阅读说明：本技术 工件分类方法、工件分类系统及工件传输系统 (Workpiece classification method, workpiece classification system and workpiece transmission system ) 是由 郭满胜 于 2019-11-21 设计创作，主要内容包括：本发明公开了一种工件分类方法、工件分类系统及工件传输系统。工件分类方法,包括：判断输送带上是否有工件运动到预设检测位,若是,检测预设检测位的工件的设定参量；根据工件的设定参量所属参量区间对工件进行分类,确定工件对应的放料区且分配机器人,其中,一个参量区间对应匹配一个放料区；控制机器人拾取工件；控制机器人将其拾取的工件移动至相对应的放料区放料。在对工件按照设定参量进行分类并确定放料区后,与该工件相对应的机器人也相应确定下来,由该机器人将工件从输送带上传至放料区,实现由工件分类整个过程的自动化,可提高分类效率。(The invention discloses a workpiece classification method, a workpiece classification system and a workpiece transmission system. A method of sorting a workpiece, comprising: judging whether a workpiece moves to a preset detection position on the conveying belt or not, and if so, detecting a set parameter of the workpiece at the preset detection position; classifying the workpieces according to parameter intervals to which set parameters of the workpieces belong, determining material placing areas corresponding to the workpieces, and distributing robots, wherein one parameter interval is correspondingly matched with one material placing area; controlling the robot to pick up the workpiece; and controlling the robot to move the picked workpieces to the corresponding feeding areas for feeding. After the workpieces are classified according to the set parameters and the material placing area is determined, the robot corresponding to the workpieces is correspondingly determined, the workpieces are uploaded to the material placing area from the conveying belt by the robot, the automation of the whole process of workpiece classification is realized, and the classification efficiency can be improved.)

1. A method of sorting a workpiece, comprising:

judging whether a workpiece moves to a preset detection position on the conveying belt or not, and if so, detecting a set parameter of the workpiece at the preset detection position;

classifying the workpieces according to parameter intervals to which set parameters of the workpieces belong, determining material placing areas corresponding to the workpieces, and distributing robots, wherein one parameter interval is correspondingly matched with one material placing area;

controlling the robot to pick up the workpiece;

and controlling the robot to move the workpieces picked up by the robot to the corresponding feeding area for feeding.

2. The method for sorting workpieces according to claim 1, wherein after determining the emptying zone corresponding to the workpiece and allocating the robot, the method further comprises:

judging whether the workpiece moves to a preset workpiece taking area corresponding to the robot on the conveying belt or not, and if so, controlling the robot to pick up the workpiece; wherein, each robot corresponds to respectively has an independent preset to get a regional area and the robot gets a work in the regional scope of corresponding preset getting.

3. The workpiece sorting method according to claim 2, wherein the determining whether the workpiece moves to a preset pickup area on the conveyor belt corresponding to the robot comprises:

judging whether the distance between the workpiece and a preset measuring position on the conveying belt is not less than a corresponding minimum distance threshold value and less than a corresponding maximum distance threshold value or not, if so, judging that the workpiece moves to a preset workpiece taking area, otherwise, judging that the workpiece does not move to the preset workpiece taking area;

wherein, in the direction of transfer of conveyer belt, predetermine the measuring position and be located predetermine before getting a region, corresponding minimum distance threshold value is in the direction of transfer of conveyer belt, predetermine the measuring position with predetermine the minimum distance between the regional boundary of getting, corresponding maximum distance threshold value is in the direction of transfer of conveyer belt, predetermine the measuring position with predetermine the maximum distance between the regional boundary of getting.

4. The workpiece sorting method according to any one of claims 1 to 3, wherein the controlling the robot to move the workpiece picked up by the robot to the corresponding discharging area for discharging further comprises:

judging whether the next workpiece distributed to the robot moves to a preset workpiece taking area corresponding to the robot or not, if so, controlling the robot to directly move towards the preset workpiece taking area, taking the next workpiece as an object, controlling the robot to pick up the workpiece, and otherwise, controlling the robot to move to a preset waiting position for waiting;

wherein, each robot corresponds to respectively has an independent preset to get a regional area and the robot gets a work in the regional scope of corresponding preset getting.

