CN208177892U - Two-way feeding and the unmanned autonomous intelligence equipment of sorting towards material detection - Google Patents
Two-way feeding and the unmanned autonomous intelligence equipment of sorting towards material detection Download PDFInfo
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- CN208177892U CN208177892U CN201820002491.7U CN201820002491U CN208177892U CN 208177892 U CN208177892 U CN 208177892U CN 201820002491 U CN201820002491 U CN 201820002491U CN 208177892 U CN208177892 U CN 208177892U
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Abstract
The utility model discloses a kind of two-way feeding towards material detection and sort unmanned autonomous intelligence equipment.First feeding, positioning, detection, sorting system and the second feeding of the utility model, positioning, detection, sorting system movement beat alternately；After the first material of the first feeding, positioning, detection, sorting system leaves light source analogy device radiation areas, the second feeding, positioning, detection, sorting system second material enter light source analogy device radiation areas；After the second material of the second feeding, positioning, detection, sorting system leaves light source analogy device radiation areas, the first feeding, positioning, detection, sorting system first material enter light source analogy device radiation areas；Two way alternate feed and detection.The utility model is used to improve nobody autonomous feeding, positioning, detection, and presses level sorting, realizes unmanned autonomy-oriented and the intelligence of material detection.
Description
Technical field
The utility model belongs to electromechanical automatic field, and in particular to a kind of two-way feeding and sorting towards material detection
Unmanned autonomous intelligence equipment for improving nobody autonomous feeding, positioning, detection, and presses level sorting, realizes material detection
Unmanned autonomy-oriented and intelligence.
Background technique
Feeding, detection, classification sorting are processing technologys that manufacturing industry generallys use.Traditional feeding and sorting rely on manually,
Low efficiency, sorting is of poor quality, and economic benefit is excessively poor.Such as: stamping area, operator is usually because of operating process attention
It does not concentrate, in feeding or blanking process, formed 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 feeding 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, being also able to cooperate next procedure makes production automation.
Automated Sorting System generally by automatically control and computer management system, automatic identification equipment, sorting mechanism, master it is defeated
Send device, pre-processing device and sorting road junction composition.It automatically controls and computer management system is the control of entire automatic sorting
And command centre, all movements 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 by certain rule to product 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
Break autonomous iteration, then such system is just known as manufacturing unmanned self-control system.
It is detected around photovoltaic cell and sorts industrial case, further illustrate that unmanned control system has potential actual market to need
It asks.Solar energy renewable energy 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 test macro, belongs to opto-electronic testing apparatus, and being able to solve existing test macro must be using artificial
The mode of operation sets the problem of irradiance value, measurement irradiance value and test sample cell process cannot carry out simultaneously.It is existing
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, it announces a kind of two-way feeding towards material detection and sorts unmanned autonomous intelligence equipment and working principle,
For improving nobody autonomous feeding, positioning, detection, and level sorting is pressed, realizes the unmanned autonomy-oriented and intelligence of material detection
Change.
Summary of the invention
The purpose of this utility model be in view of the deficiencies of the prior art, propose it is a kind of towards material detection two-way feeding with
Unmanned autonomous intelligence equipment is sorted, for improving nobody autonomous feeding, positioning, detection, and level sorting is pressed, realizes material inspection
The unmanned autonomy-oriented surveyed and intelligence.
