CN207882749U - A kind of nobody the autonomous feeding detection of manufacturing industry and sorting system - Google Patents
A kind of nobody the autonomous feeding detection of manufacturing industry and sorting system Download PDFInfo
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- CN207882749U CN207882749U CN201820002443.8U CN201820002443U CN207882749U CN 207882749 U CN207882749 U CN 207882749U CN 201820002443 U CN201820002443 U CN 201820002443U CN 207882749 U CN207882749 U CN 207882749U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
Nobody autonomous feeding detection and sorting system the utility model discloses a kind of manufacturing industry.The utility model includes three layers, wherein first layer is a unmanned autonomous intelligent system master controller；First layer controller controls five sets of subsystems：First feeding constitutes second layer controller with sorting controller, the first feed controller, simulation test Test System Controller, the second feed controller and the second feeding and sorting controller, five sets of subsystems；Around same detection station, the control techniques such as two-way feeding, two-way positioning, two-way feed, efficient detection, two-way reset and two-way sorting are realized, the working efficiency of unmanned systems is improved greatly；It uses and is based on event driven control program, allow each subsystem while generating automation action, each subsystem parallel work-flow is neatly realized, promotes unmanned systems overall operation efficiency；The intelligent algorithm based on image recognition is used, by intelligent algorithm, realizes the precise positioning of feeding and sorting.
Description
Technical field
The utility model belongs to field of machinery automation, and in particular to a kind of nobody the autonomous feeding detection of manufacturing industry and sorting
System and its control technique.The intellectually and automatically of process is sorted with differentiation for realizing rapid material-feeding, accurate detection.
Background technology
Feeding, detection, classification sorting are processing technologys that manufacturing industry generally uses.Traditional feeding and sorting rely on manually,
Efficiency is low, and sorting is of poor quality, and economic benefit is excessively poor.Such as：Stamping area, operating personnel are usually because of operating process attention
It does not concentrate, in feeding or blanking process, punch is enabled to cut arm and finger, social harm is very big.
The development of automation brings many new chances, produces different automatic chargings, feeding, blanking and sorting system
System.
Autoloader, which refers to, automatically to be operated by prescribed requirement and blas, and people is only it needs to be determined that control is wanted
Summation program, without the feed mechanism directly operated.Article is sent to another position from a position, during which process is not required to
Artificial intervention can be automatic accurate completion mechanism.Generally there is detection device, feed device etc..It is mainly used for various materials
The conveying of material and half product of industrial products, can also coordinate next procedure to make production automation.
Automated Sorting System is generally by automatically controlling and computer management system, automatic identification equipment, sorting mechanism, and master is defeated
Send device, pre-processing device and sorting road junction composition.Automatically control with computer management system be entire automatic sorting control
And command centre, all actions in each portion of sorting system are determined by control system.It is identification that it, which is acted on, receives and handles
Signal is sorted, is classified automatically to product by certain rule according to sorting signal designation sorting mechanism, to determine product
Flow direction.
It is recycled when a series of automation control processes such as feeding, positioning, charging, detection, classification, sorting form one, no
Disconnected autonomous iteration, then such system is just known as manufacturing unmanned self-control system.
The industrial case of sorting is detected around photovoltaic cell, further illustrates that unmanned control system has potential actual market to need
It asks.Solar energy regenerative resource just gradually substitutes conventional energy resource, becomes one of the clean energy resource for ecological environment of preserving our planet.The sun
Energy battery is the important component of photovoltaic generating system, has substantial connection with the working efficiency and generated energy of system, improves too
The energy conversion efficiency of positive energy battery can increase the utilization rate of solar energy.Due to there are some factors in practical application can be to too
The characteristic of positive energy battery has an impact, and the characteristic or performance between these battery units are inconsistent or not close, so that it may can lead
Unnecessary energy waste is caused, or even will appear the phenomenon that reducing battery life.Therefore, when configuring photovoltaic battery array, need
Its characteristic tested, select the cell array met the requirements, improve the working efficiency of photovoltaic generating system.Solar-electricity
Pond photovoltaic device C-V characteristic tests system, belongs to opto-electronic testing apparatus, and can solve existing test system must use manually
The mode of operation sets the problem of irradiance value, measurement irradiance value and test sample cell process cannot be carried out at the same time.Have
Market product on the basis of the specificity analysis and detection method research for photovoltaic cell, is devised based on low-power scm
Portable nature tester, analysis is measured to photovoltaic cells characteristic, the assembling for various photovoltaic cells provides section
Data.However, this kind of easy device can not be mating with large-scale photovoltaic battery production, it is only applicable to sampling Detection.
