelf and the batching table through the batching robot; the first information identification device for identifying the material information is arranged on the batching robot, so that the selected material is prevented from being in error; a material information confirmation station is further arranged on the batching table, and material information conveyed by the batching robot is confirmed again at the station; and after confirming that the material information is correct, conveying the material information to a manual batching station for processing. In the process, only the materials are weighed according to the corresponding weight in the batching list to be manually operated, and the steps of selecting and storing the other materials are automatically operated by the batching robot, so that the automation process of the whole process can be greatly improved, the batching efficiency is improved, and the dependence on operators is reduced; and the whole process checks the material information selected by the batching robot for a plurality of times, so that the accuracy of automatic batching can be improved.
Drawings
FIG. 1 is a block diagram of an automatic batching system;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic view of a configuration of a dispensing robot cartridge;
FIG. 4 is a schematic structural view of the batching table;
fig. 5 is a flow chart of an automatic compounding method.
Reference numerals:
the material shelf 1, the material box 12,
the batching robot 2, the ground rail 21, the mechanical arm 22, the clamping seat 23, the diffuse reflection photoelectric sensor 231, the cushion block 232, the side plate 233,
a batching table 3, a material information confirming station 311, a manual batching station 312, a material box recycling station 313, a partition 32,
the weighing device 4 is provided with a weighing device,
the material supplementing table 5, the feeding station 511, the manual operation station 512 and the discharging station 513.
Detailed Description
Embodiments of the present invention are described in detail below.
Example 1:
this embodiment provides an automatic batching system comprising a material pallet 1, a batching robot 2, a batching table 3 and a controller as shown in fig. 1-2.
The material rack 1 includes a plurality of storage compartments in which the material boxes 12 are sequentially placed, and a single kind of material is stored in each material box 12. The material goods shelves 1 are three-dimensional goods shelves, each material goods shelf 1 is divided into a plurality of storage grids which are overlapped in a single row and a plurality of columns, the openings of the storage grids are arranged towards the batching robot 2, and the batching robot 2 is convenient to clamp the material boxes 12 from the storage grids or send the material boxes 12 to the storage grids. In this embodiment, in order to facilitate the arrangement of the storage compartments and the material boxes 12 in a one-to-one correspondence, only one material box 12 is accommodated in each storage compartment. As an optional implementation manner, the material boxes 12 are orderly placed in the multiple storage lattices, which may be a code for each storage lattice, and the material boxes 12 are stored in a one-to-one correspondence with the storage lattices, and in an embodiment, the code including the storage lattice information may be a storage lattice code through a bar code, a two-dimensional code, or the like. The position information of each storage grid on the material shelf 1 is also recorded, so that the material robot can determine the storage position of the corresponding material on the material shelf 1. The material box 12 is provided with an identification code for representing the material information therein, and in the subsequent working process, the material information can be checked through identifying the identification code, so that the disorder of the material box 12 management caused by each procedure in the subsequent process is avoided.
The material robot includes arm 22 and sets up at arm 22 front end with material box 12 complex holder 23, arm 22 have a plurality of degree of automation, can drive holder 23 up and down direction of height and circumference automated motion to arm 22 and the junction of holder 23 also set up a plurality of degrees of freedom so that the holder remains level all the time so that clamp material box 12, prevent through the in-process of batching robot 2 centre gripping material box 12, because holder 23 slope leads to material box 12 to slide from holder 23. The multiple degree of freedom configuration of the robotic arm 22 is conventional in the art and will not be described herein. Preferably, in order to increase the movable range of the dispensing robot 2 for use in various material storage applications, the dispensing robot 2 is provided with a sliding seat slidably disposed on the ground rail 21, and the material shelf 1 and the dispensing table 3 are disposed along the ground rail 21, so that the dispensing robot 2 can slide along the ground rail 21 to increase the movable range of the dispensing robot 2. Preferably, the material box 12 has a box-shaped structure, and can adopt a standard cube or other structure, so that the material box can be purchased directly from the market, the production cost can be saved, and the box-shaped structure can be stably stored on the material shelf 1. And based on this, set up the holder 23 of arm 22 front end to including the cushion 232 that is located the bottom and be located the curb plate 233 structure of cushion 232 left and right sides, during the use, cushion 232 supports material box 12 from material box 12 lower part, and curb plate 233 protects from material box 12 left and right sides, prevents material box 12 from the side landing. The structure of the clamping seat 23 is simple, and compared with a clamping jaw structure, the control mode is simpler; in other alternative embodiments, the jaws that can be switched between the clamped and expanded states also act as clamping seats provided at the front end of the robot arm 22. Preferably, the storage grid bottom plate is provided with a notch arranged in the width direction, and the notch direction is arranged towards the batching robot 2 in the material taking direction of the storage grid; the holder 23 includes a spacer 232 adapted to the gap, so that the spacer 232 may extend into the bottom of the material box 12 from the gap for carrying, and the positions of the left and right side plates 233 and the left and right sides of the material box 12 may be conveniently located by matching the positions of the spacer 232 and the gap. Further, preferably, the length of the spacer 232 is more than half the length of the magazine 12, so that the holder 23 can stably support the magazine 12 thereon.
