CN117184751A - Cross belt automatic feeding system and method thereof - Google Patents
Cross belt automatic feeding system and method thereof Download PDFInfo
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Abstract
The invention provides an automatic cross belt feeding system and a method thereof, which provide a solution for automatically separating and adjusting the posture of stacked small packages before automatic feeding is conducted into a cross belt, so as to improve the feeding operation efficiency on the whole. The automatic cross belt piece feeding system comprises a primary diversion device, a buffer chute, a piece stacking separation device, a single piece separation device, a non-standard piece detection device, a rejecting swing machine, a one-to-two device and a belt conveyor conveying device with 2 rows of parallel distribution conveying lines, wherein the primary diversion device, the buffer chute, the piece stacking separation device, the single piece separation device, the non-standard piece detection device, the rejecting swing machine and the one-to-two device are arranged along the conveying direction of goods; a stacking separation visual system is arranged above the stacking separation device vertically, a single piece separation visual system is arranged above the single piece separation device vertically, and a non-standard detection visual system is arranged above the non-standard detection device vertically; each row of conveying lines of the belt conveyor conveying device are respectively in butt joint communication with at least one group of automatic leading-in tables, and at least one group of auxiliary sliding grooves and semi-automatic leading-in tables are in butt joint communication with the tail ends of the conveying lines.
Description
Technical Field
The invention relates to an automatic piece feeding system and a piece feeding method thereof applied to a cross-belt sorting machine, and belongs to the field of logistics storage and automatic production.
Background
At present, in the fields of industrial production and logistics storage, an intelligent and full-automatic control technology is widely popularized and used for realizing high efficiency and high quality of an operation flow. Along with the development of express delivery, electronic commerce trade, in the goods letter sorting process usually need to pile up the parcel with a large number and supply into alternately take letter sorting system in order, especially to smallclothes letter sorting field, the goods kind is more complicated, overall dimension size is different, more easily causes the goods to pile up, difficult separation.
The conventional processing mode in the existing logistics storage field is to take out packages one by one from the sliding groove by means of manpower, then place the packages into a semi-automatic leading-in table and then supply the packages to a cross belt system. The mode is low in efficiency, high in labor intensity and capable of ensuring the efficiency and timeliness of cargo sorting due to the fact that operation level of a restricted person is high.
In view of this, the present patent application is specifically filed.
Disclosure of Invention
The invention provides an automatic cross-belt feeding system and a method thereof, which aims to solve the problems in the prior art and provide a solution for automatically separating and adjusting the posture of stacked small packages before automatic feeding into a cross belt, so as to improve the feeding operation efficiency on the whole and solve the manual semi-automatic package feeding problem to the maximum extent.
In order to achieve the design purpose, the automatic cross belt piece supply system comprises a primary diversion device, a buffer chute, a piece stacking and separating device, a single piece separating device, a non-standard piece detecting device, a rejecting swing machine, a one-to-two device and a belt conveyor conveying device with 2 rows of parallel distribution conveying lines, wherein the primary diversion device, the buffer chute, the piece stacking and separating device, the single piece separating device, the non-standard piece detecting device, the rejecting swing machine and the one-to-two device are arranged along the conveying direction of goods; a stacking separation visual system is arranged above the stacking separation device vertically, a single piece separation visual system is arranged above the single piece separation device vertically, and a non-standard detection visual system is arranged above the non-standard detection device vertically; each row of conveying lines of the belt conveyor conveying device are respectively in butt joint communication with at least one group of automatic leading-in tables, and at least one group of auxiliary sliding grooves and semi-automatic leading-in tables are in butt joint communication at the tail ends of the conveying lines; the belt conveyor conveying device is provided with 2 rows of conveying lines A and B which are distributed in parallel, one side of each line A and one side of each line B are respectively provided with a plurality of leading-in ends, each leading-in end is respectively provided with a connecting split-flow swinging machine, and a stacking detection visual system is erected in the vertical upper direction of the belt conveyor which is close to the upstream of the split-flow swinging machine; in the preliminary diverting device, the goods are displaced transversely perpendicular to the conveying direction to perform left-right diverting or edge-to-edge treatment.
Further, a split belt conveyor and a narrow belt conveyor device are sequentially connected between each group of automatic guide-in tables and a split swing wheel machine arranged at the guide-in end of the belt conveyor conveying device.
Further, the preliminary flow dividing device is preferably a module belt device, and the module belt device comprises a frame, a plastic conveying belt and a flow dividing device which are vertically overlapped and connected along the frame; the plastic conveyor belt is provided with a plurality of groups of cylindrical roller assemblies, two ends of each cylindrical roller assembly are axially arranged in the support frame, the cylindrical roller assemblies rotate around the fixed shaft ends at two sides of each cylindrical roller assembly, and the rotating direction of each cylindrical roller assembly is consistent with the conveying direction of the module belt device; the split device comprises a plurality of groups of rollers which are respectively and axially arranged at the top end of the swing frame body, and the rollers rotate around the shaft arrangement ends of the rollers and the swing frame body; the cylindrical roller assembly is tightly abutted against the vertical top of the roller assembly, and in the initial position, the axial center line of the cylindrical roller assembly is perpendicular to the axial center line of the roller assembly.
Further, the stacking piece separating device is provided with three climbing sections and a flat section, and each climbing section and the flat section comprise 4 groups of belt conveyors which are driven by servo motors to operate and are distributed in a 'field' shape; the inlet height of the first climbing section is lower than the outlet height of the buffer chute, the inlet height of each climbing section is lower than the outlet height of the first climbing section, and the conveying inclination angle of each climbing section is between 10 and 30 degrees; in the same climbing section, the inlet height of the downstream belt conveyor is the same as the outlet height of the upstream belt conveyor; along the conveying direction, all have vertical ascending altitude drop between two sets of adjacent climbing sections, between third climbing section and the flat section, install in the drop position leak protection board, the both sides of this leak protection board all are provided with a set of brush subassembly.
Further, the single-piece separating device comprises a plurality of groups of small belt conveyor assemblies which are arranged in a matrix, and each group of small belt conveyor assemblies is driven by a group of servo motors to operate so as to independently control the conveying speed or the operating state of the small belt conveyor assemblies; the single piece separating vision system, which is erected above the single piece separating device, is provided with a plurality of groups of 3D vision cameras, and each group of 3D vision cameras is arranged vertically above the conveying plane of the single piece separating device.