A kind of two-way feeding and the unmanned autonomous intelligence equipment of sorting towards material detection, including second material, master control
Platform, supervisory control desk linking arm, upper fuselage, upper row's needle, upper row's needle driving motor, upper row's needle driving motor fixed structure, light source die
Quasi- device, light source analogy device fixed mechanism, I-V tester, first material, the first pallet, the first lead screw, the first lead screw driving electricity
Machine, First look detector, First look detector locator, the first sucker mechanical hand, the first robot, guide rail, the first machine
Device people pedestal, lower fuselage, supporting fuselage mechanism, the first raw material box, the first sorting box, the second sorting box, the first vacuum pump, first
Vacuum subsidiary body, the first pallet sucker, lower row's needle driving motor fixed structure, lower row's needle, lower row's needle driving motor, second
Thick stick, the second pallet, the second pallet sucker, the second raw material box, third sorting box, the 4th sorting box, the second vacuum pump, the second vacuum
Subsidiary body, the second robot base, the second lead screw driving motor, the second robot, the second sucker mechanical hand, the inspection of the second vision
Survey instrument locator, the second sight surveymeter；
Upper fuselage is placed in right above lower fuselage, is assembled with guide rail between upper fuselage and lower fuselage；Supervisory control desk passes through master control
Platform linking arm processed is connect with upper fuselage；Light source analogy device is connect by light source analogy device fixed mechanism with the boss of upper fuselage, light
Source simulator runs through the boss centre bore of upper fuselage convex platform；I-V tester is arranged in the lower section of fuselage boss, and and light source
Simulator is side by side；Upper row's needle is connect with the driving mechanism of upper row's needle driving motor, and upper row's needle driving motor is driven by upper row's needle
Electric machine fixation structure is fixed on the side plate of fuselage；First material is placed in detection station above the first pallet, and the first pallet is set
Among guide rail, it can slide；First pallet is connect with the first lead screw by screw nut driven, the first lead screw and the first lead screw
The rotary output axis of driving motor connects；Second material is placed in detection station above the second pallet, and the second pallet is placed in guide rail
Between, it can slide；Second pallet is connect with the second lead screw by screw nut driven, the second lead screw and the second lead screw driving motor
Rotary output axis connection；First vacuum pump is fixed in lower fuselage, and the first vacuum pump is respectively set with the first pallet sucker
At the both ends of the first vacuum subsidiary body, the first pallet sucker is placed in the lower section of the first pallet detection station；Second vacuum pump is solid
It is scheduled in lower fuselage, the second vacuum pump and the second pallet sucker are separately positioned on the both ends of the second vacuum subsidiary body, the second support
Disk sucker is placed in the lower section of the second pallet detection station；First look detector is fixed on by First look detector locator
The forearm of first robot, the first sucker mechanical hand are fixed on the front arm tip of the first robot, as end effector, first
Robot is fixed on the ground by the first robot base；First raw material box, the first sorting box, the second sorting box are put respectively
Near the first robot base；Second sight surveymeter is fixed on the second robot by the second sight surveymeter locator
Forearm, the second sucker mechanical hand is fixed on the front arm tip of the second robot, and as end effector, the second robot passes through
Second robot base fixes the first raw material box, third sorting box, the 4th sorting box on the ground and is placed in the second machine respectively
Near people's pedestal.
Second material, first material, the first pallet, the first lead screw, the first lead screw driving motor, First look detector,
First look detector locator, the first sucker mechanical hand, the first robot, guide rail, the first robot base, the first raw material
Box, the first sorting box, the second sorting box, the first vacuum pump, the first vacuum subsidiary body, the first pallet sucker form on first
Material, positioning, detection, sorting system, and the first feeding, positioning, detection, the course of work of sorting system are as follows: the first robot
Forearm is moved to above the first raw material box；The first raw material box top layer material is picked up by the first sucker mechanical hand；First robot
Forearm is moved to suitable position above guide rail, i.e. the first pallet surface；First look detector shoots the first pallet image, leads to
Cross discharge position on image recognition positioning materials；First sucker mechanical hand discharge position on the material for identified positioning discharges the first object
Material is in the first pallet；First vacuum pump work, so that the first pallet sucker generates the adsorption capacity to first material；First lead screw
The first lead screw of driving motor task driven rotation, so that the first pallet is moved to guide rail middle；Upper row's needle drives in upper row's needle
The anode of simultaneously contacting material is moved down under the driving of motor；Lower row's needle moves up simultaneously under the driving of lower row's needle driving motor
Touch the cathode of material；Light source analogy device generates stroboscopic, simulated solar light radiation first material；I-V tester receives object
Expect output signal, carry out intelligence computation, generates characteristic curve, classify to material；Upper row's needle and lower row's needle reset；First
Thick stick driving motor the first lead screw of task driven rotation, so that the first pallet resets to original station；First robot forearm is mobile
Above to the first pallet, first material is picked up by the first sucker mechanical hand；First robot is according to the letter of I-V testing classification
Breath is moved to above the first sorting box or the second sorting box, and the first sucker mechanical hand discharges first material in corresponding sorting material
Box.
