CN218886457U

CN218886457U - Control system of automatic sorting equipment

Info

Publication number: CN218886457U
Application number: CN202223249010.8U
Authority: CN
Inventors: 陈进; 惠波涛; 李文铭
Original assignee: Chongqing Yongxin Technology Co ltd
Current assignee: Chongqing Yongxin Technology Co ltd
Priority date: 2022-12-05
Filing date: 2022-12-05
Publication date: 2023-04-18
Anticipated expiration: 2032-12-05

Abstract

The utility model discloses a control system of automatic sorting equipment, the sorting equipment comprises a mechanical arm, a transmission belt and a PLC controller, the PLC controller is connected with the transmission belt and the mechanical arm and is used for driving the transmission belt to run and driving the grabbing action of the mechanical arm; the material sensor is arranged at a position, far away from the position where the material is placed, of the transmission belt and used for detecting a material signal transmitted to the material sensor arrangement position through the transmission belt, and the output end of the material sensor is connected with the PLC; and the PLC is connected with the delayer or the pulse counter and is used for driving the mechanical arm to execute grabbing actions after the set delay time or the set number of pulses is reached. The utility model has the advantages that: the material on the conveying belt can be quickly and accurately grabbed without positioning, and due to the fact that a special positioning system is not adopted, the material grabbing device is low in cost, safe and reliable, and can be realized only by arranging a material detection sensor and setting distance parameters according to requirements.

Description

Control system of automatic sorting equipment

Technical Field

The utility model relates to a material letter sorting field, in particular to change material location of letter sorting equipment and snatch and input control system.

Background

In the automatic sorting equipment, the general principle is that a PLC controller drives a mechanical arm to grab materials on a conveying belt, and then the materials are placed into a corresponding trolley, and the trolley performs warehousing operation according to a track; typically, the material is struck or blown onto a conveyor belt and then picked up by a robotic arm at a fixed point. In a sorting robot as described in patent 202122231524.X, a robot arm grips a material on a conveyor belt, but there are generally two ways to grip the material:

mode 1: the method comprises the steps of positioning, identifying and then grabbing materials in an image identification mode, wherein the method has the defect of high hardware cost, and a vision system is not needed in many cases, so that the method is realized by a mode 2 in most cases;

mode 2: the material is placed on the transmission band assigned position by the storage position through multiple mode (if hit mode such as hitting or high-pressure gas and blow the material to the fixed position scope of snatching of a manipulator according to certain pressure control), need not fix a position like this, only need periodic control manipulator snatch the position of setting for and just can realize snatching corresponding material.

Mode 2 is simple quick, but will prevent to set for the position according to the settlement scope with the material and have certain degree of difficulty if because the position that the material was hit or the high-speed air current that jets blows on the transmission band probably changes the scope of snatching that surpasss robotic arm's settlement, and robotic arm again can't fix a position the material snatch like this, can't realize this accuracy of snatching.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's is not enough, provides an automatic change control system of letter sorting equipment, detects the mode that material initial position and time delay snatched through setting up the sensor and realizes the accurate material that snatchs.

In order to realize the purpose, the utility model discloses a technical scheme be: a control system of automatic sorting equipment comprises a mechanical arm, a conveying belt and a PLC (programmable logic controller), wherein the PLC is connected with the conveying belt and the mechanical arm and is used for driving the conveying belt to run and driving the mechanical arm to grab; a material sensor is arranged at a position, far away from the position where the material is placed, of the transmission belt and used for detecting a material signal transmitted to the material sensor arrangement position through the transmission belt, and the output end of the material sensor is connected with the PLC; and the PLC is connected with the delayer or the pulse counter and is used for driving the mechanical arm to execute grabbing actions after the set delay time or the set number of pulses is reached.

The grabbing position of the mechanical mobile phone or the setting position of the mechanical arm is a position which is away from the material sensor by a set distance along the moving direction of the conveying belt.

The set distance is the moving distance of the conveyor belt corresponding to the set delay time and the conveying speed of the conveyor belt or the set number of pulses.

The PLC is connected with the transport trolley, and the transport trolley is used for transporting materials to an appointed position.

And a limit switch is arranged at the end point of the material trolley conveying track, and the limit switch is connected with the PLC and used for detecting a position signal of the material trolley reaching the end point.