5. A workpiece sorting method according to any of claims 1-3, characterised in that said controlling the robot to pick up the workpiece comprises:

controlling the robot to move towards the workpiece and adjusting the motion state of the robot, and controlling the robot to move perpendicular to the conveying belt until the robot is fixed on the workpiece when the motion state of the robot reaches a preset picking condition;

wherein the preset picking conditions are as follows: the robot moves to a position vertically above a midpoint of the workpiece in a conveying direction, and a running speed of the robot in a direction parallel to the conveying direction is equal to a running speed of the conveyor belt.

6. A workpiece sorting system, comprising:

the first judgment module is used for judging whether a workpiece moves to a preset detection position on the conveying belt or not;

the set parameter detection module is used for detecting the set parameters of the workpiece at the preset detection position when the first judgment module determines that the workpiece moves to the preset detection position;

the classification module is used for classifying the workpieces according to parameter intervals to which set parameters of the workpieces belong, determining material placing areas corresponding to the workpieces and distributing robots, wherein one parameter interval is correspondingly matched with one material placing area;

the first robot control module is used for controlling the robot to pick up the workpiece;

and the second robot control module is used for controlling the robot to move the workpieces picked up by the robot to the corresponding material placing area for material placing.

7. The workpiece sorting system of claim 6, wherein the first robot control module comprises:

the first judging unit is used for judging whether the workpiece moves to a preset workpiece taking area corresponding to the robot on the conveying belt or not after the material placing area corresponding to the workpiece and the robot are determined, and if yes, controlling the robot to pick up the workpiece; wherein, each robot corresponds to respectively has an independent preset to get a regional area and the robot gets a work in the regional scope of corresponding preset getting.

8. The workpiece sorting system according to claim 6 or 7, wherein the second robot control module includes:

the second judging unit is used for judging whether the next workpiece distributed to the robot moves to a preset workpiece taking area corresponding to the robot or not after the material is placed, if so, controlling the robot to directly move towards the preset workpiece taking area, taking the next workpiece as an object, controlling the robot distributed to the workpiece to pick up the workpiece, and otherwise, controlling the robot to move to a preset waiting position to wait;

wherein, each robot corresponds to respectively has an independent preset to get a regional area and the robot gets a work in the regional scope of corresponding preset getting.

9. The workpiece sorting system of claim 6 or 7, wherein the first robot control module comprises:

the regulating and controlling unit is used for controlling the robot to move towards the workpiece and regulating the motion state of the robot, and when the motion state of the robot reaches a preset picking condition, the robot is controlled to move perpendicular to the conveying belt until the robot is fixed on the workpiece;

wherein the preset picking conditions are as follows: the robot moves to a position vertically above a midpoint of the workpiece in a conveying direction, and a running speed of the robot in a direction parallel to the conveying direction is equal to a running speed of the conveyor belt.

10. A workpiece transport system, comprising:

the workpiece sorting system of any of claims 6 to 9;

the conveying belt is used for conveying workpieces and is electrically connected with the workpiece sorting system;

and the robot is used for conveying the workpieces on the conveying belt to the corresponding discharging area and is electrically connected to the workpiece sorting system.

Technical Field

The invention relates to the technical field of material conveying, in particular to a workpiece classification method, a workpiece classification system and a workpiece conveying system.

Background

In many workpiece transmission processes, classification processes of workpieces are involved, the workpieces need to be classified according to set parameters such as thickness and color, and the whole classification process is completed manually in a typical method in the prior art.

Specifically, taking a workpiece as mobile phone window panel glass and setting parameters as thickness as an example: in the thickness screening operation such as defective product classification screening, semi-finished product classification screening, finished product grade classification and the like, the thickness of the glass is manually measured and classified, and after classification, the glass is manually placed into a glass storage area corresponding to the thickness, so that the efficiency is low, the labor intensity of batch operation workers is high, the manual input amount is large, and the output is low.