Here a kind of control technological process of manufacturing industry nobody autonomous feeding detection and sorting system is announced, for realizing fast
Fast feeding, the accurate intellectually and automatically detected with differentiation sort process.
Invention content
The utility model is directed to the unmanned autonomous system technical deficiency of manufacturing industry, proposes that a kind of nobody autonomous feeding of manufacturing industry is examined
It surveys and sorting system and its control technique.For realizing rapid material-feeding, accurate detection and differentiation sort process automation with
It is intelligent.
A kind of nobody the autonomous feeding detection of manufacturing industry and sorting system include three layers, wherein first layer be one nobody from
Main intelligence system master controller；First layer controller controls five sets of subsystems：First feeding is controlled with sorting controller, the first feed
Device, simulation test Test System Controller, the second feed controller and the second feeding and sorting controller processed, five sets of subsystems
System constitutes second layer controller；First feeding of the second layer is used to control three controllers of third layer with sorting controller：The
One robot controller, the first mechanical hand sucker controller, First look register control；Second feeding of the second layer and sorting
Controller is used to control three controllers of third layer：Second robot controller, the second mechanical hand sucker controller, second regard
Feel register control；First feed controller of the second layer is used to control two controllers of third layer：First straight line guide rail control
Device processed, the first pallet adsorbent equipment controller；Second feed controller of the second layer is used to control two controllers of third layer：
Second straight line guide rail controller, the second pallet adsorbent equipment controller；The simulated testing system controller of the second layer is further used
In three quasi-controllers of control third layer：Artificial intelligence light source controller, loading and unloading row's needle control and intelligence I-V test controls
Device processed.
The effect of the unmanned autonomous intelligent system master controller of first layer is by communications protocol such as Ethernet, RS485
Five controllers of the second layer associated there, i.e. the first feeding are surveyed with sorting controller, the first feed controller, simulation test
Test system controller, the second feed controller and the second feeding and sorting controller carry out control signal interaction, and send out respectively
Control instruction is sent to give the second layer five controllers, to complete material feeding, feeding, positioning, feeding, detection, reset, sorting etc.
Unmanned autonomous control technological process.
The effect of the first feeding and sorting controller of the second layer is by the communications protocol such as Ethernet, RS485 and the
Three layers of three controllers, i.e. the first robot controller, the first mechanical hand sucker controller, First look register control,
Control signal interaction is carried out, and sends three controllers of the control instruction to third layer respectively, to complete mechanical arm positioning, machine
Device hand picks up material and is accurately positioned material position by visual feedback, realizes the unmanned autonomous controls such as feeding, positioning and sorting
Technological process.
Second feeding of the second layer is equal with the effect of sorting controller with the effect of the first feeding controller, the second feeding
Controller and the mutually independent same type control system of the first feeding controller.
The effect of first feed controller of the second layer is by the communications protocol such as Ethernet, RS485 and third layer
Two controllers, i.e. first straight line guide rail controller, the first pallet adsorbent equipment controller, and control instruction is sent respectively to the
Three layers of two controllers enable guide rail drive the unmanned autonomous control technological processes such as pallet translation, pallet absorption material.
The effect of second feed controller of the second layer is equal with the effect of the first feed controller, the second feed controller
With the first feed mutually independent same type control system of controller.