The mechanical arm 22 or the clamping seat 23 of the batching robot 2 is provided with a first identification device which can identify the identification code or the code of the storage grid on the material box 12 so as to determine that the batching robot 2 carries the materials of the required types. The clamping seat 23 of the batching robot 2 is provided with a detection device for detecting whether the material box 12 exists in the storage grid, whether the material box 12 is stored in the corresponding storage grid is identified through the detection device, management of the whole conveying process of the batching robot 2 is facilitated, for example, the material box 12A is stored in the storage grid a according to a preset program, but the situation that the material in the storage grid a is absent possibly exists in the actual process is set, and the detection device can timely send out an error alarm after detecting the material box 12A in the storage grid a, prompt manual processing and avoid continuous execution of subsequent operations according to the error program. Optionally, the detection device is a diffuse reflection type photoelectric sensor 231, and the diffuse reflection type photoelectric sensor 231 can be installed on one side of the clamping seat 23, so that the installation is simple.
The batching table 3 is located in the range of movement of the robot arm 22, whereby the transfer of the material boxes 12 between the material pallet 1 and the batching table 3 by the batching robot 2 can be achieved. The batching table 3 comprises a first conveyor belt, along the conveying direction of which a material information confirming station 311, a manual batching station 312 and a material box retrieving station 313 are arranged. The first conveyor belt is driven by the conveyor belt driving mechanism so as to drive the material box 12 thereon to be transferred at each station. At the information confirmation station, second identification means are provided for identifying the identification code on the magazine 12. The material dispensing robot 2 selects a target material box on the material shelf 1 and then conveys the target material box to the information confirmation station, the second recognition device recognizes the recognition code on the material box 12 and determines whether the target material box is a material required for the present time, wherein the target material box refers to the material determined according to the material dispensing sheet, and for one material dispensing sheet, the material position determination, the conveying, the manual weighing and the material returning on the material shelf 1 are carried out once on the material shelf 1, and the steps are circulated until all the materials in one material dispensing sheet are processed. After the material information is confirmed by the information confirmation station, the controller controls the first conveyor to act to convey the material box 12 on the information confirmation station to the manual batching station 312. At the manual batching station 312, a specified weight of material is weighed from the magazine 12 by a worker. In this embodiment, weigh the material through weighing equipment 4, weighing equipment is thing networking balance, and it can record the weight data of the material of weighing to with its and the material kind one-to-one storage of weighing this time. In this example, the weighing device 4 is connected to the cloud server, and the weighing device 4 sends the weighing data to the cloud server for storage, so that the data can be processed later. The controller checks whether the amount of the material weighed by the weighing device is correct according to the weight data of the material in the batching list, and if so, controls the first conveyor belt to move to convey the material box 12 of the manual batching station 312 to the material recycling station, and waits for the batching robot 2 to convey the material back to the corresponding storage grid of the material shelf 1.