Therefore, how to improve the classification efficiency is a technical problem that needs to be solved by those skilled in the art.

Disclosure of Invention

In view of the above, the present invention provides a workpiece classifying method and system with high classifying efficiency. Another object of the present invention is to provide a workpiece conveying system including the workpiece sorting system, which has high efficiency in the workpiece sorting process.

In order to achieve the purpose, the invention provides the following technical scheme:

a method of sorting workpieces, comprising:

judging whether a workpiece moves to a preset detection position on the conveying belt or not, and if so, detecting a set parameter of the workpiece at the preset detection position;

classifying the workpieces according to parameter intervals to which set parameters of the workpieces belong, determining material placing areas corresponding to the workpieces, and distributing robots, wherein one parameter interval is correspondingly matched with one material placing area;

controlling the robot to pick up the workpiece;

and controlling the robot to move the workpieces picked up by the robot to the corresponding feeding area for feeding.

Preferably, after the determining the emptying region corresponding to the workpiece and the distributing robot, the method further includes:

judging whether the workpiece moves to a preset workpiece taking area corresponding to the robot on the conveying belt or not, and if so, controlling the robot to pick up the workpiece; wherein, each robot corresponds to respectively has an independent preset to get a regional area and the robot gets a work in the regional scope of corresponding preset getting.

Preferably, the judging whether the workpiece moves to a preset workpiece taking area corresponding to the robot on the conveyor belt includes:

judging whether the distance between the workpiece and a preset measuring position on the conveying belt is not less than a corresponding minimum distance threshold value and less than a corresponding maximum distance threshold value or not, if so, judging that the workpiece moves to a preset workpiece taking area, otherwise, judging that the workpiece does not move to the preset workpiece taking area;

wherein, in the direction of transfer of conveyer belt, predetermine the measuring position and be located predetermine before getting a region, corresponding minimum distance threshold value is in the direction of transfer of conveyer belt, predetermine the measuring position with predetermine the minimum distance between the regional boundary of getting, corresponding maximum distance threshold value is in the direction of transfer of conveyer belt, predetermine the measuring position with predetermine the maximum distance between the regional boundary of getting.

Preferably, after the robot is controlled to move the workpiece picked by the robot to the corresponding emptying region for emptying, the method further includes:

judging whether the next workpiece distributed to the robot moves to a preset workpiece taking area corresponding to the robot or not, if so, controlling the robot to directly move towards the preset workpiece taking area, taking the next workpiece as an object, controlling the robot to pick up the workpiece, and otherwise, controlling the robot to move to a preset waiting position for waiting;

wherein, each robot corresponds to respectively has an independent preset to get a regional area and the robot gets a work in the regional scope of corresponding preset getting.

Preferably, the controlling the robot to pick up the workpiece includes:

controlling the robot to move towards the workpiece and adjusting the motion state of the robot, and controlling the robot to move perpendicular to the conveying belt until the robot is fixed on the workpiece when the motion state of the robot reaches a preset picking condition;

wherein the preset picking conditions are as follows: the robot moves to a position vertically above a midpoint of the workpiece in a conveying direction, and a running speed of the robot in a direction parallel to the conveying direction is equal to a running speed of the conveyor belt.

A workpiece sorting system comprising:

the first judgment module is used for judging whether a workpiece moves to a preset detection position on the conveying belt or not;

the set parameter detection module is used for detecting the set parameters of the workpiece at the preset detection position when the first judgment module determines that the workpiece moves to the preset detection position;

the classification module is used for classifying the workpieces according to parameter intervals to which set parameters of the workpieces belong, determining material placing areas corresponding to the workpieces and distributing robots, wherein one parameter interval is correspondingly matched with one material placing area;

the first robot control module is used for controlling the robot to pick up the workpiece;

and the second robot control module is used for controlling the robot to move the workpieces picked up by the robot to the corresponding material placing area for material placing.