Second lead screw, the second pallet, the second pallet sucker, the second raw material box, third sorting box, the 4th sorting box, second
Vacuum pump, the second vacuum subsidiary body, the second robot base, the second lead screw driving motor, the second robot, the second sucker machine
Device hand, the second sight surveymeter locator, the second sight surveymeter composition the second feeding, positioning, detection, sorting system, and the
Two feedings, positioning, detection, the course of work of sorting system are as follows: the second robot forearm is moved to above the second raw material box；It is logical
It crosses the second sucker mechanical hand and picks up the second raw material box top layer material；Second robot forearm is moved to suitable position above guide rail,
That is right above the second pallet；Second sight surveymeter shoots the second pallet image, passes through discharge position on image recognition positioning materials；
Second sucker mechanical hand discharge position on the material for identified positioning discharges second material in the second pallet；Second vacuum pump work
Make, so that the second pallet sucker generates the adsorption capacity to second material；The rotation of second lead screw driving motor the second lead screw of task driven
Turn, so that the second pallet is moved to guide rail middle；Upper row's needle is moved down and is contacted under the driving of upper row's needle driving motor
The anode of material；Lower row's needle moves up and touches the cathode of material under the driving of lower row's needle driving motor；Light source analogy
Device generates stroboscopic, simulated solar light radiation second material；I-V tester receives material output signal, carries out intelligence computation, produces
Raw characteristic curve, classifies to material；Upper row's needle and lower row's needle reset；Second lead screw driving motor the second lead screw of task driven
Rotation, so that the second pallet resets to original station；Second robot forearm is moved to above the second pallet, passes through the second sucker
Mechanical hand picks up second material；Second robot is moved to third sorting box or the 4th sorting according to the information of I-V testing classification
Above box, the second sucker mechanical hand discharges second material in sorting magazine accordingly.
First feeding, positioning, detection, sorting system and the second feeding, positioning, detection, the movement beat friendship of sorting system
For progress；After the first material of the first feeding, positioning, detection, sorting system leaves light source analogy device radiation areas, on second
Expect, positioning, detect, the second material of sorting system enters light source analogy device radiation areas；When the second feeding, positioning, detection, divide
Pick system second material leave light source analogy device radiation areas after, the first feeding, positioning, detection, sorting system the first object
Material enters light source analogy device radiation areas；Two way alternate feed and detection.
The step of first material stream of the utility model is as follows: a batch material to be detected is put into first group of raw material box
Afterwards；First robot is carried near raw material box top layer material to the first pallet, and the first intelligent visual detection is to first material at this time
Relative position detection is carried out with the first pallet, so that the first mechanical hand sucker discharges the first object in the suitable position of the first pallet
Material；After first pallet is located in guide rail centre by first straight line guide rail, needle is arranged up and down and touches position, meanwhile, artificial intelligence light source stroboscopic
Exposure, intelligent I-V test macro are calculated and are classified to I-V characteristic curve after detecting electric signal；Row's needle and first up and down
First pallet is reset at home position by feed separation, first straight line guide rail；First in the first pallet carries in first robot
Material sorts first material by I-V characteristic classification, is placed in suitable sorting magazine.
The step of second material stream of the utility model is as follows: a batch material to be detected is put into second group of raw material box
Afterwards；Second robot is carried near raw material box top layer material to the second pallet, and the second intelligent visual detection is to second material at this time
Relative position detection is carried out with the second pallet, so that the second mechanical hand sucker discharges the second object in the suitable position of the second pallet
Material；After second pallet is located in guide rail centre by second straight line guide rail, needle is arranged up and down and touches position, meanwhile, artificial intelligence light source stroboscopic
Exposure, intelligent I-V test macro are calculated and are classified to I-V characteristic curve after detecting electric signal；Row's needle and second up and down
Second pallet is reset at home position by feed separation, second straight line guide rail；Second in the second pallet carries in second robot
Material sorts second material by I-V characteristic classification, is placed in suitable sorting magazine.
The beneficial effects of the utility model are as follows:
The utility model proposes nobody a kind of autonomous feeding, unmanned autonomous positioning, nobody from bulk supply, nobody independently examines
Survey, nobody from master reset and nobody independently sort automation, intelligent equipment, automation act technique can automatic cycle it is past
It is multiple, realize the unmanned autonomous intelligence equipment of a kind of Facing to Manufacturing industry；Around same detection station, two-way feeding, double is realized
To the control technique such as positioning, two-way feed, efficient detection, two-way reset and two-way sorting, unmanned systems are improved greatly
Working efficiency；It using view-based access control model detection system, is identified by the intelligent position based on image, realizes feeding and sorting
Precise positioning.