Further, the non-standard part detection device is preferably a belt conveyor conveying device, and the non-standard part detection vision system erected above the non-standard part detection device comprises a plurality of groups of 3D vision cameras, and each group of 3D vision cameras is arranged above the vertical direction of the conveying plane of the non-standard part detection device.
Further, the one-to-two device comprises a conveying roller assembly arranged on the frame, wherein the central line of the conveying roller assembly along the conveying direction is divided into two groups of conveying rollers inclining outwards, and the included angle between each group of conveying rollers and the horizontal central line is 60-85 degrees; vertical belt conveyor components are vertically arranged on two sides of the conveying roller component, and the vertical belt conveyor component comprises a belt component which is pulled to run by a driving roller and a driven roller, and the belt component runs around the rollers in a closed loop.
Based on the automatic cross belt feeding system, the application also provides the following automatic cross belt feeding method:
the small packages are manually unpacked and then are conveyed to a primary shunting device in a stacked state, and the primary shunting device shunts or edges the disordered goods left and right;
the goods subjected to the preliminary diversion treatment enter a cache chute for caching, and then the goods are supplied to a stacking piece separating device;
in the conveying process of the stacking separation device, the stacked cargoes are separated based on the speed difference between the front component and the rear component of the recognition and control adjustment of the stacking separation visual system, and the cargoes which are tiled into one layer enter the single-piece separation device;
through the identification of the single-piece separation visual system, the single-piece separation equipment adjusts the positions and the postures of the cargoes one by one, the distance between the cargoes and the adjacent cargoes is increased, and after the cargoes are separated from each other, 2 rows of cargoes are formed, which are in butt joint with the conveying line A and the conveying line B of the subsequent belt conveyor, and enter the non-standard detection device in sequence;
identifying and marking non-standard goods based on the detection of the non-standard detection vision system;
the marked non-standard parts are shunted out of the auxiliary chute when entering the rejecting swinging machine, are processed by manual work, and standard part goods which are not rejected enter the one-to-two device;
The goods package is further split into 2 rows of conveying queues which are positioned on the left side and the right side on a one-to-two device so as to be respectively butted with the line A and the line B and respectively enter the belt conveyor conveying device;
when the goods arrive at the split-flow swinging wheel machine, firstly judging whether the automatic guide-in table allows the goods to enter or not, if not, directly righting all the swinging wheels of the split-flow swinging wheel machine, and continuously conveying the goods forwards; if the goods are stacked and the distance is too small, the balance wheels of the split-flow swing turbine are all swung, and the goods continue to be conveyed forwards; if the goods are normal, the balance wheel of the split-flow swinging machine inclines along a set angle to split the goods to an automatic guiding table so as to supply the goods to the cross belt system, and thus the split-flow guiding is sequentially judged;
the goods which are not guided in a split way are conveyed to a semi-automatic guiding-in table at the tail end of the conveying line through an auxiliary sliding chute and are processed manually.
Further, the separation of the goods on the stack separator is divided into three stages,
1) When goods enter the first climbing section from the outlet end of the buffer sliding groove, the first climbing belt conveyor and the third climbing belt conveyor run at a lower speed V1, and the second climbing belt conveyor and the fourth climbing belt conveyor run at a higher speed V2; when the stacked goods enter a higher conveying interval at a lower speed, the goods at the bottom layer are subjected to forward friction traction force of a belt conveyor with a higher running speed, the goods at the top layer are still in an inertial state, and the two goods generate relative displacement, so that the stacked goods are misplaced or directly separated;
2) The second climbing belt conveyor and the fourth climbing belt conveyor of the first climbing section are frequently started and stopped, the running speed is still higher speed V2, the first climbing belt conveyor and the third climbing belt conveyor run at a lower speed V1 at a uniform speed, the stacked goods generate obvious displacement or sliding phenomenon, the acceleration result of the goods with larger weight is less obvious, the goods are easy to roll backwards and slide, and the stacked goods are separated;
3) When the goods are conveyed from the first climbing section to the second climbing section, the 3D camera positioned above the second climbing section firstly judges whether the goods exist in the entrance area or the area of the goods-free area is large enough, and if the area of the goods-free area or the area of the goods-free area is small, the first climbing section stops conveying so as to prevent the goods from generating secondary overlapping pieces when entering the second climbing section; secondly, when the goods are allowed to enter the second climbing section, the running speeds V3 of the fifth climbing belt conveyor and the seventh climbing belt conveyor of the second climbing section are not smaller than the running speeds V2 of the second climbing belt conveyor and the fourth climbing belt conveyor of the first climbing section; when goods pass through the area with height drop where the leakage-proof plate is located between the first climbing section and the second climbing section, the goods on the upper layer and the lower layer fall off from the high position asynchronously, the goods which fall preferentially enter the second climbing section more forward, and stacked goods are separated between the two climbing sections.
Further, the single-piece separation vision system virtually divides a conveying plane of the single-piece separation equipment, which is formed by a plurality of groups of small belt machine assemblies; by the identification and control of the single piece separation vision system, the groups of small belt conveyor assemblies of the single piece separation equipment operate synchronously to enlarge the distance between adjacent cargoes, so that the adjacent closer cargoes are separated.
In summary, the automatic cross-belt feeding system and the method thereof have the advantages and beneficial effects that stacked small pieces can be effectively and automatically separated before feeding, so that the feeding efficiency is high and labor is remarkably saved. In addition, the application can effectively solve the problems of high labor intensity of manual workpiece feeding, high labor cost and great influence of personal skill factors of personnel on the sorting efficiency caused by the manual and semi-automatic bag feeding problem, thereby being beneficial to improving the integral automation rate of the cross-belt sorting system and the controllability of production operation.
Drawings
The application will now be further described with reference to the following drawings.