Preferably, a partition plate 32 is respectively arranged among the material information confirmation station 311, the manual batching station 312 and the material box recovery station 313, the partition plate 32 is driven by a partition plate 32 driving device to switch between a contracted state and an expanded state, and adjacent stations are communicated under the contracted state of the partition plate 32; in the extended state of the partition 32, adjacent stations are separated by the partition 32. In an embodiment, the driving device is a telescopic cylinder, and the telescopic cylinder drives the partition plate 32 to switch between a contracted state and an expanded state. As an alternative embodiment, the first conveyor belt of the batching table 3 is a roller type first conveyor belt, the conveying surface of which is composed of a plurality of rollers arranged side by side, and gaps exist between the adjacent rollers; the partition plate 32 is located between two adjacent rollers, and the thickness of the partition plate 32 is smaller than the gap between the two rollers, so that the partition plate 32 can stretch from the gap. In the contracted state of the partition plate 32, the partition plate 32 is positioned below the conveying plane of the first conveying belt; in the extended state of the partition 32, the partition 32 is at least partially below the conveying plane of the first conveyor belt.
Preferably, the feeding platform 5 is arranged in the moving range of the mechanical arm 22, the feeding platform 5 comprises a second conveying belt, a feeding station 511, a manual operation station 512 and a discharging station 513 are respectively arranged along the conveying direction of the second conveying belt, the material box 12 needing to be fed is conveyed from the material shelf 1 to the feeding station 511 of the feeding platform 5 by the material batching robot 2, and the material box 12 arranged in the feeding platform 5 is conveyed to a corresponding storage grid of the material shelf 1. The partition plates 32 are arranged between the feeding station 511 and the manual operation station 512 and between the manual operation station 512 and the discharging station 513, the arrangement of the partition plates 32 is identical to that of the partition plates 32 on the batching table 3, and the structure of the second conveying belt of the feeding table 5 can also be the same as that of the first conveying belt so as to realize the cooperation with the structure of the partition plates 32.
According to the automatic batching system, as the weight of each material box 12 is recorded by the system, when the material box 12 corresponding to the material box 12 is monitored to be required to be supplemented, the batching robot 2 is controlled to carry the material box 12 corresponding to the material box from the material shelf 1 to the feeding station 511 of the material supplementing table 5, the feeding station 511 is provided with the third identification device for identifying the information code on the material box 12, and the third identification device identifies the identification code on the material box 12 to determine whether the material is the material required to be supplemented this time. After the material box passes the confirmation, the partition plate 32 between the feeding station 511 and the manual operation station 512 is controlled to be switched to a contracted state, the material box 12 is conveyed to the manual operation station 512 from the feeding station 511 for manual material supplementing, and the weight of the material in the material box 12 is updated; after the material is fed, the partition plate 32 between the manual operation station 512 and the discharging station 513 is controlled to be switched to a contracted state, and the material box 12 is conveyed to the discharging station 513 from the manual operation station 512 by the action of the second conveying belt. Before the dispensing robot 2 carries, the recognition device on the dispensing robot 2 further checks whether the material box 12 is the material box 12 for which the material is fed this time or not, and carries after the checking, if not, the dispensing robot 2 carries the material box 12 on the discharging station 513 to a corresponding position on the material shelf 1, otherwise, an error prompt is sent, and the dispensing robot carries out processing manually.
In summary, in the automatic batching system according to the present embodiment, the material boxes 12 are orderly stored on the material shelf 1, so that the storage position of each material can be determined, and the batching robot 2 can conveniently determine the storage position of the material and move to the corresponding position to obtain the target material; the material shelf 1 and the batching table 3 are in the moving range of the mechanical arm 22 of the batching robot 2, so that the material box 12 can be transferred between the material shelf 1 and the batching table 3 by the batching robot 2; the batching robot 2 is provided with a first information recognition device for recognizing material information, so that the selected material is prevented from being in error; a material information confirmation station 311 is further arranged on the batching table 3, and material information conveyed by the batching robot 2 is confirmed again at the station; the material information is confirmed to be conveyed to the manual batching station 312 for processing. In the process, only the materials are weighed according to the corresponding weight in the batching list to be manually operated, and the steps of selecting and storing the other materials are automatically operated by the batching robot 2, so that the automation process of the whole process can be greatly improved, the batching efficiency is improved, and the dependence on operators is reduced; and the whole process checks the material information selected by the batching robot 2 for a plurality of times, so that the accuracy of automatic batching can be improved.