Detailed description of the invention
The structural schematic diagram of Fig. 1 the utility model.
The first material flow diagram of Fig. 2 the utility model.
The second material flow diagram of Fig. 3 the utility model.
Wherein, second material 1, supervisory control desk 2, supervisory control desk linking arm 3, upper fuselage 4, upper row's needle 5, upper row's needle driving electricity
Machine 6, upper row's needle driving motor fixed structure 7, light source analogy device 8, light source analogy device fixed mechanism 9, I-V tester 10, first
Material 11, the first pallet 12, the first lead screw 13, the first lead screw driving motor 14, First look detector 15, First look detection
Instrument locator 16, the first sucker mechanical hand 17, the first robot 18, guide rail 19, the first robot base 20, lower fuselage 21, machine
Body supporting mechanism 22, the first raw material box 23, first sorting sorting of box 24, second box 25, the first vacuum pump 26, the first vacuum are attached
Belong to mechanism 27, the first pallet sucker 28, lower row's needle driving motor fixed structure 29, lower row's needle 30, lower row's needle driving motor 31, the
Two lead screws 32, the second pallet 33, the second pallet sucker 34, the second raw material box 35, third sorting box 36, the 4th sorting box 37, the
Two vacuum pumps 38, the second vacuum subsidiary body 39, the second robot base 40, the second lead screw driving motor 41, the second robot
42, the second sucker mechanical hand 43, the second sight surveymeter locator 44, the second sight surveymeter 45.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, a kind of two-way feeding and the unmanned autonomous intelligence equipment of sorting, upper fuselage 4 towards material detection is set
Right above lower fuselage 21, guide rail 19 is assembled between upper fuselage 4 and lower fuselage 21；Supervisory control desk 2 is connected by supervisory control desk
Arm 3 is connect with upper fuselage 4；Light source analogy device 8 is connect by light source analogy device fixed mechanism 9 with the boss of upper fuselage 4, light source die
Quasi- device 8 runs through the boss centre bore of upper 4 convex platform of fuselage；I-V tester 10 is arranged in the lower section of 4 boss of fuselage, and with light
Source simulator 8 is side by side；Upper row's needle 5 is connect with the driving mechanism of upper row's needle driving motor 6, and upper row's needle driving motor 6 passes through upper row
Needle driving motor fixed structure 7 is fixed on the side plate of fuselage 4；First material 11 is placed in above the first pallet 12 and detects work
Position, the first pallet 12 are placed among guide rail 19, can slide；First pallet 12 and the first lead screw 13 are connected by screw nut driven
It connects, the first lead screw 13 is connect with the rotary output axis of the first lead screw driving motor 14；Second material 1 is placed in 33 top of the second pallet
Detection station, the second pallet 33 are placed among guide rail 19, can slide；Second pallet 33 and the second lead screw 32 pass through lead screw spiral shell
Mother's transmission connection, the second lead screw 32 are connect with the rotary output axis of the second lead screw driving motor 41；First vacuum pump 26 is fixed on
In lower fuselage 21, and the first vacuum pump 26 and the first pallet sucker 28 are separately positioned on the both ends of the first vacuum subsidiary body 27,
First pallet sucker 28 is placed in the lower section of 12 detection station of the first pallet；Second vacuum pump 38 is fixed in lower fuselage 21, and second
Vacuum pump 38 and the second pallet sucker 34 are separately positioned on the both ends of the second vacuum subsidiary body 39, and the second pallet sucker 34 is set
In the lower section of 33 detection station of the second pallet；First look detector 15 is fixed on the by First look detector locator 16
The forearm of one robot 18, the first sucker mechanical hand 17 are fixed on the front arm tip of the first robot 18, as end effector,
First robot 18 is fixed on the ground by the first robot base 20；First raw material box 23, first sorts 24, second points of box
Box 25 is picked to be placed in respectively near the first robot base 20；Second sight surveymeter 45 is fixed by the second sight surveymeter
Position device 44 is fixed on the forearm of the second robot 42, and the second sucker mechanical hand 43 is fixed on the front arm tip of the second robot 42,
As end effector, the second robot 42 is fixed on the ground by the second robot base 40, the first raw material box 23, third
Sorting box the 36, the 4th sorts box 37 and is placed near the second robot base 40 respectively.