FIG. 1 is a schematic view of the cross-belt automatic feed system of the present application;
FIGS. 2-1 to 2-4 are schematic views of the structure and splitting process of the preliminary splitting device;
FIG. 3 is a schematic view of a buffer chute;
FIGS. 4-1 and 4-2 are schematic views of a stack separator and a portion thereof;
FIGS. 5-1 and 5-2 are schematic views of a single piece separator device and its transport section;
FIG. 6 is a schematic diagram of a docking bay of a non-standard inspection device and a reject swing machine;
FIG. 7 is a schematic diagram of a one-to-two device configuration;
Detailed Description
1, as shown in fig. 1 to 7, a novel automatic cross-belt feeding system comprises a primary diversion device 1, a buffer chute 2, a stacking separation device 3, a single piece separation device 5, a non-standard part detection device 7, a rejecting swing machine 9, a one-to-two device 10 and a belt conveyor conveying device 11 with 2 rows of parallel distribution conveying lines, wherein the primary diversion device 1, the buffer chute 2, the stacking separation device 3, the single piece separation device 5 and the non-standard part detection device 7 are arranged along the conveying direction of cargos;
wherein, a stacking separation visual system 4 is arranged vertically above the stacking separation device 3;
a single piece separating vision system 6 is arranged vertically above the single piece separating device 5;
a non-standard detection vision system 8 is arranged vertically above the non-standard detection device 7;
one side of the rejecting swing wheel machine 9 is in butt joint communication with a group of auxiliary sliding grooves 18;
each row of conveying lines of the belt conveyor conveying device 11 are respectively in butt joint with 2 groups of automatic leading-in tables, and a group of auxiliary sliding grooves 18 and semi-automatic leading-in tables are in butt joint with the tail ends of the conveying lines;
Correspondingly, a split-flow swinging machine is arranged at each leading-in end of the belt conveyor conveying device 11, and a stacking detection visual system 12 is arranged vertically above the belt conveyor immediately upstream of the split-flow swinging machine;
a split belt conveyor 14 and a narrow belt conveyor device 15 are sequentially connected between each group of automatic guide-in tables and a split swing wheel machine arranged at the guide-in end of the belt conveyor conveying device 11;
specifically, the belt conveyor conveying device 11 is provided with 2 rows of conveying lines A and B which are distributed in parallel, 3 leading-in ends are arranged on one side of the line A, and a first shunt pendulum machine 13-1, a second shunt pendulum machine 13-2 and a third shunt pendulum machine 13-3 are respectively arranged and connected at the leading-in ends; the first split-flow swinging wheel machine 13-1 is in butt joint with a first automatic guide-in table 16-1 through a split-flow belt conveyor 14 and a narrow belt conveyor device 15 in sequence, the second split-flow swinging wheel machine 13-2 is in butt joint with a second automatic guide-in table 16-2 through the split-flow belt conveyor 14 and the narrow belt conveyor device 15 in sequence, and a stacking detection visual system 12 is respectively arranged above the first split-flow swinging wheel machine 13-1 and the second split-flow swinging wheel machine 13-2 in a vertical direction; the third split swing wheel machine 13-3 is abutted with the first semi-automatic guide-in table 17-1 through an auxiliary chute 18;
2 leading-in ends are arranged on one side of the line B, and each leading-in end is respectively connected with a fourth shunting swing wheel machine 13-4 and a fifth shunting swing wheel machine 13-5; the fourth split-flow swinging wheel machine 13-4 is in butt joint with the third automatic guide-in table 16-3 through the split-flow belt conveyor 14 and the narrow belt conveyor device 15 in sequence, the fifth split-flow swinging wheel machine 13-5 is in butt joint with the fourth automatic guide-in table 16-4 through the split-flow belt conveyor 14 and the narrow belt conveyor device 15 in sequence, and a stacking detection visual system 12 is respectively arranged above the fourth split-flow swinging wheel machine 13-4 and the fifth split-flow swinging wheel machine 13-5 in a vertical direction; the end of the line B is abutted against the second semi-automatic introduction table 17-2 through the auxiliary chute 18.
Based on the automatic cross belt piece feeding system, small piece packages are manually unpacked and then conveyed to the primary distribution device 1 in a stacked state, and the primary distribution device 1 carries out left-right distribution or side-by-side treatment on disordered goods;
the goods subjected to the preliminary diversion treatment enter a cache chute 2 for cache, and then are supplied to a stacking separation device 3;
in the conveying process of the stacking separation device 3, the stacked cargoes are separated based on the speed difference between the front component and the rear component of the recognition and control adjustment of the stacking separation visual system 4, and the cargoes which are tiled into one layer enter the single-piece separation device 5;
through the identification of the single-piece separation vision system 6, the single-piece separation equipment 5 adjusts the positions and the postures of the cargoes one by one, the distance between the cargoes and the adjacent cargoes is increased, and after the cargoes are separated from each other, 2 rows of cargo flows which are connected with the subsequent conveyor conveying A line and the subsequent conveyor conveying B line are formed and enter the non-standard detection device 7 in sequence;
based on the detection of the non-standard part detection vision system 8, non-standard part cargoes (such as abnormal parts with over-limit outline dimensions, ultra-thin or ultra-thick outline, spherical outline and the like) are identified and marked;
the marked non-standard parts are shunted out of the auxiliary chute 18 when entering the rejecting swinging machine 9, are processed by manual work, and standard part goods which are not rejected enter the one-to-two device 10;
The goods package is further split into 2 rows of conveying queues on the left side and the right side on the one-to-two device 10 so as to respectively butt the line A and the line B and respectively enter the belt conveyor conveying device 11;
when the goods reach the first split-flow swinging wheel machine 13-1 on the line A of the belt conveyor conveying device 11, firstly judging whether the first automatic guide-in table 16-1 allows the goods to enter, and if not, directly straightening all the swinging wheels of the first split-flow swinging wheel machine 13-1, and continuously conveying the goods forwards; if yes, the stacking detection vision system 12 of the first split swing machine 13-1 detects the goods, wherein the detection content includes, but is not limited to, whether the stacking is performed or not, and whether the goods spacing is too small or not; if the goods are in other abnormal situations such as stacked goods, too small space and the like, all balance wheels of the first split-flow balance wheel machine 13-1 are aligned, and the goods continue to be conveyed forwards; if the goods are not stacked and are in normal condition, the balance wheel of the first split-flow balance wheel machine 13-1 is inclined along a set angle to split the goods to the first automatic guiding table 16-1;
when the goods arrive at the second shunt pendulum machine 13-2, carrying out secondary detection, judgment and disposal according to the same steps and contents, and shunting the goods belonging to the normal situation to the second automatic leading-in table 16-2 by the balance of the second shunt pendulum machine 13-2; goods in abnormal situations are all swung, the balance wheels of the second shunt swing wheel machine 13-2 are all swung, the goods are continuously conveyed to the third shunt swing wheel machine 13-3 forwards, the goods are swung and shunted to the auxiliary sliding groove 18 by the third shunt swing wheel machine 13-3, the goods are transferred to the first semi-automatic leading-in table 17-1, the goods are rearranged by manpower, and finally the goods are supplied to the cross belt system by the first semi-automatic leading-in table 17-1;
The line B of the belt conveyor conveying device 11 is implemented according to the same feeding principle and steps as the line A; goods belonging to normal conditions are respectively swung and diverted by the fourth shunting swinging wheel machine 13-4 to the third automatic leading-in table 16-3, and swung and diverted by the fifth shunting swinging wheel machine 13-5 to the fourth automatic leading-in table 16-4; the goods belonging to the abnormal situation are conveyed forward to the auxiliary chute 18 and the second semi-automatic introduction station 17-2, rearranged manually, and finally fed to the cross-belt system by the second semi-automatic introduction station 17-2.