Example 2:
this embodiment proposes an automatic batching method implemented based on the automatic batching system in embodiment 1, said method comprising the steps of:
the method comprises the steps that the position of a material contained in a batching list on a material shelf is obtained on a controller;
controlling a batching robot to obtain corresponding material boxes at corresponding positions on a material rack, and conveying the material boxes to a material information confirmation station of a batching table;
the material information confirming station recognizes the material information on the material information confirming station and compares the material information with the current batching list through the controller to judge whether the material information is a target material or not;
if the current target material is detected, conveying the material box of the material information confirmation station to the manual batching station; after the manual batching work operation is completed, the material boxes are conveyed to the material box recovery station of the batching table, and the batching robot conveys the material boxes positioned at the material box recovery station to the corresponding positions of the material frames.
As the preferred embodiment, the automatic batching system is connected with the batching ERP system, and a batching list is obtained from the ERP system when batching is needed. As an alternative embodiment, the functions of generating the ingredient bill, managing the ingredient bill and the like can also be realized in the automatic ingredient system.
In the above method, the controller obtains the position of the material contained in the batching list on the material rack, including:
the system records the position of each storage grid on the material rack, stores the material boxes, the materials in the material boxes and the storage grids in a one-to-one correspondence manner, and constructs a material storage position database;
and the controller determines the storage position of the corresponding material on the material rack based on the material storage position database according to the materials contained in the batching list.
Through with the material with storing check one-to-one storage, be convenient for confirm the position of material box, make things convenient for the batching robot to carry the material box that corresponds from corresponding position.
Preferably, the controlling the batching robot to obtain the corresponding material box to the corresponding position on the material rack comprises:
after the controller controls the batching robot to move to the corresponding position, the first identification device on the batching robot is used for identifying the identification code on the material box, whether the identification code is a target material is determined, and if the identification code is the target material, the batching robot is controlled to acquire the material box at the corresponding position.
The batching robot further confirms whether the currently carried material box is a target material box or not when carrying, so that multiple material checks can be carried out in the automatic batching operation procedure, and the batching process is prevented from making mistakes.
If the current target material is detected, conveying the material box of the material information confirmation station to the manual batching station, and comprising the following steps:
if the material is detected to be the target material, the controller controls the partition plate between the material information confirmation station and the manual batching station to be switched to a contracted state, and then the material box is conveyed to the manual batching station by the action of the conveying belt.
The operation of the matched conveying belt is switched through controlling the telescopic state of the partition plate, so that the next procedure can not be performed when the material information verification of the material box is not passed, and the accuracy of automatic batching can be ensured.
The method further comprises the following steps: the controller records the material information which is transmitted to the manual batching station this time;
the controller acquires weighing data recorded by the weighing equipment on the current material, and stores the weighing data in one-to-one correspondence with the current material information;
comparing the material and the weighing data thereof with the components of the corresponding material in the batching list; if the material boxes are consistent, prompting that the material proportioning is successful, and conveying the material boxes to a material box recovery station from a manual material proportioning station; otherwise, prompting error information.
The controller records the initial weight of the materials in the material box, and updates the latest weight of the materials in the material box according to the weighing data of the weighing equipment after each material taking;
judging whether the materials in the material box need to be supplemented according to the weight of the latest materials; if necessary, carrying the material box to a material supplementing platform for material supplementing operation, and updating the weight of the materials in the material box after material supplementing.
Through monitoring the weight of materials in the material box, on the one hand, whether this batching weight is unanimous with the batching list can be checked to record the batching weight at every turn, follow-up retrospectively of being convenient for. Simultaneously, the material weight is convenient for manage the material in the material goods shelves to the record at every turn and update, judges whether the material needs the feed supplement in the material box to carry out the feed supplement operation, make the whole more intelligent of batching system and accord with actual batching demand.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (18)
1. An automatic batching system is characterized by comprising a material shelf, a batching robot, a batching table and a controller,
the material shelf comprises a plurality of storage grids, material boxes are orderly arranged in the storage grids, and the material boxes are provided with identification codes for representing material information therein;
the batching robot comprises a mechanical arm and a clamping seat which is arranged at the front end of the mechanical arm and matched with the material box; the mechanical arm or the clamping seat is provided with a first identification device for identifying the identification code; the material shelf is positioned in the moving range of the mechanical arm;
the material distribution platform is positioned in the moving range of the mechanical arm and comprises a first conveying belt, and a material information confirmation station, a manual material distribution station and a material box recovery station are arranged along the conveying direction of the first conveying belt; and the material information confirmation station is provided with a second identification device for identifying the identification code on the material box.