First feeding, positioning, detection, sorting system include second material 1, first material 11, the first pallet 12,
First lead screw 13, the first lead screw driving motor 14, First look detector 15, First look detector locator 16, first are inhaled
Disk mechanical hand 17, the first robot 18, guide rail 19, the first robot base 20, the first raw material box 23, first sorting box 24, the
Two sorting boxes 25, the first vacuum pump 26, the first vacuum subsidiary body 27, the first pallet sucker 28；Its working principles are as follows: first
18 forearm of robot is moved to 23 top of the first raw material box；23 top layer object of the first raw material box is picked up by the first sucker mechanical hand 17
Material；First robot, 18 forearm is moved to 19 top suitable position of guide rail, i.e. 12 surface of the first pallet；First look detector
15 shooting 12 images of the first pallet, pass through discharge position on image recognition positioning materials；First sucker mechanical hand 17 is identifying calmly
Discharge position release first material 11 is in the first pallet 12 on the material of position；First vacuum pump 26 work, so that the first pallet is inhaled
Disk 28 generates the adsorption capacity to first material 11；The rotation of first lead screw driving motor, 14 the first lead screw of task driven 13, so that the
One pallet 12 is moved to 19 middle of guide rail；Upper row's needle 5 moves down under the driving of upper row's needle driving motor 6 and contacting material
Anode；Lower row's needle 30 moves up and touches the cathode of material under the driving of lower row's needle driving motor 31；Light source analogy
Device 8 generates stroboscopic, simulated solar light radiation first material 11；I-V tester 10 receives material output signal, carries out intelligent meter
It calculates, generates characteristic curve, classify to material；Upper row's needle 5 and lower row's needle 30 reset；The work of first lead screw driving motor 14 is driven
Dynamic first lead screw 13 rotation, so that the first pallet 12 resets to original station；First robot, 18 forearm is moved to the first pallet
First material 11 is picked up by the first sucker mechanical hand 17 in 12 tops；First robot is moved according to the information of I-V testing classification
It moves to 25 top of the first sorting box 24 or the second sorting box, the first sucker mechanical hand 17 release first material 11 is in corresponding sorting
Magazine；
First feeding, positioning, detection, the movement of sorting system link up, and circulation repeatedly, realizes first material 11
The unmanned autonomous control process such as feeding, positioning, feeding, feed, detection, blanking, sorting；Because control system realizes whole process
Unmanned autonomous control, intellectually and automatically degree is high, eliminates artificial behaviour；
Second feeding, positioning, detection, sorting system include the second lead screw 32, the second pallet 33, the suction of the second pallet
Disk 34, the second raw material box 35, third sorting box the 36, the 4th sort box 37, the second vacuum pump 38, the second vacuum subsidiary body 39,
Second robot base 40, the second lead screw driving motor 41, the second robot 42, the second sucker mechanical hand 43, the inspection of the second vision
Survey instrument locator 44, the second sight surveymeter 45.Its working principle is as follows, and 42 forearm of the second robot is moved to the second raw material box
35 tops；35 top layer material of the second raw material box is picked up by the second sucker mechanical hand 43；Second robot, 42 forearm, which is moved to, leads
19 top suitable position of rail, i.e. 33 surface of the second pallet；Second sight surveymeter 45 shoots 33 image of the second pallet, passes through figure
As discharge position on identification positioning materials；Second sucker mechanical hand 43 discharge position on the material for identified positioning discharges second material
1 in the second pallet 33；Second vacuum pump 38 work, so that the second pallet sucker 34 generates the adsorption capacity to second material 1；The
Two lead screw driving motors, 41 the second lead screw of task driven 32 rotation, so that the second pallet 33 is moved to 19 middle of guide rail；Upper row
Needle 5 moves down under the driving of upper row's needle driving motor 6 and the anode of contacting material；Lower row's needle 30 drives electricity in lower row's needle