The primary diversion device 1 is preferably a modular belt device, and the modular belt device comprises a frame 1-1, a plastic conveying belt 1-2 and a diversion device 1-3 which are vertically overlapped and connected along the frame 1-1;
the plastic conveying belt 1-2 is provided with a plurality of groups of cylindrical roller assemblies 1-4, two ends of each cylindrical roller assembly are axially arranged in the supporting frame, the cylindrical roller assemblies 1-4 rotate around the fixed shaft ends on two sides of each cylindrical roller assembly, and the rotating direction of the cylindrical roller assemblies 1-4 is always consistent with the conveying direction of the module belt device;
the split device 1-3 comprises a plurality of groups of roller assemblies 1-5 which are respectively and axially arranged at the top end of the swing frame body, and the roller assemblies 1-5 rotate around the shaft ends of the roller assemblies and the swing frame body; the swing frame body is driven by a servo motor (not shown in the figure) to swing a certain angle along the vertical direction of the module belt device, so that the roller assemblies at the top end are driven to rotate 1-5 to form a certain included angle with the conveying direction of the module belt device;
The cylindrical roller assembly 1-4 of the plastic conveyor belt 1-2 is tightly abutted against the vertical top of the roller assembly 1-5 by gravity, and in an initial position, the axial center line of the cylindrical roller assembly 1-4 is perpendicular to the axial center line of the roller assembly 1-5, as shown in fig. 2-3, the swing frame body of the shunt device 1-3 does not swing at the moment, when the module belt device moves forwards, the cylindrical roller assembly 1-4 and the roller assembly 1-5 rub with each other, the roller assembly 1-5 rolls around the axis of the roller assembly, and the plastic conveyor belt 1-2 drives the cylindrical roller assembly 1-4 to move forwards without rolling;
as shown in fig. 2-4, when the servo motor of the shunt device 1-3 controls the roller assembly 1-5 to rotate through the swing frame body, an included angle is formed between the roller assembly 1-5 and the conveying direction of the module belt device, at this time, the roller assembly 1-5 provides a clockwise or anticlockwise rotation acting force for the cylindrical roller assembly 1-4, the goods above the plastic conveying belt 1-2 obtains an outward transverse thrust, the goods further generates a transverse displacement perpendicular to the conveying direction along the module belt device, and the small pieces are wrapped on the primary shunt device 1 to realize left-right shunt or edge-leaning treatment.
The buffer sliding groove 2 is connected with the downstream of the module belt device, the vertical height of the goods conveying inlet is lower than the conveying plane of the module belt device, and the inlet end height of the sliding groove 21 of the buffer sliding groove 2 is higher than the outlet end height; a full-grid detection photoelectric 23 is arranged at the inlet of the chute 21, a blank detection photoelectric 22 is arranged at the outlet of the chute 21, and 2 sets of mirror reflective electric components are mutually combined to dynamically detect the cargo capacity temporarily stored on the chute 21.
Specifically, when the goods continuously enter the buffer sliding groove 2 from the primary flow dividing device 1, when the package supply efficiency is greater than the separation efficiency of the downstream equipment stacking and separating device 3, the goods can be gradually buffered on the sliding groove 21 and firstly trigger the space detection photoelectric 22, the buffering is continuous, and when the goods capacity is large enough to trigger the full grid detection photoelectric 23, the buffer sliding groove 2 is full, and then the primary flow dividing device 1 stops the package supply; the goods still buffered in the chute 21 gradually decreases along with the operation of the stacking and separating device 3, and when the goods no longer block the detection signal of the space detection photoelectric 23, the preliminary diverting device 1 is restarted to continue to feed the goods to the buffering chute 2 after a period of time is set by the system.
The stacked piece separating device 3 is provided with three climbing sections and a flat section, namely a first climbing section 31, a second climbing section 32, a third climbing section 33 and a flat section 34 which are sequentially connected, a leakage-proof plate 35 is connected between each climbing section and each flat section, and a vertically arranged partition plate 36 is connected to the middle part of a conveying line of the second climbing section 32, the third climbing section 33 and the flat section 34.
Each climbing section and the average section comprise 4 groups of belt conveyors which are driven by servo motors to operate and are distributed in a 'field' shape. For example, the first climbing section 31 includes 4 groups of first climbing belt conveyors 31-1, second climbing belt conveyors 31-2, third climbing belt conveyors 31-3 and fourth climbing belt conveyors 31-4 which are individually driven by servo motors and control the conveying speed of the first climbing section, no partition plate 36 is arranged between the first climbing belt conveyors 31-1 and the third climbing belt conveyors 31-3, the second climbing belt conveyors 31-2 and the fourth climbing belt conveyors 31-4, because the stacked goods entering from the buffer sliding chute 2 are easily transferred onto the partition plate 36 from the lower layer goods in the separation process before separation, thus forming a 'wall riding' problem, and the goods transferred onto the partition plate 36 form interference and obstruction to the separation of the subsequent stacked goods;
The second climbing section 32 comprises 4 groups of fifth climbing belt conveyors 32-1, sixth climbing belt conveyors 32-2, seventh climbing belt conveyors 32-3 and eighth climbing belt conveyors 32-4 which are independently driven by servo motors and control the conveying speed of the second climbing section; a separator 36 is provided between the fifth climbing belt conveyor 32-1 and the seventh climbing belt conveyor 32-3, the sixth climbing belt conveyor 32-2, and the eighth climbing belt conveyor 32-4;
the third climbing section 33 comprises 4 groups of ninth climbing belt conveyors 33-1, tenth climbing belt conveyors 33-2, eleventh climbing belt conveyors 33-3 and twelfth climbing belt conveyors 33-4 which are independently driven by servo motors and control the conveying speed of the third climbing section; a partition plate 36 is provided between the ninth climbing belt conveyor 33-1 and the eleventh climbing belt conveyor 33-3, and between the tenth climbing belt conveyor 33-2 and the twelfth climbing belt conveyor 33-4;
the flat section 34 comprises 4 groups of first flat section belt conveyors 34-1, second flat section belt conveyors 34-2, third flat section belt conveyors 34-3 and fourth flat section belt conveyors 34-4 which are independently driven by servo motors and control the conveying speed of the first flat section belt conveyors 34-1, and a partition plate 36 is arranged between the first flat section belt conveyors 34-1 and the third flat section belt conveyors 34-3, between the second flat section belt conveyors 34-2 and the fourth flat section belt conveyors 34-4;
Further, the inlet height of the first climbing section 31 is lower than the outlet height of the buffer chute 2, and the inlet height of each climbing section is lower than the outlet height of the first climbing section, and the conveying inclination angle of each climbing section is 20 degrees;
in the same climbing section, the inlet height of the downstream belt conveyor is the same as the outlet height of the upstream belt conveyor;
along the conveying direction, vertical height drops are arranged between two adjacent groups of climbing sections and between the third climbing section 33 and the flat section 34, the leakage-proof plate 35 is arranged at the drop position, and a group of hairbrush assemblies 35-1 are arranged on two sides of the leakage-proof plate 35 so as to prevent cargoes from sliding down between two adjacent groups of climbing sections or between the third climbing section 33 and the flat section 34.