2. The automated batching system according to claim 1, wherein the batching robot comprises a sliding seat slidably arranged on a ground rail along which the material shelves and batching table are arranged.
3. The automatic batching system according to claim 1, wherein the storage compartment bottom plate is provided with a notch arranged in the width direction, and the notch direction is arranged towards the batching robot in the material taking direction of the storage compartment; the clamping seat comprises a cushion block matched with the notch and side plates positioned at the left side and the right side of the base plate, and the distance between the two side plates is larger than the width of the material box.
4. The automatic batching system according to claim 1, wherein the clamping seat of the batching robot is provided with a detecting device for detecting whether a material box exists in the storage grid.
5. The automated batching system according to claim 4, wherein the detecting means is a diffuse reflective photoelectric sensor.
6. The automatic batching system according to claim 1, wherein a partition plate is respectively arranged among the material information confirmation station, the manual batching station and the material box recycling station, the partition plate driving device drives the partition plate to switch between a contracted state and an expanded state, and the adjacent stations are communicated in the contracted state of the partition plate; in the extended state of the partition, adjacent stations are separated by the partition.
7. The automatic batching system according to claim 6, wherein the first conveyor belt of the batching table is a roller type first conveyor belt, the conveyor surface of which is constituted by a plurality of rollers arranged side by side, with a gap between adjacent rollers; the partition board is positioned between two adjacent rollers, and in the contracted state of the partition board, the partition board is positioned below the conveying plane of the first conveying belt; in the extended state of the partition, the partition is at least partially below the conveying plane of the first conveyor belt.
8. The automatic batching system according to claim 6, wherein the driving means is a telescopic cylinder.
9. The automatic batching system according to claim 1, comprising a weighing device connected to the cloud server, the weighing device transmitting weighing data to the cloud server for storage.
10. The automatic batching system according to claim 1, wherein the automatic batching system comprises a feeding stand positioned in the moving range of the mechanical arm, the feeding stand comprises a second conveyor belt, a feeding station, a manual operation station and a discharging station are respectively arranged along the conveying direction of the second conveyor belt, and the batching robot conveys a material box requiring feeding from a material shelf to the feeding station of the feeding stand and conveys the material box positioned at the feeding stand to a corresponding storage grid of the material shelf.
11. An automatic batching method, characterized in that it is applied to an automatic batching system according to any one of claims 1 to 10, comprising:
the method comprises the steps that the position of a material contained in a batching sheet on a material frame is obtained on a controller;
controlling a batching robot to obtain corresponding material boxes at corresponding positions on a material rack, and conveying the material boxes to a material information confirmation station of a batching table; the material information confirming station recognizes the material information on the material information confirming station and compares the material information with the current batching list through the controller to judge whether the material information is a target material or not;
if the current target material is detected, conveying the material box of the material information confirmation station to the manual batching station; after the manual batching work operation is completed, the material boxes are conveyed to the material box recovery station of the batching table, and the batching robot conveys the material boxes positioned at the material box recovery station to the corresponding positions of the material frames.
12. The method of claim 11, wherein the controller obtains a position of a material contained in the recipe on the material rack, comprising:
the system records the position of each storage grid on the material rack, stores the material boxes, the materials in the material boxes and the storage grids in a one-to-one correspondence manner, and constructs a material storage position database;
and the controller determines the storage position of the corresponding material on the material rack based on the material storage position database according to the materials contained in the batching list.
13. The automatic batching method according to claim 11, wherein the controlling the batching robot to obtain the corresponding material boxes to the corresponding positions on the material shelf comprises:
after the controller controls the batching robot to move to the corresponding position, the first identification device on the batching robot is used for identifying the identification code on the material box, whether the identification code is a target material is determined, and if the identification code is the target material, the batching robot is controlled to acquire the material box at the corresponding position.