Preferably, the first robot control module includes:

the first judging unit is used for judging whether the workpiece moves to a preset workpiece taking area corresponding to the robot on the conveying belt or not after the material placing area corresponding to the workpiece and the robot are determined, and if yes, controlling the robot to pick up the workpiece; wherein, each robot corresponds to respectively has an independent preset to get a regional area and the robot gets a work in the regional scope of corresponding preset getting.

Preferably, the second robot control module includes:

the second judging unit is used for judging whether the next workpiece distributed to the robot moves to a preset workpiece taking area corresponding to the robot or not after the material is placed, if so, controlling the robot to directly move towards the preset workpiece taking area, taking the next workpiece as an object, controlling the robot distributed to the workpiece to pick up the workpiece, and otherwise, controlling the robot to move to a preset waiting position to wait;

wherein, each robot corresponds to respectively has an independent preset to get a regional area and the robot gets a work in the regional scope of corresponding preset getting.

Preferably, the first robot control module includes:

the regulating and controlling unit is used for controlling the robot to move towards the workpiece and regulating the motion state of the robot, and when the motion state of the robot reaches a preset picking condition, the robot is controlled to move perpendicular to the conveying belt until the robot is fixed on the workpiece;

wherein the preset picking conditions are as follows: the robot moves to a position vertically above a midpoint of the workpiece in a conveying direction, and a running speed of the robot in a direction parallel to the conveying direction is equal to a running speed of the conveyor belt.

A workpiece transport system comprising:

a workpiece sorting system as claimed in any one of the preceding claims;

the conveying belt is used for conveying workpieces and is electrically connected with the workpiece sorting system;

and the robot is used for conveying the workpieces on the conveying belt to the corresponding discharging area and is electrically connected to the workpiece sorting system.

According to the workpiece classification method provided by the invention, after the workpieces are classified according to the set parameters and the material placing area is determined, the robot corresponding to the workpieces is correspondingly determined, and the distributed robots upload the workpieces to the material placing area from the conveying belt, so that the automation of the whole process of workpiece classification is realized, the classification efficiency can be improved, and the labor intensity of workers is greatly reduced.

The workpiece classification system provided by the invention has higher classification efficiency.

The workpiece conveying system provided by the invention has higher efficiency in the workpiece classification process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a flow chart of a method provided by the present invention;

FIG. 2 is a diagram illustrating a positional relationship between a workpiece and a predetermined measuring position and a predetermined pickup area in the method of the present invention;

FIG. 3 is a diagram of an electrical control system for the workpiece sorting system provided by the present invention;

FIG. 4 is a schematic diagram of a workpiece transport system according to the present invention;

FIG. 5 is an enlarged view of a first portion of a workpiece transport system provided in accordance with the present invention;

fig. 6 is a second enlarged partial view of the workpiece transport system provided by the present invention.

Reference numerals:

the system comprises a PLC (programmable logic controller), a 2-encoder input module, a 3-EtherCAT bus, a 4-DI module, a 5-DO module, a 10-DELTA robot servo driver, an 11-HMI (human machine interface), a 12-Ethernet switch, a 13-Ethernet line, a 14-EtherNet network line, a 15-robot, a 16-encoder, a 17-measuring workbench, an 18-conveying belt, a 19-laser displacement sensor and a 20-optical fiber sensor.

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.

The core of the invention is to provide a workpiece classification method and a workpiece classification system, which have higher classification efficiency. Another core of the present invention is to provide a workpiece conveying system including the workpiece sorting system, which has high efficiency in the workpiece sorting process.

In the description of the present invention, it should be noted that the terms "upper" and "lower" indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In one embodiment of the present invention, the method for classifying a workpiece comprises the following steps:

s1: and judging whether a workpiece moves to a preset detection position on the conveying belt, and if so, detecting the set parameters of the workpiece at the preset detection position.

S2: classifying the workpieces according to parameter intervals to which set parameters of the workpieces belong, determining material containing areas corresponding to the workpieces, and distributing robots, wherein one parameter interval is correspondingly matched with one material containing area.