The effect of the simulated testing system controller of the second layer be by Ethernet, the communications protocol such as RS485 with
Three controllers of its associated third layer, i.e. artificial intelligence light source controller, loading and unloading row's needle control and intelligence I-V
Test controller carries out control signal interaction, and sends control instruction respectively and give third layer three controllers, two-way to complete
Row's needle contacting material positive and negative anodes, analog light source send out simulated light, IV signal acquisitions and the processing of characteristic curve numerical value etc., and nobody is autonomous
Control technological process.
A kind of control technique of manufacturing industry nobody autonomous feeding detection and sorting system, is implemented as follows：
First, after the control system operation of unmanned autonomous intelligent system, successively to general control system and sub-control system into
Row initialization, and examine whether each sub-control system works normally；If working properly, operating personnel can input original control
Order and parameter, and start general control system；
Secondly, the flow after the control system of unmanned autonomous intelligent system starts is in a manner of event driven respectively to the
Two layers of five controller send control instruction to the controller of third layer indirectly；
So-called event-driven refers to that all subsystems are all in the state for the control instruction for waiting for master controller, subsystem
Can be with concurrent working, while different control is carried out to different materials and is operated, it is imitated to the overall work of Lifting Control System
Rate；
Finally, feeding after the first feeding and sorting controller receive the instruction of unmanned autonomous intelligent system master controller
Control technique it is as follows：The first robot is executed successively is moved to magazine position feeding, the first mechanical hand sucker suction magazine object
Material, the first camera absorbs material spatial positional information, intelligent image identifies, releaser after the first mechanical hand sucker precise positioning
The unmanned autonomous control orders such as material；If magazine is not empty, the first robot waits for feeding order next time；
Second feeding and sorting controller receive feeding after the instruction of unmanned autonomous intelligent system master controller
It is consistent with the control technological process that sorting controller is realized with the first feeding to control technique；
When the first feeding and sorting controller receive the control sorted after the instruction of unmanned autonomous intelligent system master controller
Technique processed is as follows：The first robot forearm is executed successively navigates to feeding position, the first mechanical hand sucker pickup material, the first machine
Device people's forearm navigates to unmanned autonomous controls such as the position of sorting hopper, the first mechanical hand sucker release material etc., if sorting material
Case is less than, and the first robot waits for feeding next time or sorting order；
Second feeding and sorting controller, which receive, to be sorted after the instruction of unmanned autonomous intelligent system master controller
It is consistent with the control technological process that sorting controller is realized with the first feeding to control technique；
The first feed controller receives the control technique after the instruction of unmanned autonomous intelligent system master controller such as
Under：The unmanned autonomous control order such as stopping behind translation, the tactile position of the first pallet under the linear guide driving of the first pallet is executed successively；
Then the first pallet waits for reset command, if being connected to reset command, the first pallet moves to initial under the linear guide driving
Position waits for the instruction of master controller next time；
Second feed controller receives the control technique and first after the instruction of unmanned autonomous intelligent system master controller
It is consistent to be fed the control technological process that controller is realized；
Simulated testing system controller towards the first feeding machanism receives unmanned autonomous intelligent system master controller
Control technique after instruction is as follows：Two-way probe downlink or uplink is executed successively and touches the positive and negative anodes of material, triggering intelligence
Analog light source shines, the acquisition of I-V test system signals, the data processing of intelligence I-V test information and calculating, based on expert system
The unmanned autonomous control order such as grading algorithm；
Simulated testing system controller towards the second feeding machanism receives unmanned autonomous intelligent system master controller
Control technique after instruction, the control technological process one realized with the simulated testing system controller towards the first feeding machanism
It causes；
The end of the control system mainly has both sides trigger condition, on the one hand, since initial material magazine empties,
Need replacing new initial material；On the other hand, it since sorting magazine fills with, needs to empty magazine.