14. The method of claim 11, wherein if the current target material is detected, conveying the material box of the material information confirmation station to the manual batching station, comprising:
if the material is detected to be the target material, the controller controls the partition plate between the material information confirmation station and the manual batching station to be switched to a contracted state, and then the material box is conveyed to the manual batching station by the action of the conveying belt.
15. The automatic compounding method of claim 11, comprising: the controller records the material information which is transmitted to the manual batching station this time;
the controller acquires weighing data recorded by the weighing equipment on the current material, and stores the weighing data in one-to-one correspondence with the current material information; comparing the material and the weighing data thereof with the components of the corresponding material in the batching list; if the material boxes are consistent, prompting that the material proportioning is successful, and conveying the material boxes to a material box recovery station from a manual material proportioning station; otherwise, prompting error information.
16. The automatic compounding method of claim 15, comprising: the controller records the initial weight of the materials in the material box, and updates the latest weight of the materials in the material box according to the weighing data of the weighing equipment after each material taking;
judging whether the materials in the material box need to be supplemented according to the weight of the latest materials; if necessary, carrying the material box to a material supplementing platform for material supplementing operation, and updating the weight of the materials in the material box after material supplementing.
17. The automated compounding method of claim 15, wherein the transporting the pod from the manual compounding station to the pod recovery station comprises:
the controller controls the partition plates between the manual batching stations and the material box recycling stations to be switched to a contracted state, and then the conveying belt acts to convey the material box to the material box recycling stations.
18. The automated batching method according to claim 11, wherein the batching robot comprises, before transporting the material cartridges located at the material cartridge recycling station to the corresponding positions of the material shelves:
identifying an identification code on the material box through a first identification device on the batching robot, determining whether the material box is a target material, and if so, carrying the material box to a corresponding position on a material shelf by the batching robot; otherwise, prompting error information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211623638.1A CN116002362A (en) | 2022-12-16 | 2022-12-16 | Automatic batching system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211623638.1A CN116002362A (en) | 2022-12-16 | 2022-12-16 | Automatic batching system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116002362A true CN116002362A (en) | 2023-04-25 |
Family
ID=86018477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211623638.1A Pending CN116002362A (en) | 2022-12-16 | 2022-12-16 | Automatic batching system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116002362A (en) |
-
2022
- 2022-12-16 CN CN202211623638.1A patent/CN116002362A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11623706B2 (en) | Production system | |
| CN108382779B (en) | Intelligent storage sorting system, goods shelf and AGV | |
| JP2004042251A (en) | Part supply system of assembly production line and its supply method | |
| US20180327196A1 (en) | Palletizer-depalletizer system for distribution facilities | |
| AU772903B2 (en) | Handling arrangement for goods units and method of handling of goods units | |
| CN110264323B (en) | Intelligent sorting method and system | |
| CN110721914A (en) | Sorting system, sorting method, storage medium and apparatus | |
| US20210237987A1 (en) | System and method for processing logistic object, and sorting apparatus | |
| EP0785048A2 (en) | A pallet feeder | |
| CN103995536A (en) | Material tray warehousing method and system guaranteeing accurate material receiving by automatic navigation trolley | |
| CN110404830A (en) | Sorting system and method | |
| CN108529166B (en) | Automatic logistics sorting remote diagnosis system and method | |
| JP2021500224A (en) | Sorting device and sorting method | |
| US5880965A (en) | Method of controlling a sheet metal machining line and apparatus for controlling the same | |
| KR101495612B1 (en) | Auto sequences apparatus using AGV | |
| JP7199848B2 (en) | Picking support method | |
| CN106081534A (en) | A kind of automated transport system being applied to cooker intelligence manufacture | |
| CN113879734B (en) | Warehouse processing system and method | |
| CN115971066A (en) | Picking system and picking control method | |
| CN210756324U (en) | Assembly platform | |
| CN219383938U (en) | Automatic batching system | |
| CN116002362A (en) | Automatic batching system and method | |
| CN106742307B (en) | Automatic temporary storage and sorting feeding system and method for box skins | |
| CN116934238A (en) | Intelligent factory material automatic input and output method | |
| CN109110366B (en) | Automatic inventory method for warehouse system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |