CN112209094A - Automatic sorting device - Google Patents
Automatic sorting device Download PDFInfo
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- CN112209094A CN112209094A CN202011058193.8A CN202011058193A CN112209094A CN 112209094 A CN112209094 A CN 112209094A CN 202011058193 A CN202011058193 A CN 202011058193A CN 112209094 A CN112209094 A CN 112209094A
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- truss
- sorting
- driving
- lifting platform
- small
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- 239000000463 material Substances 0.000 claims abstract description 18
- 210000001503 joint Anatomy 0.000 claims abstract description 15
- 239000002699 waste material Substances 0.000 claims abstract description 12
- 238000001454 recorded image Methods 0.000 claims abstract description 5
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000003698 laser cutting Methods 0.000 abstract description 10
- 230000001174 ascending effect Effects 0.000 description 7
- 238000007599 discharging Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to the technical field of laser cutting machines, in particular to an automatic sorting device, which comprises: the small part sorting sucker and the visual system are positioned on the upper layer of the truss, the large part sorting mechanism is arranged on the middle layer, the lower layer of the truss is provided with a fixed material platform, and the outer side of the truss is in butt joint with the lifting platform; the vision system is used for comparing and identifying the processed part image with the pre-recorded image; the small sorting sucker can move along three directions of the X, Y, Z shaft and is used for grabbing small parts identified by the vision system; the large-piece sorting mechanism can move along the X axial direction and is used for grabbing large parts and waste materials identified by the vision system; the lifting platform can move along the Z-axis direction, two sides of the lifting platform are respectively butted with the truss and the stereoscopic warehouse, and the lifting platform is used for conveying the material tray to enter and exit the stereoscopic warehouse.
Description
Technical Field
The invention relates to the technical field of laser cutting machines, in particular to an automatic sorting device.
Background
Along with the wide-range application of the laser cutting machine and the perfection of various automatic processing production lines, in order to keep up with the subsequent production takt, higher requirements are provided for the feeding and discharging efficiency of the plate. The existing general laser loading and unloading device is completed through manual assistance, and the plate is large, so that the working efficiency is low, the danger is high, and particularly, the unloading device is inconvenient to sort and has large labor load through manual sorting.
Disclosure of Invention
The invention aims to provide an automatic sorting device to solve the problems of low manual sorting efficiency and large labor load in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: an automated sorting apparatus comprising: the upper layer of the truss is provided with a small-piece sorting sucker and a vision system, the middle layer of the truss is provided with a large-piece sorting mechanism, the lower layer of the truss is provided with a fixed material platform, and the outer side of the truss is in butt joint with a lifting platform;
the vision system is used for shooting the image of the part to be processed and comparing and identifying the image with the pre-recorded image;
the small-piece sorting sucker can move along three directions of an X, Y, Z axis relative to the truss and is used for grabbing small pieces identified by the comparison of a vision system;
the large-piece sorting mechanism can move along the X axial direction relative to the truss and is used for grabbing large parts and waste materials which are contrastingly identified by a vision system;
the lifting platform can move along the Z axial direction relative to the truss, one side of the lifting platform is in butt joint with the truss, the other side of the lifting platform is in butt joint with the stereoscopic warehouse, and the lifting platform is used for conveying the material tray to enter and exit the stereoscopic warehouse.
Preferably, the bottom at last walking driving system is fixed to little piece sorting sucking disc, be equipped with the track on the truss, it is connected with truss transmission through rack and pinion to go up walking driving system, it drives little piece sorting sucking disc along X axial displacement simultaneously on last track to go up walking driving system, it drives actuating cylinder and Z axle driving cylinder to go up walking driving system including Y axle driving actuating cylinder and Z axle, Y axle driving actuating cylinder drives little piece sorting sucking disc along Y axial displacement, Z axle cylinder driving little piece sorting sucking disc along Z axial displacement.
Preferably, the vision system is fixedly connected with the small piece sorting sucker.
Preferably, major possession sorting mechanism is including walking driving system down, driving and major possession sucking disc prong down, driving system installs on the truss down, be equipped with down the track on the truss, the driving is located down on the track down, the driving passes through chain sprocket and is connected with the driving system transmission of driving down, driving system drives down and follows X axial displacement on the track down, and the bottom of driving down is passed through the connecting rod and is connected with major possession sucking disc prong.
Preferably, a horizontal power system is installed in the lifting platform and used for conveying the tray to move horizontally.
Preferably, the elevating platform realizes vertical motion through the lift driving system, the lift driving system is installed on stereoscopic warehouse, the lift driving system passes through sprocket chain and is connected with the elevating platform transmission.
Compared with the prior art, the invention has the beneficial effects that:
1) the small parts are sucked by the small part sorting sucker and then sent into a stereoscopic warehouse, and the large parts and the waste materials are respectively grabbed by the large part sorting mechanism and then respectively sent into the stereoscopic warehouse, so that automatic and efficient sorting operation can be realized;
2) the tray can be placed at the upper end of the lower traveling crane and is used for containing small parts sucked by the small-part sorting sucker, the space utilization rate is improved, and meanwhile, the bottom of the lower traveling crane is fixedly connected with the large-part sucker tooth fork, so that the lower end of the lower traveling crane has a grabbing function and is convenient to realize an efficient sorting effect;
3) the arrangement of the small piece sorting sucker can realize the miniaturization of the mechanism, improve the operation speed and control the operation speed to achieve higher efficiency; in addition, the tray can be placed on the fixed material table to sort small parts, and the efficiency is improved through matching sorting.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the lower traveling crane and the large suction cup tine of the present invention.
In the figure: the system comprises a lower walking power system 1, an upper walking power system 2, a visual system 3, a small piece sorting sucker 4, a laser cutting machine 5, a truss 6, a lower traveling crane 7, a large piece tray tooth fork 8, a fixed material table 9, a lifting table 10, a horizontal power system 11, a lifting power system 12, a stereoscopic warehouse 13, a transfer trolley 14 and a pallet 15.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: an automated sorting apparatus comprising: the truss 6, the visual system 3, the small-piece sorting sucker 4, the large-piece sorting mechanism and the lifting platform 10 are arranged on the upper layer of the truss 6, the large-piece sorting mechanism is arranged on the middle layer of the truss 6, the fixed material platform 9 is arranged on the lower layer of the truss 6, the outer side of the truss 6 is in butt joint with the lifting platform 10, specifically, the small-piece sorting sucker 4 is fixedly connected with the visual system 3 and used for shooting a processed part image and comparing and identifying the image with a pre-recorded image, the small-piece sorting sucker 4 realizes the movement along X, Y and Z axial directions relative to the truss 6 through the ascending vehicle power system 2, specifically, the upper layer of the truss 6 is provided with an upper rail, the ascending vehicle power system 2 is located on the upper rail and is in transmission connection with the truss 6 through a gear rack, so that the small-piece sorting sucker 4 is driven to move along the X axial direction when the ascending vehicle power system 2 moves along the X axial direction on the upper rail, meanwhile, the ascending vehicle power system 2 comprises a Y-axis driving cylinder and a Z-axis driving cylinder, the Y-axis driving cylinder drives the small-piece sorting sucker 4 to move along the Y-axis direction, and the Z-axis cylinder drives the small-piece sorting sucker 4 to move along the Z-axis direction; specifically, the large part sorting mechanism comprises a lower walking power system, a lower vehicle 7 and a large part sucking disc toothed fork 8, wherein the power system 1 of the lower vehicle 7 is installed on a truss 6, a lower rail is arranged on the truss 6, the lower vehicle 7 is located on the lower rail, the lower vehicle 7 is in transmission connection with the power system 1 of the lower vehicle 7 through a chain sprocket, the power system 1 of the lower vehicle 7 drives the lower vehicle 7 to move on the lower rail along the X axial direction, the bottom of the lower vehicle 7 is connected with the large part sucking disc toothed fork 8 through a connecting rod, and the large part sorting mechanism is used for grabbing large parts and waste materials which are identified by comparison of the vision system 3; specifically, the lifting platform 10 can move along the Z-axis direction relative to the truss 6, the lifting platform 10 can move vertically through the lifting power system 12, the lifting power system 12 is installed on the stereoscopic warehouse 13, the lifting power system 12 is in transmission connection with the lifting platform 10 through a chain wheel and a chain, one side of the lifting platform 10 is in butt joint with the truss 6, the other side of the lifting platform 10 is in butt joint with the stereoscopic warehouse 13, the lifting platform 10 is used for conveying a material tray to enter and exit the stereoscopic warehouse 13, wherein the lifting platform 10 is provided with the horizontal power system 11, in the embodiment, the horizontal power system 11 is a horizontal drag chain, and the horizontal power system 11 is used for conveying the tray 15 to move horizontally.