S3: controlling a robot assigned to the workpiece to pick up the workpiece.

S4: and controlling the robot to move the workpieces picked up by the robot to the corresponding feeding area for feeding.

The setting parameter is a parameter of the workpiece in a setting aspect, and the workpiece is classified according to the parameter. For example, in this embodiment, the parameter is set to be the thickness, and correspondingly, the parameter interval is a thickness interval, and one material placing area is used for storing the workpiece in one thickness interval. Of course, in other embodiments, the setting parameter may be the color of the workpiece, the barcode on the workpiece, or the like. Specifically, when the parameter is set to be a color, the parameter interval may correspond to a red interval, a white interval, and a blue interval, and each of the material accommodating areas respectively accommodates a workpiece belonging to the red interval, a workpiece belonging to the white interval, and a workpiece belonging to the blue interval.

The workpiece may be glass, ceramic, plastic or other material, and the measuring head for measuring the set parameters may be replaced according to the material characteristics and the measurement purpose.

The robot can be a three-axis parallel robot type DELTA robot, and has the advantages of light weight, small size, accurate positioning, low cost, high working efficiency, high movement speed and the like. In addition, a plurality of DELTA robots may be provided according to the use environment of the production line.

Wherein, the quantity of blowing district can set up according to actual need. For example, in this embodiment, the parameter is set to be the thickness, and the workpiece is classified into a defective product category, a semi-finished product category, a finished product category, and a category of different grades in the finished product category according to the thickness: the thickness interval t1 of the defective product type, the thickness interval t2 of the semi-finished product type and the thickness interval t3 of the finished product type, wherein the finished product type comprises thickness intervals of different grades, such as a superior product t31 in a finished product, a superior product t32 in a finished product and the like. Accordingly, the discharge areas include a defective discharge area a1 for storing the workpieces having a thickness within an interval t1, a semi-finished product discharge area a2 for storing the workpieces having a thickness within an interval t2, a superior product discharge area a31 for storing the workpieces having a thickness within an interval t31, and an superior product discharge area a32 for storing the workpieces having a thickness within an interval t 32.

Optionally, one emptying zone corresponds to one robot, and one robot may be responsible for only one emptying zone or at least two emptying zones. For example, the first robot is responsible for transferring the workpieces to the defective product discharge area a1 and the semi-finished product discharge area a2, and the second robot is responsible for transferring the workpieces to the superior product discharge area a31 and the superior product discharge area a 32.

In the embodiment, after the workpieces are classified according to the thickness and the material placing areas are determined, the matched robots upload the workpieces to the material placing areas from the conveying belt, automation of the whole process of workpiece classification is achieved, the material placing areas, the robots and the thickness areas correspond to each other, the workpiece placing accuracy can be improved, the classification efficiency can be improved, and the labor intensity of workers is greatly reduced. In addition, the method can be widely applied to thickness measurement of parts such as precision electronics, defective product resolution, quality inspection, classified packaging and the like, and a system applying the method can realize functions of online dynamic testing, online classification, online dynamic modification of initial process parameter values and the like under the condition of ensuring continuous production line.

Further, after the emptying region corresponding to the workpiece is determined and the robot is allocated, the method further comprises the following steps:

judging whether the workpiece moves to a preset workpiece taking area corresponding to the robot on the conveying belt: if yes, controlling the robot to pick up the workpiece; otherwise, controlling the robot to continue waiting at a preset waiting position.

Wherein, each robot corresponds to respectively has an independent preset to get a regional area and the robot gets a work in the regional scope of corresponding preset getting. Specifically, the preset pickup area corresponding to each robot can be set to be different, and the corresponding preset pickup area is customized and preset according to the number of the robots arranged on the conveying belt. For example, on a conveyor belt with the length of 10 meters, one end of the conveyor belt is a zero point position, a preset picking area corresponding to the first robot is arranged in an area 5 to 6 meters away from the zero point position, and a preset picking area corresponding to the second robot is arranged in an area 8 to 9 meters away from the zero point position.