The cathode of material is moved up and touched under the driving of machine 31；Light source analogy device 8 generates stroboscopic, simulated solar light radiation second
Material 1；I-V tester 10 receives material output signal, carries out intelligence computation, generates characteristic curve, classifies to material；
Upper row's needle 5 and lower row's needle 30 reset；Second lead screw driving motor, 41 the second lead screw of task driven 32 rotation, so that the second pallet
33 reset to original station；Second robot, 42 forearm is moved to 33 top of the second pallet, passes through the second sucker mechanical hand 430
Take second material 1；Second robot is moved to third sorting box 36 or the 4th sorting box 37 according to the information of I-V testing classification
Top, the second sucker mechanical hand 43 discharge second material 1 in sorting magazine accordingly；
Second feeding, positioning, detection, the movement of sorting system link up, and circulation repeatedly, realizes second material 1
The unmanned autonomous control process such as feeding, positioning, feeding, feed, detection, blanking, sorting；Because control system realizes whole process
Unmanned autonomous control, intellectually and automatically degree is high, eliminates artificial behaviour；
First feeding, positioning, detection, sorting system and second feeding, positioning, detection, sorting system it is dynamic
Making beat can be alternately；When the first material 11 of the first feeding, positioning, detection, sorting system leaves 8 spoke of light source analogy device
After penetrating region, the second feeding, positioning, detection, sorting system second material 1 enter 8 radiation areas of light source analogy device；When second
Feeding, positioning, detection, sorting system second material 1 leave 8 radiation areas of light source analogy device after, the first feeding, positioning, inspection
It surveys, the first material 11 of sorting system enters 8 radiation areas of light source analogy device；Two way alternate feed and detection, can promote one
Light source analogy device 8 again, 10 service efficiency of upper row's needle 5, lower row's needle 30 and I-V tester.
With reference to Fig. 2, the step of first material stream of the utility model is as follows: a batch material to be detected is put into first group of original
After in magazine；First robot is carried near raw material box top layer material to the first pallet, and the first intelligent visual detection is to the at this time
One material and the first pallet carry out relative position detection, so that suitable position release the of the first mechanical hand sucker in the first pallet
One material；After first pallet is located in guide rail centre by first straight line guide rail, needle is arranged up and down and touches position, meanwhile, artificial intelligence light source
Stroboscopic exposure, intelligent I-V test macro are calculated and are classified to I-V characteristic curve after detecting electric signal；Up and down row needle with
First pallet is reset at home position by first material separation, first straight line guide rail；First robot is carried in the first pallet
First material sorts first material by I-V characteristic classification, is placed in suitable sorting magazine.
With reference to Fig. 3, the step of second material stream of the utility model is as follows: a batch material to be detected is put into second group of original
After in magazine；Second robot is carried near raw material box top layer material to the second pallet, and the second intelligent visual detection is to the at this time
Two materials and the second pallet carry out relative position detection, so that suitable position release the of the second mechanical hand sucker in the second pallet
Two materials；After second pallet is located in guide rail centre by second straight line guide rail, needle is arranged up and down and touches position, meanwhile, artificial intelligence light source
Stroboscopic exposure, intelligent I-V test macro are calculated and are classified to I-V characteristic curve after detecting electric signal；Up and down row needle with
Second pallet is reset at home position by second material separation, second straight line guide rail；Second robot is carried in the second pallet
Second material sorts second material by I-V characteristic classification, is placed in suitable sorting magazine.