The stacking separation vision system 4 erected above the stacking separation device 3 is provided with 4 groups of 3D vision cameras, each group of 3D vision cameras is arranged above each climbing section or flat section, and the camera lens is perpendicular to the belt conveying surface of the climbing section or flat section so as to randomly acquire the position or posture data of the goods being conveyed on the climbing section or flat section, thereby identifying whether the stacking goods exist.
The separation method for stacked goods is divided into three stages: if in the first climbing section 31, when the goods enter the first climbing section 31 from the outlet end of the buffer slide groove 2, the first climbing belt conveyor 31-1 and the third climbing belt conveyor 31-3 run at a lower speed V1, and the second climbing belt conveyor 31-2 and the fourth climbing belt conveyor 31-4 run at a higher speed V2; when the stacked goods enter a higher conveying interval at a lower speed, the goods at the bottom layer are subjected to forward friction traction force of a belt conveyor with a higher running speed, the goods at the top layer are still in an inertial state and generate relative displacement, and the stacked goods are dislocated or directly separated, so that stacked separation is realized at the first climbing section 31; a similar separation may also be used for the second 32 or third 33 climbing sections;
For another example, due to the influence of the conveying speed of the second climbing section 32, the second climbing belt conveyor 31-2 and the fourth climbing belt conveyor 31-4 of the first climbing section 31 are frequently started and stopped, and the running speed is still higher speed V2, the first climbing belt conveyor 31-1 and the third climbing belt conveyor 31-3 run at a lower speed V1 at a uniform speed, and because the acceleration (positive value and negative value when opening an account) of the second climbing belt conveyor 31-2 and the fourth climbing belt conveyor 31-4 in the conveying rear area is larger, obvious displacement or sliding phenomenon is generated between stacked goods, especially for heavier upper-layer goods, the acceleration result of the goods with larger weight is less obvious, and backward rolling or sliding is easy to generate, so that the stacked goods can be separated; a similar separation may also be used for the second 32 or third 33 climbing sections;
in the third mode, when the cargo is transported from the first climbing section 31 to the second climbing section 32, the 3D camera located vertically above the second climbing section 32 first determines whether the cargo exists in the entrance area or the cargo-free area (set in advance) is large enough, and if the cargo exists or the cargo-free area is small, the first climbing section 31 stops transporting so as to avoid secondary stacking when the cargo enters the second climbing section 32; secondly, when the goods are allowed to enter the second climbing section 32, the running speeds V3 of the fifth climbing belt conveyor 32-1 and the seventh climbing belt conveyor 32-3 of the second climbing section 32 are not smaller than the running speeds V2 of the second climbing belt conveyor 31-2 and the fourth climbing belt conveyor 31-4 of the first climbing section 31, when the goods pass through the area with the height drop between the first climbing section 31 and the second climbing section 32 where the leakage-proof plate 35 is located, the gravity center positions of the stacked goods are not the same, the goods on the upper layer and the lower layer can fall from high positions asynchronously, the goods which fall preferentially enter the second climbing section 32 more forwards, and the stacked goods are separated between the two climbing sections;
A similar separation may also be used between the second and third climbing sections 32, 33, between the third climbing section 33 and the flat section 34;
through the 3 stages described above, the superimposed goods are transported from the stack separator 3 to the single-piece separator 5 in a single-layer lay-down.
The single-piece separating device 5 comprises a plurality of groups of small belt conveyor assemblies 51 which are arranged in a matrix, and each group of small belt conveyor assemblies 51 is driven to operate by a group of servo motors 52 to independently control the conveying speed or the operating state of the small belt conveyor assemblies;
the single piece separating device 5 has the same transport width as the outlet end of the flat section 34 of the abutting stack separating device 3.
The single piece separation vision system 6 erected above the single piece separation device 5 is provided with a plurality of groups of 3D vision cameras, and each group of 3D vision cameras is arranged vertically above the conveying plane of the single piece separation device 5 to acquire data such as real-time position, external dimension, profile information and the like of the goods conveyed by the flat section 34 of the stacking separation device 3;
the single-piece separating vision system 6 virtually divides the conveying plane of the single-piece separating device 5, which is formed by the plurality of groups of small belt conveyor assemblies 51, for example, the conveying plane is divided into a group A along the left side of the conveying direction, the conveying plane is divided into a group B along the right side of the conveying direction, and the divided A, B group separating areas respectively correspond to the downstream non-standard part detecting device 7;
By the identification and control of the single-piece separation vision system 6, the small belt conveyor assemblies 51 of the array of single-piece separation equipment 5 synchronously operate to enlarge the distance between adjacent cargoes, so that the adjacent closer cargoes are separated; specifically, for example, when the single-piece separation vision system 6 recognizes that a certain cargo occupies the 1 st and 2 nd groups of small belt conveyor assemblies 51 of the third row at the same time and other adjacent cargoes occupy the other groups of small belt conveyor assemblies 51 of the third row, firstly, the servo motor drives the 1 st and 2 nd groups of small belt conveyor assemblies 51 to operate at the same time so as to control the other groups of small belt conveyor assemblies 51 of the same row to be in a stop state, and then the cargo is conveyed forwards and separated from other adjacent cargoes by realizing front-rear pulling distance; then, the other groups of small belt conveyor assemblies 51 are sequentially activated to forward the goods singly; thus, along the virtual A, B group area, the cargo presents 2 relatively independent cargo streams for delivery to the non-standard inspection device 7.