In this embodiment, each robot corresponds different preset pick-up areas, and the mutual interference of the motions of different robots can be avoided.

Of course, in other embodiments, at least two robots may correspond to the same preset pick-up area. For example, in another specific embodiment, one preset pickup area is provided corresponding to two robots, and both the two robots are provided with anti-collision sensors, which may be specifically photoelectric sensors. When the first robot picks up the workpiece, the collision avoidance sensor detects the distance between the first robot and the second robot, and when the distance is smaller than the safety distance, the second robot is controlled to move away from the first robot, so that the second robot is prevented from interfering with the movement of the first robot.

Further, after controlling the robot to move the workpiece picked by the robot to the corresponding placing area for placing, the method further includes:

judging whether the next workpiece distributed to the robot moves to a preset workpiece taking area corresponding to the robot or not, if so, controlling the robot to directly face the preset workpiece taking area to move, taking the next workpiece as an object, controlling the robot distributed to the workpiece to pick up the workpiece, and otherwise, controlling the robot to move to a preset waiting position to wait.

Through the arrangement of the step, after the discharging of one workpiece is finished, if the next workpiece which is just distributed to the robot moves to the preset workpiece taking area corresponding to the robot, the robot directly takes the next workpiece in the preset workpiece taking area instead of returning to the preset waiting position, and the improvement of the working efficiency is facilitated.

Further, the controlling the robot to pick up the workpiece includes: and controlling the robot to be fixed at the midpoint position of the workpiece in the conveying direction.

Wherein, the robot can fix the two by sucking or clamping the workpiece.

The workpiece is fixedly picked up in the middle of the workpiece, so that the workpiece is prevented from shaking relative to the robot in the process that the robot drives the workpiece to move towards the corresponding material placing area, and the movement is stable.

Further, the controlling the robot to pick up the workpiece includes: controlling the robot to move towards the workpiece and adjusting the motion state of the robot, and controlling the robot to move perpendicular to the conveying belt until the robot is fixed on the workpiece when the motion state of the robot reaches a preset picking condition;

wherein the preset picking conditions are as follows: the robot moves to a position vertically above a midpoint of the workpiece in a conveying direction, and a running speed of the robot in a direction parallel to the conveying direction is equal to a running speed of the conveyor belt.

When the robot reaches the workpiece midpoint position, the moving speed of the robot in the direction parallel to the conveying direction is the same as the moving speed of the conveying belt, so that the robot and the workpiece are kept in a relatively static state in the direction parallel to the conveying direction, and then the speed of the robot in the direction parallel to the conveying direction is kept unchanged while descending to pick up the workpiece.

During the process of moving the robot to the workpiece, preferably, the robot may start to perform accelerated chase movement from the preset waiting position to the workpiece at the moment when the workpiece starts to enter the preset workpiece taking area. The running speed and the acceleration of the robot in the acceleration process can be preset to be a large fixed value so as to ensure that the robot reaches the position above the center of the workpiece in a very short time, and after the step is finished, the running speed of the robot is rapidly changed to be the same as the running speed of the conveying belt.

Through the setting of this step, can guarantee that the in-process that the robot picked up the work piece is comparatively quick and steady, on the conveyer belt direction of motion, the work piece is in relative quiescent condition with the synchronous syntropy motion of robot, avoids the robot to change the position of work piece on the conveyer belt under the drive of frictional force because of there is the difference in speed at the in-process of getting.

Further, the judging whether the workpiece moves to a preset workpiece taking area corresponding to the robot on the conveying belt or not includes:

and judging whether the distance between the workpiece and a preset measuring position on the conveying belt is not less than a corresponding minimum distance threshold value and less than a corresponding maximum distance threshold value or not, if so, judging that the workpiece moves to a preset workpiece taking area, and otherwise, judging that the workpiece does not move to the preset workpiece taking area.