This application can realize unloading and automatic sorting in the automation, and is specific:
feeding: a lifting power system 12 drives a lifting platform 10 to move vertically, so that the lifting platform 10 is in butt joint with a goods position of a whole plate stored in a stereoscopic warehouse 13, a horizontal power system 11 in the lifting platform 10 drags a tray 15 in the goods position, the tray 15 is provided with the whole plate, the lifting power system 12 drives the lifting platform 10 to move vertically, so that the lifting platform 10 is in butt joint with a fixed material platform 9, the horizontal power system 11 conveys the tray 15 on the lifting platform 10 to the fixed material platform 9 after the butt joint, then a large material tray toothed fork grabs the whole plate from the tray 15 and places the whole plate on a laser cutting machine 5 to be cut, meanwhile, the lifting platform 10 takes out the empty tray 15 from the stereoscopic warehouse 13 and is in butt joint with a downlink vehicle 7, and the empty tray 15 is placed at the upper end of the downlink vehicle 7, so far, feeding is completed;
sorting and blanking: after laser cutting, the ascending vehicle power system 2 drives the vision system 3 to move to a specified position, the position takes the part on the laser cutting machine 5 capable of being shot comprehensively as the standard, shooting and comparing with a pre-recorded image for distinguishing, the ascending vehicle power system 2 adjusts the position of the small part sorting sucker 4, the small part sorting sucker 4 sucks the small part on the laser cutting machine 5, the ascending vehicle power system 2 drives the small part sorting sucker 4 to move to the position above the descending vehicle 7, then the small part is placed in a tray 15 above the descending vehicle 7, and the lifting platform 10 conveys the tray 15 with the small part to a specified warehouse of a three-dimensional warehouse 13 for storage; the lower walking power system drives the lower traveling crane 7 and the large sucker tooth fork 8 to be above the laser cutting machine 5, large parts are grabbed and placed in the tray 15 on the fixed material table 9, and the lifting table 10 conveys the tray 15 with the large parts to a specified warehouse of the stereoscopic warehouse 13 for storage; then, the lifting platform 10 grabs the waste tray 15 from the stereoscopic warehouse 13 and conveys the waste tray to the position above the fixed material platform 9, the lower walking power system drives the lower trolley 7 and the large sucker fork 8 to the position above the laser cutting machine 5, the waste is grabbed and placed in the waste tray 15 on the fixed material platform 9, and the lifting platform 10 conveys the waste tray 15 filled with the waste to a designated warehouse of the stereoscopic warehouse 13 to wait for transportation.
Further, this application also can realize the automatic warehouse entry and the piece of getting of stereoscopic warehouse 13, specifically:
the method comprises the following steps of placing a tray 15 containing whole plates on a transfer trolley 14, moving the transfer trolley 14 to the bottom of a stereoscopic warehouse 13 to be in butt joint with a lifting table 10, dragging the tray 15 onto the lifting table 10 by the lifting table 10, then vertically moving the lifting table 10 to be in butt joint with a specified goods position, and sending the tray 15 into the stereoscopic warehouse 13 by the lifting table 10, so that material warehousing is realized; the fetching is reverse to the flow.
According to the automatic sorting machine, automatic feeding and discharging and automatic sorting can be realized, small parts are sucked by the small part sorting sucker 4 and then are sent to the stereoscopic warehouse 13, and large parts and waste materials are respectively grabbed by the large part sorting mechanism and then are respectively sent to the stereoscopic warehouse 13, so that automatic and efficient sorting operation can be realized; in addition, the tray 15 can be placed at the upper end of the descending vehicle 7 and used for containing small parts sucked by the small-part sorting sucker 4, the space utilization rate is improved, meanwhile, the bottom of the descending vehicle 7 is fixedly connected with the large-part sucker tooth fork 8, the lower end of the descending vehicle has a grabbing function, the efficient sorting effect is convenient to achieve, the small-part sorting sucker can be miniaturized in mechanism due to arrangement, and the operation speed is improved and controlled to achieve higher efficiency; in addition in other embodiments, fixed material platform also can place the tray and be used for sorting the finding, and the cooperation is sorted and is improved efficiency.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An automated sorting apparatus, comprising:
the device comprises a truss (6), wherein a small piece sorting sucker (4) and a visual system (3) are arranged on the upper layer of the truss (6), a large piece sorting mechanism is arranged on the middle layer of the truss (6), a fixed material table (9) is arranged on the lower layer of the truss (6), and the outer side of the truss (6) is butted with a lifting table (10);
the vision system (3) is used for shooting the image of the part to be processed and comparing and identifying the image with the pre-recorded image;
the small part sorting sucker (4) can move along three directions of an X, Y, Z axis relative to the truss (6), and the small part sorting sucker (4) is used for grabbing small parts which are contrastingly identified by the vision system (3);
a large-piece sorting mechanism which can move along the X-axis direction relative to the truss (6) and is used for grabbing large parts and waste materials which are contrastingly identified by the vision system (3);
the lifting platform (10) can move along the Z axial direction relative to the truss (6), one side of the lifting platform (10) is in butt joint with the truss (6), the other side of the lifting platform (10) is in butt joint with the stereoscopic warehouse, and the lifting platform (10) is used for conveying the material discs to enter and exit the stereoscopic warehouse.