In particular, if there is cargo occupying both of the A, B group areas, the ratio of the projected areas of the 2 areas occupied by the cargo is detected by the single piece separate vision system 6, and the small belt conveyor assembly 51 in the area where the occupied area is larger is started to operate at a higher conveying speed to convey the transregional cargo forward along the group where the occupied area is larger.
The non-standard part detection device 7 is preferably a belt conveyor conveying device, and 2 goods stream packages are respectively conveyed in;
the non-standard part detection vision system 8 erected above the non-standard part detection device 7 comprises an array of 3D vision cameras, wherein each array of 3D vision cameras is arranged above the vertical direction of the conveying plane of the non-standard part detection device 7 so as to acquire data such as real-time position, outline dimension, outline information and the like of goods, and further obtain the result of whether the goods are non-standard parts or not;
the separation detection vision system 8 virtually partitions the conveying plane of the non-standard part detection device 7, namely, a left side area, a left through area, a middle area, a right through area and a right side area, as shown in fig. 6;
depending on the area in which the goods are located and whether the goods are non-standard, different swinging actions are performed by the downstream connected reject swinging wheel machine 9 to perform the goods split.
Specifically, the rejecting wobbler 9 is composed of a plurality of groups of servo wobbler assemblies arranged in a matrix form, each group of servo wobbler assemblies can rotate along a vertical axial center line and swing on a horizontal conveying surface to split cargoes in an area A and an area B of a virtual partition, as shown in fig. 6;
the swing diversion processing of the rejecting swing turbine 9 is performed based on the separation detection vision system 8 for each cargo information data and the detection results of different virtual areas. In particular, the method comprises the steps of,
1) Direct rejection of non-standard parts;
when the separation detection vision system 8 detects that the goods do not accord with the set rule of automatic sorting, including but not limited to the fact that the goods are oversized or undersized, and belong to special-shaped pieces such as balls which are easy to roll, the length-width ratio value is larger than the set value, firstly, the area where the goods are located is identified to determine whether the subsequent butt joint area A or B; when goods enter the rejecting swinging wheel machine 9 from the non-standard part detection device 7, all servo swinging wheel assemblies in the determined area swing outwards for 45 degrees at the same time, and the goods are rejected into auxiliary sliding grooves 18 on two sides of the non-standard part detection device 7 for manual intervention;
in particular, if the cargo corresponds to both zones a and B, all the servobalance assemblies of the reject pendulum machine 9 are synchronously swung 45 ° to the same outside.
2) Adjusting the position of goods;
when the separation detection visual system 8 detects that the goods are regular pieces, according to the difference of the areas where the goods are located, the gesture of the goods is correspondingly adjusted by the follow-up swinging action of the servo balance wheel assembly in the butt joint area A and/or B;
specifically, the goods are completely in the left area; firstly, acquiring position center data of goods by a separation detection system 8, and obtaining a parameter L2 according to the distance between the center position and a left regression line; as is known, the length of the reject pendulum machine 9 is L1, and the angle α=arctan (L2/L1) can be calculated by a trigonometric function formula; then, when the package arrives at the rejecting rocker machine 9, all servo balance wheel assemblies positioned in the left-side swinging zone A swing inwards by an angle alpha, so that the goods are offset towards the inner side of the zone A, and the goods are prevented from sliding off the outer side of the edge of the rejecting rocker machine 9;
B. The goods are completely positioned in the left straight-through area; the separation detection system 8 controls all servo balance wheel assemblies of the rejecting balance wheel machine 9 positioned in the left-side swing A area to be aligned according to the acquired cargo position center data, and cargoes pass through the rejecting balance wheel machine 9 in a straight line;
C. the goods cross the left side area and the left through area; firstly, taking a spacing line W1 between a left side area and a left through area as a reference, respectively calculating the area S1 of goods covering the left side area and the area S2 of goods covering the left through area; then, calculating the ratio of S1 to (S1+S2); if S1/(S1+S2) < 0.3, when the goods arrive at the rejecting oscillating machine 9, all servo oscillating wheel assemblies in the left oscillating area A are aligned, and the goods go straight through the rejecting oscillating machine 9; if S1/(S1+S2) is more than or equal to 0.3, acquiring position center data of the goods by a separation detection system 8, and adjusting the position offset of the goods according to the step A;
D. the goods are completely in the middle area; taking a set swing area A or a swing area B as a priority area, and carrying out cargo position deviation adjustment according to the step that cargoes are completely positioned in a left area or a right area so as to swing the cargoes to the inner side of the rejecting swing machine 9 by an alpha angle (the calculation process of the alpha angle is the same as that of the step A), and the cargoes are deviated to the inner side of the area A or the area B;
E. Cargo spans the left straight-through region and the middle region; firstly, calculating a swing alpha angle according to the step D; then, when the package reaches the rejecting balance wheel machine 9, all the servo balance wheel assemblies swing to one side for an angle alpha, and the goods shift to the outer side of the area A so as to adjust the goods to completely move to the range of the area A;
F. the goods cross the left side area, the left through area, the middle area and more than three areas; firstly, the separation detection system 8 identifies that the goods belong to the special-shaped piece; then, when the goods enter the rejecting wobble wheel machine 9 from the non-standard part detection device 7, all servo wobble wheel assemblies simultaneously swing outwards for 45 degrees, and the goods are rejected;
G. the goods cross the left straight-through area, the middle area and the right straight-through area; firstly, detecting the area S1 of a left straight-through area occupied by cargoes and the area S2 of a right straight-through area by a separation detection system 8; then, judging the size relation between S1 and S2; when S1 is more than or equal to S2, acquiring the distance from the center of the goods position to the left regression line so as to calculate a swing alpha angle according to the step A; when goods enter the rejecting balance wheel machine 9 from the non-standard part detection device 7, all servo balance wheel assemblies swing to the left side by an angle alpha so as to adjust the goods to a conveying area A; when S1 is less than S2, acquiring the distance from the center of the goods position to a right regression line to calculate a swing alpha angle according to the step A; when goods enter the rejecting balance wheel machine 9 from the non-standard part detection device 7, all the servo balance wheel assemblies swing to the right side by an angle alpha so as to adjust the goods to a conveying zone B;
H. The goods are completely located in the right area; calculating a swinging angle alpha in the opposite direction of the step A, and when the goods arrive at the removing swinging machine 9, swinging all servo swinging wheel assemblies in the area B on the right side inwards by the angle alpha, shifting the goods inwards in the area B, and preventing the goods from sliding off the outer side of the edge of the removing swinging machine 9;
I. the goods are completely positioned in the right through area; b, executing according to the step B, centering all servo balance wheel assemblies of the eliminating balance wheel machine 9, which are positioned in a right-side swinging zone B, and enabling goods to directly pass through the eliminating balance wheel machine 9;
J. the goods cross the right side area and the right through area; executing in the opposite direction of the step C;
K. the goods cross the right through area and the middle area; executing in the opposite direction of the step E;
l, goods cross the right side area, the right through area and the middle area and more than three areas; performed in the opposite direction to step F.