The conveying direction of the conveying belt is that the preset measuring position is located before the preset pickup area, the minimum distance threshold value corresponding to the preset measuring position and the preset pickup area is in the conveying direction of the conveying belt, the minimum distance between the preset measuring position and the boundary of the preset pickup area is the minimum distance between the preset measuring position and the boundary of the preset pickup area, the maximum distance threshold value corresponding to the preset measuring position and the preset pickup area is in the conveying direction of the conveying belt, and the maximum distance between the preset measuring position and the boundary of the preset pickup area is the maximum distance between the preset measuring position and the boundary of the preset pickup area.

The preset measuring position is a starting point for calculating the moving distance of the conveying belt driving the workpiece. On the conveyor belt, one or at least two preset measuring positions may be provided. After the position of the preset pickup area is determined, the total distance of the real-time movement of the workpiece from a preset measuring position before the preset pickup area is calculated, and the total distance of the movement is compared with the distance relation between the preset measuring position and the boundary of the preset pickup area, so that whether the workpiece moves into the preset pickup area is judged.

Wherein, it should be noted that, the conveying direction of the conveying belt may be a linear direction, and each distance value is a linear distance; the conveying direction of the conveying belt may also be a curve direction, and each distance value is a corresponding curve distance, for example, when the workpiece moves from a preset measuring position and moves a distance along an S-shaped route, the total distance of the real-time movement of the workpiece is the length of the S-shaped line segment, and the distance between the preset measuring position and the preset workpiece taking area boundary is also a corresponding curve length.

Specifically, the moving distance of the workpiece can be determined by an encoder connected to a belt wheel of the conveying belt, and since the preset workpiece taking region and the positions of the preset measurement positions are fixed, the corresponding relation between the boundary of the preset workpiece taking region and the preset measurement positions can be prestored in a memory and can be directly called when the workpiece is required to be used.

More specifically, referring to fig. 2, a coordinate system is established on the conveyor belt, and the coordinate system is a static coordinate system relative to the support frame of the conveyor belt and does not move along with the rotation of the conveyor belt. Taking a feeding port of a workpiece to be detected as a zero point, and taking the coordinate of a preset measuring position corresponding to the workpiece to be obtained at present as A_MeasuringThe coordinate range of the preset pickup area is A_minTo A_maxThe real-time position coordinate of the current workpiece to be picked up moving along with the conveying belt is A_{Dynamic state}Correspondingly, the distance range between the preset measuring position and the preset pickup area boundary is S_min＝A_min-A_MeasuringTo S_max＝A_max-A_Measuring。

When A is_{Dynamic state}-A_Measuring≥S_minAnd A is_{Dynamic state}-A_Measuring＜S_maxWhen the workpiece enters the preset workpiece taking area, the current workpiece enters the preset workpiece taking area, and the robot is controlled to act; when A is_{Dynamic state}-A_Measuring＜S_minAnd when the workpiece is detected to be in the preset waiting position, judging that the current workpiece does not enter a preset workpiece taking area, and controlling the robot to wait in the preset waiting position.

After the workpiece is judged to move to the corresponding preset workpiece taking area, whether the corresponding robot moves to the center position of the current workpiece is continuously judged. In the case where the position of the workpiece is determined at each time, it is detected which position of the workpiece is uniform, for example, the position of the front end face of the workpiece is always detected, or the position of the rear end face of the workpiece is always detected.

Correspondingly, when the total distance of the workpiece is calculated, if the front end face of the workpiece is taken as a reference, the total distance S between the pick-up point on the workpiece and the preset measuring position is calculated when the robot picks up the workpiece_{General assembly}＝A’_{Dynamic state}-A_Measuring-a workpiece front face to center compensation value Sa. It should be noted that the top view of the workpiece may be regular or irregular as shown in fig. 2, the midpoint of the workpiece may be manually pre-selected, and the compensation value Sa from the front end face to the center of the workpiece is known by comparing S_{General assembly}The relation with the moving distance of the robot can judge whether the robot moves to the middle point position of the workpiece, and in addition, the Sa of the workpieces of the same type is the same if the workpieces are placed on the conveying belt at the same angle. If the rear end face of the workpiece is taken as a reference, the total distance S between the workpiece taking point on the workpiece and a preset measuring position is adopted when the robot takes the workpiece_{General assembly}＝A’_{Dynamic state}-A_Measuring+ workpiece trailing edge to center compensation Sa, in conjunction with the previous discussion, the workpiece midpoint position is manually preselected, and workpiece trailing edge to center compensation Sa is also known by comparison of S_{General assembly}The relation of the moving distance of the robot can judge whether the robot moves to the middle point position of the workpiece.