2. An automatic sorting apparatus according to claim 1, wherein: the bottom of little piece sorting sucking disc (4) fixed at last driving system (2), be equipped with the track on truss (6), it is connected with truss (6) transmission through rack and pinion to go up driving system (2), it drives little piece sorting sucking disc (4) simultaneously along X axial displacement on last track to go up driving system (2), it drives actuating cylinder and Z axle driving actuating cylinder including the Y axle to go up driving actuating system (2), Y axle driving actuating cylinder drives little piece sorting sucking disc (4) along Y axial displacement, Z axle cylinder drive little piece sorting sucking disc (4) are along Z axial displacement.
3. An automatic sorting device according to claim 2, wherein: the vision system (3) is fixedly connected with the small piece sorting sucker (4).
4. An automatic sorting apparatus according to claim 1, wherein: mechanism is sorted to major possession includes walking driving system down, drives a vehicle (7) and major possession sucking disc prong (8), install on truss (6) down driving vehicle (7) driving system (1), be equipped with down the track on truss (6), down driving vehicle (7) are located down on the track, down driving vehicle (7) are connected through chain sprocket and down driving vehicle (7) driving system (1) transmission, down driving vehicle (7) driving down driving vehicle (7) are connected along X axial displacement on the track down, and the bottom of down driving vehicle (7) is passed through the connecting rod and is connected with major possession sucking disc prong (8).
5. An automatic sorting apparatus according to claim 1, wherein: a horizontal power system (11) is installed in the lifting platform (10), and the horizontal power system (11) is used for conveying the tray to move horizontally.
6. An automatic sorting device according to claim 5, wherein: the vertical motion is realized through lift driving system (12) in elevating platform (10), lift driving system (12) are installed on stereoscopic warehouse, lift driving system (12) are connected with elevating platform (10) transmission through the sprocket chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011058193.8A CN112209094A (en) | 2020-09-30 | 2020-09-30 | Automatic sorting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011058193.8A CN112209094A (en) | 2020-09-30 | 2020-09-30 | Automatic sorting device |
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| Publication Number | Publication Date |
|---|---|
| CN112209094A true CN112209094A (en) | 2021-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011058193.8A Pending CN112209094A (en) | 2020-09-30 | 2020-09-30 | Automatic sorting device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113019941A (en) * | 2021-03-31 | 2021-06-25 | 北京物资学院 | A express delivery sorting device for intelligent express delivery system |
| CN114148731A (en) * | 2021-11-23 | 2022-03-08 | 珠海广浩捷科技股份有限公司 | Face ID module feeding device and working method thereof |
| CN114289332A (en) * | 2022-01-20 | 2022-04-08 | 湖南视比特机器人有限公司 | Visual identification and positioning method and device for workpiece sorting and sorting system |
| CN114309996A (en) * | 2022-03-10 | 2022-04-12 | 广东创兴精密制造股份有限公司 | Processing system with feeding, cutting and sorting functions |
| CN114515700A (en) * | 2022-02-28 | 2022-05-20 | 青岛黄海学院 | Logistics sorting device and working method thereof |
| CN114529612A (en) * | 2022-01-24 | 2022-05-24 | 湖南视比特机器人有限公司 | Visual positioning plate searching device and method for sorting large-size workpieces |
| CN114803446A (en) * | 2022-05-13 | 2022-07-29 | 昆山佐科自动化设备有限公司 | Online material caching and fixed-point supply system matched with multifunctional mechanical arm |
| CN114955341A (en) * | 2022-06-01 | 2022-08-30 | 武汉生物工程学院 | A rail change device for billet storage based on machine vision |
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| CN113019941A (en) * | 2021-03-31 | 2021-06-25 | 北京物资学院 | A express delivery sorting device for intelligent express delivery system |
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| CN114803446A (en) * | 2022-05-13 | 2022-07-29 | 昆山佐科自动化设备有限公司 | Online material caching and fixed-point supply system matched with multifunctional mechanical arm |
| CN114803446B (en) * | 2022-05-13 | 2024-06-07 | 昆山佐科自动化设备有限公司 | In-line material caching and fixed-point feeding system matched with multifunctional mechanical arm |
| CN114955341A (en) * | 2022-06-01 | 2022-08-30 | 武汉生物工程学院 | A rail change device for billet storage based on machine vision |
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