The one-to-two device 10 comprises a conveying roller assembly 10-1 arranged on a frame, wherein the central line of the conveying roller assembly 10-1 along the conveying direction is divided into two groups of conveying rollers inclined outwards, the included angle between each group of conveying rollers and the horizontal central line is 60-85 DEG, and when goods are conveyed onto the conveying roller assembly 10-1, the goods are gradually deflected outwards along the inclined direction of the rollers and are adjusted into single-queue goods flow, and even the goods can contact with the vertical belt conveyor assemblies 10-2 positioned on two sides of the conveying roller assembly 10-1;
The vertical belt conveyor assembly 10-2 comprises a belt assembly which is pulled by a driving roller and a driven roller, friction force between the belt assembly and goods can be reduced when the belt assembly runs around the roller in a closed loop, and simultaneously, the gesture and the conveying angle can be adjusted when the goods contact the belt assembly of the vertical belt conveyor assembly 10-2 to the left side or the right side, so that 2 groups of goods flows which are separately conveyed to two sides are formed. The adjusted goods enter the belt conveyor conveying device 11 along the direction of the line A and the line B along the single queues on the left side and the right side respectively.
The stacking detection vision system 12 erected above the belt conveyor conveying device 11 is provided with a plurality of groups of 3D vision cameras, and each group of 3D vision cameras is arranged above the vertical direction of the conveying plane of the split pendulum machine (such as the first split pendulum machine 13-1) so as to acquire data such as real-time position, outline dimension and outline information of the goods, and then the stacking detection vision system 12 detects and judges whether the current goods belong to a stacking.
A split belt conveyor 14 and a narrow belt conveyor device 15 are sequentially connected between each group of automatic guide-in tables and a split swing wheel machine arranged at the guide-in end of the belt conveyor conveying device 11;
the split belt conveyor 14 and the narrow belt conveyor device 15 are used for connecting with an automatic introduction table, so that goods can be selectively introduced into the cross belt sorting trolley through the automatic introduction table (such as the first automatic introduction table 16-1) according to the operation state of the cross belt sorting machine, and the automatic goods feeding process is completed.
The 2 semi-automatic leading-in tables are respectively positioned at the tail ends of the conveying line A and the line B of the belt conveyor conveying device 11, and the goods which are not led in by the automatic leading-in tables are conveyed to the semi-automatic leading-in tables through the auxiliary sliding grooves 18 so as to be manually interfered and manually processed, so that the manual feeding of the goods to the cross belt sorting machine is completed based on manual assistance.
The embodiments presented above in connection with the figures are only preferred solutions for achieving the objects of the invention. It will be apparent to those skilled in the art from this disclosure that other alternative constructions consistent with the design concept of the invention may be directly derived. Other structural features thus obtained shall also fall within the scope of the solution according to the invention.
Claims (10)
1. An automatic cross-belt feeding system, characterized in that: the device comprises a primary diversion device, a buffer chute, a stacking separation device, a single piece separation device, a non-standard piece detection device, a rejecting swing machine, a one-to-two device and a belt conveyor conveying device with 2 rows of conveying lines which are distributed in parallel, wherein the primary diversion device, the buffer chute, the stacking separation device, the single piece separation device, the non-standard piece detection device, the rejecting swing machine and the one-to-two device are arranged along the conveying direction of goods;
a stacking separation visual system is arranged above the stacking separation device vertically, a single piece separation visual system is arranged above the single piece separation device vertically, and a non-standard detection visual system is arranged above the non-standard detection device vertically;
Each row of conveying lines of the belt conveyor conveying device are respectively in butt joint communication with at least one group of automatic leading-in tables, and at least one group of auxiliary sliding grooves and semi-automatic leading-in tables are in butt joint communication at the tail ends of the conveying lines;
the belt conveyor conveying device is provided with 2 rows of conveying lines A and B which are distributed in parallel, one side of each line A and one side of each line B are respectively provided with a plurality of leading-in ends, each leading-in end is respectively provided with a connecting split-flow swinging machine, and a stacking detection visual system is arranged vertically above the belt conveyor which is arranged right above the split-flow swinging machine;
in the preliminary diverting device, the goods are displaced transversely perpendicular to the conveying direction to perform left-right diverting or edge-to-edge treatment.
2. The cross-belt automatic feed system of claim 1, wherein: and a diversion belt conveyor and a narrow belt conveyor device are sequentially connected between each group of automatic guide-in tables and a diversion swing wheel machine arranged at the guide-in end of the belt conveyor conveying device.
3. The cross-belt automatic feed system of claim 1, wherein: the primary diversion device is preferably a module belt device, and the module belt device comprises a frame, a plastic conveying belt and a diversion device, wherein the plastic conveying belt and the diversion device are vertically overlapped and connected along the frame;
the plastic conveyor belt is provided with a plurality of groups of cylindrical roller assemblies, two ends of each cylindrical roller assembly are axially arranged in the support frame, the cylindrical roller assemblies rotate around the fixed shaft ends at two sides of each cylindrical roller assembly, and the rotating direction of each cylindrical roller assembly is consistent with the conveying direction of the module belt device;
The split device comprises a plurality of groups of rollers which are respectively and axially arranged at the top end of the swing frame body, and the rollers rotate around the shaft arrangement ends of the rollers and the swing frame body;
the cylindrical roller assembly is tightly abutted against the vertical top of the roller assembly, and in the initial position, the axial center line of the cylindrical roller assembly is perpendicular to the axial center line of the roller assembly.