The beneficial effects of the utility model are as follows：
The utility model realize nobody autonomous feeding, unmanned autonomous positioning, nobody from bulk supply, nobody independently detect,
Nobody from the control technique such as master reset and nobody autonomous sorting, above-mentioned control technique can automatic cycle it is reciprocal, realize a kind of face
To manufacturing unmanned autonomous system；Around same detection station, two-way feeding, two-way positioning, two-way feed, efficiently are realized
The control techniques such as detection, two-way reset and two-way sorting, are improved greatly the working efficiency of unmanned systems；It uses and is based on
Event driven control program allows each subsystem while generating automation action, each subsystem parallel work-flow is neatly realized,
Promote unmanned systems overall operation efficiency；Use the intelligent algorithm based on image recognition, by intelligent algorithm, realize feeding with
The precise positioning of sorting.
Description of the drawings
The configuration diagram of Fig. 1 the utility model.
The control process flow chart of Fig. 2 the utility model.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of nobody the autonomous feeding detection of manufacturing industry and sorting system include three layers, wherein first layer is
One unmanned autonomous intelligent system master controller；First layer controller controls five sets of subsystems：First feeding and sorting controller,
First feed controller, simulation test Test System Controller, the second feed controller and the second feeding are controlled with sorting
Device, five sets of subsystems constitute second layer controller；First feeding of the second layer is with sorting controller for controlling the three of third layer
A controller：First robot controller, the first mechanical hand sucker controller, First look register control；The of the second layer
Two feedings are used to control three controllers of third layer with sorting controller：Second robot controller, the second mechanical hand sucker
Controller, the second vision positioning controller；First feed controller of the second layer is used to control two controllers of third layer：The
One the linear guide controller, the first pallet adsorbent equipment controller；Second feed controller of the second layer is for controlling third layer
Two controllers：Second straight line guide rail controller, the second pallet adsorbent equipment controller；The simulated testing system control of the second layer
Device processed is further used for controlling three quasi-controllers of third layer：Artificial intelligence light source controller, loading and unloading row needle control and
Intelligent I-V test controllers.
The effect of the unmanned autonomous intelligent system master controller of first layer is by communications protocol such as Ethernet, RS485
Five controllers of the second layer associated there, i.e. the first feeding are surveyed with sorting controller, the first feed controller, simulation test
Test system controller, the second feed controller and the second feeding and sorting controller carry out control signal interaction, and send out respectively
Control instruction is sent to give the second layer five controllers, to complete material feeding, feeding, positioning, feeding, detection, reset, sorting etc.
Unmanned autonomous control technological process.
The effect of the first feeding and sorting controller of the second layer is by the communications protocol such as Ethernet, RS485 and the
Three layers of three controllers, i.e. the first robot controller, the first mechanical hand sucker controller, First look register control,
Control signal interaction is carried out, and sends three controllers of the control instruction to third layer respectively, to complete mechanical arm positioning, machine
Device hand picks up material and is accurately positioned material position by visual feedback, realizes the unmanned autonomous controls such as feeding, positioning and sorting
Technological process.
Second feeding of the second layer is equal with the effect of sorting controller with the effect of the first feeding controller, the second feeding
Controller and the mutually independent same type control system of the first feeding controller.
The effect of first feed controller of the second layer is by the communications protocol such as Ethernet, RS485 and third layer
Two controllers, i.e. first straight line guide rail controller, the first pallet adsorbent equipment controller, and control instruction is sent respectively to the
Three layers of two controllers enable guide rail drive the unmanned autonomous control technological processes such as pallet translation, pallet absorption material.
The effect of second feed controller of the second layer is equal with the effect of the first feed controller, the second feed controller
With the first feed mutually independent same type control system of controller.
The effect of the simulated testing system controller of the second layer be by Ethernet, the communications protocol such as RS485 with
Three controllers of its associated third layer, i.e. artificial intelligence light source controller, loading and unloading row's needle control and intelligence I-V
Test controller carries out control signal interaction, and sends control instruction respectively and give third layer three controllers, two-way to complete
Row's needle contacting material positive and negative anodes, analog light source send out simulated light, IV signal acquisitions and the processing of characteristic curve numerical value etc., and nobody is autonomous
Control technological process.