Claims (3)
1. two-way feeding towards material detection and sorting unmanned autonomous intelligence equipment, it is characterised in that including second material (1),
Supervisory control desk (2), supervisory control desk linking arm (3), upper fuselage (4), upper row's needle (5), upper row's needle driving motor (6), upper row's needle drive
Dynamic electric machine fixation structure (7), light source analogy device (8), light source analogy device fixed mechanism (9), I-V tester (10), first material
(11), the first pallet (12), the first lead screw (13), the first lead screw driving motor (14), First look detector (15), the first view
Feel detector locator (16), the first sucker mechanical hand (17), the first robot (18), guide rail (19), the first robot base
(20), lower fuselage (21), supporting fuselage mechanism (22), the first raw material box (23), the first sorting box (24), the second sorting box
(25), the first vacuum pump (26), the first vacuum subsidiary body (27), the first pallet sucker (28), lower row's needle driving motor are fixed
Structure (29), lower row's needle (30), lower row's needle driving motor (31), the second lead screw (32), the second pallet (33), the second pallet sucker
(34), the second raw material box (35), third sorting box (36), the 4th sorting box (37), the second vacuum pump (38), the second vacuum are attached
Mechanism (39), the second robot base (40), the second lead screw driving motor (41), the second robot (42), the second sucker machine
Hand (43), the second sight surveymeter locator (44), the second sight surveymeter (45)；
Upper fuselage (4) is placed in right above lower fuselage (21), is assembled with guide rail (19) between upper fuselage (4) and lower fuselage (21)；Always
Console (2) is connect by supervisory control desk linking arm (3) with upper fuselage (4)；Light source analogy device (8) is fixed by light source analogy device
Mechanism (9) is connect with the boss of upper fuselage (4), and light source analogy device (8) runs through the boss centre bore of upper fuselage (4) convex platform；I-V
Tester (10) is arranged in the lower section of fuselage (4) boss, and side by side with light source analogy device (8)；Upper row's needle (5) and upper row's needle drive
The driving mechanism connection of dynamic motor (6), upper row's needle driving motor (6) are fixed on by upper row's needle driving motor fixed structure (7)
On the side plate of upper fuselage (4)；First material (11) is placed in detection station above the first pallet (12), and the first pallet (12), which is placed in, leads
Rail (19) is intermediate, can slide；First pallet (12) is connect with the first lead screw (13) by screw nut driven, the first lead screw
(13) it is connect with the rotary output axis of the first lead screw driving motor (14)；Second material (1) is placed in inspection above the second pallet (33)
Station is surveyed, the second pallet (33) is placed among guide rail (19), can slide；Second pallet (33) and the second lead screw (32) pass through silk
The transmission connection of thick stick nut, the second lead screw (32) are connect with the rotary output axis of the second lead screw driving motor (41)；First vacuum pump
(26) it is fixed in lower fuselage (21), and with the first pallet sucker (28) to be separately positioned on the first vacuum attached for the first vacuum pump (26)
Belong to the both ends of mechanism (27), the first pallet sucker (28) is placed in the lower section of the first pallet (12) detection station；Second vacuum pump
(38) it is fixed in lower fuselage (21), it is attached that the second vacuum pump (38) with the second pallet sucker (34) is separately positioned on the second vacuum
The both ends of mechanism (39), the second pallet sucker (34) are placed in the lower section of the second pallet (33) detection station；First look detector
(15) forearm of the first robot (18), the first sucker mechanical hand (17) are fixed on by First look detector locator (16)
It is fixed on the front arm tip of the first robot (18), as end effector, the first robot (18) passes through the first robot bottom
Seat (20) fixes on the ground；First raw material box (23), the first sorting box (24), the second sorting box (25) are placed in first respectively
Near robot base (20)；Second sight surveymeter (45) is fixed on second by the second sight surveymeter locator (44)
The forearm of robot (42), the second sucker mechanical hand (43) are fixed on the front arm tip of the second robot (42), hold as end
Row device, the second robot (42) are fixed on the ground by the second robot base (40), the first raw material box (23), third sorting
Box (36), the 4th sorting box (37) are placed in respectively near the second robot base (40).