4. The cross-belt automatic feed system of claim 1, wherein: the stacking piece separating device is provided with three climbing sections and a flat section, and each climbing section and the flat section comprise 4 groups of belt conveyors which are driven by servo motors to operate and are distributed in a 'field' shape;
the inlet height of the first climbing section is lower than the outlet height of the buffer chute, the inlet height of each climbing section is lower than the outlet height of the first climbing section, and the conveying inclination angle of each climbing section is between 10 and 30 degrees;
in the same climbing section, the inlet height of the downstream belt conveyor is the same as the outlet height of the upstream belt conveyor;
along the conveying direction, all have vertical ascending altitude drop between two sets of adjacent climbing sections, between third climbing section and the flat section, install in the drop position leak protection board, the both sides of this leak protection board all are provided with a set of brush subassembly.
5. The cross-belt automatic feed system of claim 1, wherein: the single-piece separating device comprises a plurality of groups of small belt conveyor assemblies which are arranged in a matrix, and each group of small belt conveyor assemblies is driven by a group of servo motors to operate so as to independently control the conveying speed or the operating state of the small belt conveyor assemblies;
the single piece separating vision system, which is erected above the single piece separating device, is provided with a plurality of groups of 3D vision cameras, and each group of 3D vision cameras is arranged vertically above the conveying plane of the single piece separating device.
6. The cross-belt automatic feed system of claim 1, wherein: the non-standard part detection device is preferably belt conveyor conveying equipment, and the non-standard part detection vision system erected above the non-standard part detection device comprises a plurality of groups of 3D vision cameras, and each group of 3D vision cameras is arranged above the vertical direction of the conveying plane of the non-standard part detection device.
7. The cross-belt automatic feed system of claim 1, wherein: the one-to-two device comprises a conveying roller assembly arranged on the frame, wherein the central line of the conveying roller assembly along the conveying direction is divided into two groups of conveying rollers inclining outwards, and the included angle between each group of conveying rollers and the horizontal central line is 60-85 degrees;
Vertical belt conveyor components are vertically arranged on two sides of the conveying roller component, and the vertical belt conveyor component comprises a belt component which is pulled to run by a driving roller and a driven roller, and the belt component runs around the rollers in a closed loop.
8. A cross-belt automatic feed method using the cross-belt automatic feed system as claimed in any one of claims 1 to 7, characterized in that: the small packages are manually unpacked and then are conveyed to a primary shunting device in a stacked state, and the primary shunting device shunts or edges the disordered goods left and right;
the goods subjected to the preliminary diversion treatment enter a cache chute for caching, and then the goods are supplied to a stacking piece separating device;
in the conveying process of the stacking separation device, the stacked cargoes are separated based on the speed difference between the front component and the rear component of the recognition and control adjustment of the stacking separation visual system, and the cargoes which are tiled into one layer enter the single-piece separation device;
through the identification of the single-piece separation visual system, the single-piece separation equipment adjusts the positions and the postures of the cargoes one by one, the distance between the cargoes and the adjacent cargoes is increased, and after the cargoes are separated from each other, 2 rows of cargoes are formed, which are in butt joint with the conveying line A and the conveying line B of the subsequent belt conveyor, and enter the non-standard detection device in sequence;
Identifying and marking non-standard goods based on the detection of the non-standard detection vision system;
the marked non-standard parts are shunted out of the auxiliary chute when entering the rejecting swinging machine, are processed by manual work, and standard part goods which are not rejected enter the one-to-two device;
the goods package is further split into 2 rows of conveying queues which are positioned on the left side and the right side on a one-to-two device so as to be respectively butted with the line A and the line B and respectively enter the belt conveyor conveying device;
when the goods arrive at the split-flow swinging wheel machine, firstly judging whether the automatic guide-in table allows the goods to enter or not, if not, directly righting all the swinging wheels of the split-flow swinging wheel machine, and continuously conveying the goods forwards; if the goods are stacked and the distance is too small, the balance wheels of the split-flow swing turbine are all swung, and the goods continue to be conveyed forwards; if the goods are normal, the balance wheel of the split-flow swinging machine inclines along a set angle to split the goods to an automatic guiding table so as to supply the goods to the cross belt system, and thus the split-flow guiding is sequentially judged;
the goods which are not guided in a split way are conveyed to a semi-automatic guiding-in table at the tail end of the conveying line through an auxiliary sliding chute and are processed manually.
9. The automatic cross-belt feeding method of claim 8, wherein: the separation of the goods on the stack separator is divided into three stages,
1) When goods enter the first climbing section from the outlet end of the buffer sliding groove, the first climbing belt conveyor and the third climbing belt conveyor run at a lower speed V1, and the second climbing belt conveyor and the fourth climbing belt conveyor run at a higher speed V2; when the stacked goods enter a higher conveying interval at a lower speed, the goods at the bottom layer are subjected to forward friction traction force of a belt conveyor with a higher running speed, the goods at the top layer are still in an inertial state, and the two goods generate relative displacement, so that the stacked goods are misplaced or directly separated;
2) The second climbing belt conveyor and the fourth climbing belt conveyor of the first climbing section are frequently started and stopped, the running speed is still higher speed V2, the first climbing belt conveyor and the third climbing belt conveyor run at a lower speed V1 at a uniform speed, the stacked goods generate obvious displacement or sliding phenomenon, the acceleration result of the goods with larger weight is less obvious, the goods are easy to roll backwards and slide, and the stacked goods are separated;
3) When the goods are conveyed from the first climbing section to the second climbing section, the 3D camera positioned above the second climbing section firstly judges whether the goods exist in the entrance area or the area of the goods-free area is large enough, and if the area of the goods-free area or the area of the goods-free area is small, the first climbing section stops conveying so as to prevent the goods from generating secondary overlapping pieces when entering the second climbing section; secondly, when the goods are allowed to enter the second climbing section, the running speeds V3 of the fifth climbing belt conveyor and the seventh climbing belt conveyor of the second climbing section are not smaller than the running speeds V2 of the second climbing belt conveyor and the fourth climbing belt conveyor of the first climbing section; when goods pass through the area with height drop where the leakage-proof plate is located between the first climbing section and the second climbing section, the goods on the upper layer and the lower layer fall off from the high position asynchronously, the goods which fall preferentially enter the second climbing section more forward, and stacked goods are separated between the two climbing sections.
10. The automatic cross-belt feeding method of claim 8, wherein: the single-piece separation vision system virtually divides a conveying plane of the single-piece separation equipment, which is formed by a plurality of groups of small belt machine assemblies;
by the identification and control of the single piece separation vision system, the groups of small belt conveyor assemblies of the single piece separation equipment operate synchronously to enlarge the distance between adjacent cargoes, so that the adjacent closer cargoes are separated.
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