A kind of control technique of manufacturing industry nobody autonomous feeding detection and sorting system, is implemented as follows：
First, after the control system operation of unmanned autonomous intelligent system, successively to general control system and sub-control system into
Row initialization, and examine whether each sub-control system works normally；If working properly, operating personnel can input original control
Order and parameter, and start general control system；
Secondly, the flow after the control system of unmanned autonomous intelligent system starts is in a manner of event driven respectively to the
Two layers of five controller send control instruction to the controller of third layer indirectly；
So-called event-driven refers to that all subsystems are all in the state for the control instruction for waiting for master controller, subsystem
Can be with concurrent working, while different control is carried out to different materials and is operated, it is imitated to the overall work of Lifting Control System
Rate；
Finally, feeding after the first feeding and sorting controller receive the instruction of unmanned autonomous intelligent system master controller
Control technique it is as follows：The first robot is executed successively is moved to magazine position feeding, the first mechanical hand sucker suction magazine object
Material, the first camera absorbs material spatial positional information, intelligent image identifies, releaser after the first mechanical hand sucker precise positioning
The unmanned autonomous control orders such as material；If magazine is not empty, the first robot waits for feeding order next time；
Second feeding and sorting controller receive feeding after the instruction of unmanned autonomous intelligent system master controller
It is consistent with the control technological process that sorting controller is realized with the first feeding to control technique；
When the first feeding and sorting controller receive the control sorted after the instruction of unmanned autonomous intelligent system master controller
Technique processed is as follows：The first robot forearm is executed successively navigates to feeding position, the first mechanical hand sucker pickup material, the first machine
Device people's forearm navigates to unmanned autonomous controls such as the position of sorting hopper, the first mechanical hand sucker release material etc., if sorting material
Case is less than, and the first robot waits for feeding next time or sorting order；
Second feeding and sorting controller, which receive, to be sorted after the instruction of unmanned autonomous intelligent system master controller
It is consistent with the control technological process that sorting controller is realized with the first feeding to control technique；
The first feed controller receives the control technique after the instruction of unmanned autonomous intelligent system master controller such as
Under：The unmanned autonomous control order such as stopping behind translation, the tactile position of the first pallet under the linear guide driving of the first pallet is executed successively；
Then the first pallet waits for reset command, if being connected to reset command, the first pallet moves to initial under the linear guide driving
Position waits for the instruction of master controller next time；
Second feed controller receives the control technique and first after the instruction of unmanned autonomous intelligent system master controller
It is consistent to be fed the control technological process that controller is realized；
Simulated testing system controller towards the first feeding machanism receives unmanned autonomous intelligent system master controller
Control technique after instruction is as follows：Two-way probe downlink or uplink is executed successively and touches the positive and negative anodes of material, triggering intelligence
Analog light source shines, the acquisition of I-V test system signals, the data processing of intelligence I-V test information and calculating, based on expert system
The unmanned autonomous control order such as grading algorithm；
Simulated testing system controller towards the second feeding machanism receives unmanned autonomous intelligent system master controller
Control technique after instruction, the control technological process one realized with the simulated testing system controller towards the first feeding machanism
It causes；
The end of the control system mainly has both sides trigger condition, on the one hand, since initial material magazine empties,
Need replacing new initial material；On the other hand, it since sorting magazine fills with, needs to empty magazine.