2. the two-way feeding and the unmanned autonomous intelligence equipment of sorting according to claim 1 towards material detection, feature
Be second material (1), first material (11), the first pallet (12), the first lead screw (13), the first lead screw driving motor (14),
First look detector (15), First look detector locator (16), the first sucker mechanical hand (17), the first robot
(18), guide rail (19), the first robot base (20), the first raw material box (23), the first sorting box (24), the second sorting box
(25), the first vacuum pump (26), the first vacuum subsidiary body (27), the first pallet sucker (28) form the first feeding, positioning, inspection
Survey, sorting system, and the first feeding, positioning, detection, the course of work of sorting system are as follows: the first robot (18) forearm moves
It moves to above the first raw material box (23)；The first raw material box (23) top layer material is picked up by the first sucker mechanical hand (17)；First
Robot (18) forearm is moved to suitable position above guide rail (19), i.e. the first pallet (12) surface；First look detector
(15) the first pallet (12) image is shot, discharge position on image recognition positioning materials is passed through；First sucker mechanical hand (17) is
Identify that discharge position release first material (11) is in the first pallet (12) on the material of positioning；First vacuum pump (26) work, makes
The generation of the first pallet sucker (28) is obtained to the adsorption capacity of first material (11)；First lead screw driving motor (14) task driven first
Lead screw (13) rotation, so that the first pallet (12) is moved to guide rail (19) middle；Upper row's needle (5) is in upper row's needle driving motor
(6) anode of simultaneously contacting material is moved down under driving；Lower row's needle (30) under the driving of lower row's needle driving motor (31) to
Upper movement and the cathode for touching material；Light source analogy device (8) generates stroboscopic, simulated solar light radiation first material (11)；I-V
Tester (10) receives material output signal, carries out intelligence computation, generates characteristic curve, classifies to material；Upper row's needle
(5) it is resetted with lower row's needle (30)；First lead screw driving motor (14) the first lead screw of task driven (13) rotation, so that the first pallet
(12) original station is reset to；First robot (18) forearm is moved to above the first pallet (12), passes through the first sucker machine
Hand (17) picks up first material (11)；First robot according to the information of I-V testing classification, be moved to the first sorting box (24) or
Above second sorting box (25), the first sucker mechanical hand (17) discharges first material (11) in sorting magazine accordingly.
3. the two-way feeding and the unmanned autonomous intelligence equipment of sorting according to claim 2 towards material detection, feature
Be the second lead screw (32), the second pallet (33), the second pallet sucker (34), the second raw material box (35), third sorting box (36),
4th sorting box (37), the second vacuum pump (38), the second vacuum subsidiary body (39), the second robot base (40), second
Thick stick driving motor (41), the second robot (42), the second sucker mechanical hand (43), the second sight surveymeter locator (44),
Two sight surveymeters (45) form the second feeding, positioning, detection, sorting system, and the second feeding, positioning, detection, sorting system
The course of work it is as follows: the second robot (42) forearm is moved to above the second raw material box (35)；Pass through the second sucker mechanical hand
(43) the second raw material box (35) top layer material is picked up；Second robot (42) forearm is moved to suitable position above guide rail (19),
That is right above the second pallet (33)；Second sight surveymeter (45) shoots the second pallet (33) image, is positioned by image recognition
Discharge position on material；Second sucker mechanical hand (43) on the material for identified positioning discharge position release second material (1) the
In two pallets (33)；Second vacuum pump (38) work, so that the second pallet sucker (34) generates the absorption to second material (1)
Power；Second lead screw driving motor (41) the second lead screw of task driven (32) rotation, so that the second pallet (33) is moved to guide rail
(19) middle；Upper row's needle (5) moves down under the driving of upper row's needle driving motor (6) and the anode of contacting material；Lower row
Needle (30) moves up and touches the cathode of material under the driving of lower row's needle driving motor (31)；Light source analogy device (8) produces
Raw stroboscopic, simulated solar light radiation second material (1)；I-V tester (10) receives material output signal, carries out intelligent meter
It calculates, generates characteristic curve, classify to material；Upper row's needle (5) and lower row's needle (30) reset；Second lead screw driving motor (41)
The second lead screw of task driven (32) rotation, so that the second pallet (33) resets to original station；Second robot (42) forearm moves
It moves to above the second pallet (33), second material (1) is picked up by the second sucker mechanical hand (43)；Second robot is according to I-V
The information of testing classification is moved to above third sorting box (36) or the 4th sorting box (37), and the second sucker mechanical hand (43) is released
Second material (1) is put in sorting magazine accordingly.
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Cited By (4)
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| CN108355986A (en) * | 2018-01-02 | 2018-08-03 | 杭州电子科技大学 | A kind of two-way feeding towards material detection and the unmanned autonomous intelligence equipment of sorting |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108355986A (en) * | 2018-01-02 | 2018-08-03 | 杭州电子科技大学 | A kind of two-way feeding towards material detection and the unmanned autonomous intelligence equipment of sorting |
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| CN110270468A (en) * | 2019-07-10 | 2019-09-24 | 深圳市昆龙卓盈机电有限公司 | A kind of hydrogen fuel cell bipolar plates glue injection equipment |
| CN110406924A (en) * | 2019-07-29 | 2019-11-05 | 博众精工科技股份有限公司 | A kind of transmitted in both directions formula assembling line |
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