A collision switch is arranged at the end point of the material trolley conveying track, and the output end of the collision switch is connected to the PLC; the output end of the PLC is connected to the alarm; the output end of the PLC is connected with a motor drive controller of the material trolley and used for returning to the starting point after the collision fault of the material trolley occurs.

The utility model has the advantages that: the material on the conveying belt can be quickly and accurately grabbed without positioning, and a special positioning system is not adopted, so that the material grabbing device is low in cost, safe and reliable, and can be realized only by arranging a material detection sensor and setting distance parameters according to requirements; the material trolley is controlled to transport, potential safety hazards caused by collision are avoided, and the material trolley is reset in time and works again.

Drawings

The contents of the expressions in the various figures of the present specification and the labels in the figures are briefly described as follows:

fig. 1 is an electrical schematic diagram of a control system of the present invention;

fig. 2 is the control schematic diagram for positioning and grabbing of the utility model.

The reference numbers in the figures are respectively:

1. material preparation; 2. a material sensor; 3. a robot arm; 4. a mechanical arm grabbing position; 5. a material trolley; 6. a transportation rail of the material trolley; 7. and (5) a material trolley transportation terminal point.

Detailed Description

The following description of preferred embodiments of the invention will be made in further detail with reference to the accompanying drawings.

When the material is hit out or is moved out of the warehouse manually, it causes the position difference on the sensing area because of various reasons, has caused robotic arm to snatch the position and can't accurately snatch, if positioning system such as increase visual positioning then with big costs, consequently this application just can realize not needing positioning system just can be accurate reliable snatch the material through carrying out little improvement on the transmission band, its schematic diagram is as follows:

a control system of automatic sorting equipment comprises a mechanical arm, a conveying belt and a PLC (programmable logic controller), wherein the PLC is connected with the conveying belt and the mechanical arm and is used for driving the conveying belt to run and driving the mechanical arm to grab; a material sensor is arranged at a position, far away from the position where the material is placed, of the transmission belt and used for detecting a material signal transmitted to the material sensor arrangement position through the transmission belt, and the output end of the material sensor is connected with the PLC; the PLC is connected with the delayer or the pulse counter and is used for driving the mechanical arm to execute grabbing actions after the set delay time or the set number of pulses is reached. The grabbing position of the mechanical mobile phone or the setting position of the mechanical arm is a position which is away from the material sensor along the moving direction of the conveying belt by a set distance. The set distance is the moving distance of the conveying belt corresponding to the set delay time and the conveying speed of the conveying belt or the set number of pulses.

As shown in fig. 1, a material is transported from left to right on a transport belt, generally, in a transport direction of the material, the material is far away from an initial position of the material, the material is generally hit to the transport belt by a device for transport at the initial position of the material, a digital sensor horizontally parallel to the sensing belt is arranged at a frame of the transport belt far away from the initial position of the material for detecting the material passing through the position, generally, an ultrasonic sensor or a laser sensor is selected, for example, the laser sensor is arranged on the frame on a side edge of the transport belt, laser output by the laser sensor is parallel to the surface of the transport belt, when the material passes through the position, the laser is blocked, a sound detection signal is transmitted, detection of the material passing through the position can be realized, the position is taken as a starting point, a mechanical arm is arranged at a set distance along one end of the transport belt in the transport direction, and the position is at a distance S from the material sensor; after the PLC receives the materials and passes through the initial position, the PLC starts to delay or count time through the number of pulses, and when the delay or the count time reaches a set time threshold value, the PLC drives the mechanical arm to act once to grab the materials on the conveying belt at the set position; in order to enable the delay time to reach the grabbing range of the mechanical arm, the setting distance S of the mechanical arm needs to be set, the distance S is the delay time threshold multiplied by the conveying speed of the conveying belt, therefore, the distance from the starting point of the material to the mechanical arm can be calculated and used as the position of the mechanical arm, and any material can be conveyed to the corresponding grabbing position at the corresponding time.