Claims (1)
1. a kind of nobody autonomous feeding of manufacturing industry detects and sorting system, it is characterised in that including three layers, wherein first layer one
A unmanned autonomous intelligent system master controller；First layer controller controls five sets of subsystems：First feeding and sorting controller, the
One feed controller, simulation test Test System Controller, the second feed controller and the second feeding and sorting controller,
Five sets of subsystems constitute second layer controller；First feeding of the second layer is used to control three controls of third layer with sorting controller
Device processed：First robot controller, the first mechanical hand sucker controller, First look register control；On the second of the second layer
Material is used to control three controllers of third layer with sorting controller：Second robot controller, the control of the second mechanical hand sucker
Device, the second vision positioning controller；First feed controller of the second layer is used to control two controllers of third layer：First is straight
Line guide rail controller, the first pallet adsorbent equipment controller；Second feed controller of the second layer is for controlling the two of third layer
A controller：Second straight line guide rail controller, the second pallet adsorbent equipment controller；The simulated testing system controller of the second layer
It is further used for controlling three quasi-controllers of third layer：Artificial intelligence light source controller, loading and unloading row's needle control and intelligence
I-V test controllers；
The effect of the unmanned autonomous intelligent system master controller of first layer is by the communications protocol second layer five associated there
A controller, i.e. the first feeding are supplied with sorting controller, the first feed controller, simulation test Test System Controller, second
Material controller and the second feeding carry out control signal interaction with sorting controller, and send control instruction respectively to the second layer
Five controllers, to complete unmanned autonomous control technique：Material feeding, feeding, positioning, feeding, detection, reset, sorting；
The effect of the first feeding and sorting controller of the second layer is three controllers by communications protocol and third layer, i.e.,
One robot controller, the first mechanical hand sucker controller, First look register control carry out control signal interaction, and divide
Not Fa Song control instruction to third layer three controllers, to complete mechanical arm positioning, mechanical hand pickup material and by regarding
Feel that feedback is accurately positioned material position, realizes unmanned autonomous control technique：Feeding, positioning and sorting；
Second feeding of the second layer is equal with the effect of sorting controller with the effect of the first feeding controller, the control of the second feeding
Device and the mutually independent same type control system of the first feeding controller；
The effect of first feed controller of the second layer is two controllers by communications protocol and third layer, i.e. first straight line
Guide rail controller, the first pallet adsorbent equipment controller, and two controllers of the control instruction to third layer are sent respectively, to
Complete unmanned autonomous control technique：Guide rail drives pallet translation, pallet to adsorb material；
The effect of second feed controller of the second layer is equal with the effect of the first feed controller, and second is fed controller and the
The one feed mutually independent same type control system of controller；
The effect of the simulated testing system controller of the second layer is by three controls of communications protocol third layer associated there
Device, i.e. artificial intelligence light source controller, loading and unloading row's needle control and intelligence I-V test controllers carry out control signal and hand over
Mutually, and sending control instruction respectively gives third layer three controllers, to complete unmanned autonomous control technique：Two-way row's needle contact
Material positive and negative anodes, analog light source send out simulated light, IV signal acquisitions and characteristic curve numerical value and handle.
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| CN201820002443.8U CN207882749U (en) | 2018-01-02 | 2018-01-02 | A kind of nobody the autonomous feeding detection of manufacturing industry and sorting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820002443.8U CN207882749U (en) | 2018-01-02 | 2018-01-02 | A kind of nobody the autonomous feeding detection of manufacturing industry and sorting system |
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| CN207882749U true CN207882749U (en) | 2018-09-18 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108062083A (en) * | 2018-01-02 | 2018-05-22 | 杭州电子科技大学 | A kind of nobody autonomous feeding of manufacturing industry detects and sorting system and its control technique |
| CN109298955A (en) * | 2018-09-30 | 2019-02-01 | 苏州浪潮智能软件有限公司 | One kind being based on event driven robot application framework |
-
2018
- 2018-01-02 CN CN201820002443.8U patent/CN207882749U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108062083A (en) * | 2018-01-02 | 2018-05-22 | 杭州电子科技大学 | A kind of nobody autonomous feeding of manufacturing industry detects and sorting system and its control technique |
| CN108062083B (en) * | 2018-01-02 | 2024-03-22 | 杭州电子科技大学 | Unmanned automatic feeding detection and sorting system for manufacturing industry and control process thereof |
| CN109298955A (en) * | 2018-09-30 | 2019-02-01 | 苏州浪潮智能软件有限公司 | One kind being based on event driven robot application framework |
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