In another preferred embodiment, the grabbed materials are generally transported to a designated position by a material trolley, as shown in fig. 1, the grabbed materials are transported to a terminal position by the position of a mechanical arm, so that the grabbing and the transportation of the materials are realized, and the PLC controller is connected with the transport trolley, and the transport trolley is used for transporting the materials to the designated position. And a limit switch is arranged at the end point of the material trolley conveying track, and the limit switch is connected with the PLC and used for detecting a position signal of the material trolley reaching the end point. A collision switch is arranged at the end point of the material trolley transportation track, and the output end of the collision switch is connected to the PLC; the output end of the PLC is connected to the alarm; the output end of the PLC is connected with a motor drive controller of the material trolley and used for returning to the starting point after the collision fault of the material trolley occurs. The material trolley is driven by the PLC and moves back and forth to the end point and the starting point according to the operation track.

After the mechanical arm grabs the material onto the material trolley, the PLC drives the material trolley to transport to the end point, the trolley arrival signal is obtained through the limit switch signal after the road end point, at the moment, the PLC can control the time delay setting time after obtaining the signal and then control the drive trolley to return to the initial position to enter the next transportation, and the time delay is used for unloading the material in the trolley; however, when the trolley does not stop at the end position due to program errors, failure of a limit switch or other problems, the collision of the end position occurs, the mode generally needs to be restarted and repaired, and in order to meet the mode, the PLC controller controls the trolley to return and send an alarm signal after receiving a collision signal to remind a user of processing. The dolly is by step motor drive, and if step motor is out of step or the procedure is makeed mistakes, step motor can touch limit switch or the material dolly sometimes can lead to the dolly to stop because of the procedure disorder to live, and the traditional mode can control step motor driver outage, then restart equipment. This method deteriorates the life of the controller and causes a trouble in work. According to the method, the digital sensor is added in front of the limit switch, the fault processing program is started after the digital sensor is touched, and when the device is restarted, the device can be restarted only by resetting. A digital sensor is arranged in front of the limit switch. When a fault occurs, a signal is transmitted to the PLC, the buzzer gives an alarm, the material trolley returns to the starting position, and a worker waits for a reset program; and when the system is restarted, the material sorting work is normally carried out, so that the system is more automatic. Certainly, the return procedure of the trolley can be realized through a button, and after the PLC alarm gives an alarm and a reset key connected with the PLC is pressed down, the PLC controls the trolley motor to rotate reversely and then to return to the initial position; and then can be performed again after restart or after maintenance.

It is clear that the specific implementation of the invention is not restricted to the above-described embodiments, but that various insubstantial modifications of the inventive process concept and technical solutions are within the scope of protection of the invention.

Claims

1. A control system of automatic sorting equipment comprises a mechanical arm, a conveying belt and a PLC (programmable logic controller), wherein the PLC is connected with the conveying belt and the mechanical arm and is used for driving the conveying belt to run and driving the mechanical arm to grab; the method is characterized in that: the material sensor is arranged at a position, far away from the position where the material is placed, of the transmission belt and used for detecting a material signal transmitted to the material sensor arrangement position through the transmission belt, and the output end of the material sensor is connected with the PLC; and the PLC is connected with the delayer or the pulse counter and is used for driving the mechanical arm to execute the grabbing action after the set delay time or the set pulse number is reached.

2. A control system for an automated sorting apparatus according to claim 1, wherein: the grabbing position of the mechanical mobile phone or the setting position of the mechanical arm is a position which is away from the material sensor along the moving direction of the conveying belt by a set distance.

3. A control system for an automated sorting apparatus according to claim 2, wherein: the set distance is the moving distance of the conveying belt corresponding to the set delay time and the conveying speed of the conveying belt or the set pulse number.

4. A control system for an automated sorting device according to any one of claims 1 to 3, characterised in that: the PLC is connected with a material trolley, and the material trolley is used for transporting materials to a specified position.

5. A control system for an automated sorting device according to claim 4, wherein: and a limit switch is arranged at the end point of the material trolley conveying track, and the limit switch is connected with the PLC and used for detecting a position signal of the material trolley reaching the end point.

6. The control system for an automated sorting device according to claim 5, wherein: a collision switch is arranged at the end point of the material trolley conveying track, and the output end of the collision switch is connected to the PLC; the output end of the PLC is connected to an alarm; the output end of the PLC is connected with a motor drive controller of the material trolley and used for returning to the starting point after the collision fault of the material trolley occurs.