When the robot is controlled to pick up the workpiece, the robot can be controlled to move towards the workpiece to pick up the workpiece from the moment the workpiece enters the corresponding preset picking area, and the robot can be controlled to move towards the workpiece to pick up the workpiece after the workpiece enters the corresponding preset picking area for a period of time.

In this embodiment, whether the work piece gets into in the corresponding predetermined area of getting is judged through utilizing the distance that the work piece moved along with the conveyer belt, convenient operation, the degree of accuracy is higher.

Of course, in other embodiments, a plurality of photoelectric sensors may be sequentially disposed above the conveyor belt along the conveying direction of the conveyor belt, and the real-time position of the workpiece may be determined by receiving signals from the photoelectric sensors.

In addition to the workpiece classification method, the invention also provides a workpiece classification system, and the beneficial effects of the workpiece classification method can be correspondingly referred to the above embodiments.

Specifically, the system comprises:

the first judgment module is used for judging whether a workpiece moves to a preset detection position on the conveying belt or not;

the set parameter detection module is used for detecting the set parameters of the workpiece at the preset detection position when the first judgment module determines that the workpiece moves to the preset detection position;

the classification module is used for classifying the workpieces according to parameter intervals to which set parameters of the workpieces belong, determining material placing areas corresponding to the workpieces and distributing robots, wherein one parameter interval is correspondingly matched with one material placing area;

the first robot control module is used for controlling the robot to pick up the workpiece;

and the second robot control module is used for controlling the robot to move the workpieces picked up by the robot to the corresponding material placing area for material placing.

Further, the first robot control module includes:

the first judging unit is used for judging whether the workpiece moves to a preset workpiece taking area corresponding to the robot on the conveying belt or not after the material placing area corresponding to the workpiece and the robot are determined, and if yes, controlling the robot to pick up the workpiece; wherein, each robot corresponds to respectively has an independent preset to get a regional area and the robot gets a work in the regional scope of corresponding preset getting.

Further, the second robot control module includes:

and the second judging unit is used for judging whether the next workpiece distributed to the robot moves to a preset workpiece taking area corresponding to the robot or not after the material is placed, controlling the robot to directly move towards the preset workpiece taking area if the next workpiece moves to the preset workpiece taking area, controlling the robot distributed to the workpiece to pick up the workpiece by taking the next workpiece as an object, and controlling the robot to move to a preset waiting position to wait if the next workpiece does not move.

The classification module, the first judgment unit and the second judgment unit are different operation units in the PLC respectively, and carry out corresponding judgment according to the received data and the judgment conditions of the classification module, the first judgment unit and the second judgment unit respectively, and output instructions to control other components to execute actions according to the judgment results.

Further, the first robot control module includes:

the regulating and controlling unit is used for controlling the robot to move towards the workpiece and regulating the motion state of the robot, and when the motion state of the robot reaches a preset picking condition, the robot is controlled to move perpendicular to the conveying belt until the robot is fixed on the workpiece;

wherein the preset picking conditions are as follows: the robot moves to a position vertically above a midpoint of the workpiece in a conveying direction, and a running speed of the robot in a direction parallel to the conveying direction is equal to a running speed of the conveyor belt.

The control unit is specifically an operation unit in the PLC, and generates control instructions such as the motion direction, the motion speed, the acceleration and the like of the robot to control the motion of the robot based on the received parameters such as the robot position information, the conveyer belt motion speed information, the workpiece position information and the like.

Further, the judging unit includes:

the distance judging unit is used for judging whether the distance between the workpiece and a preset measuring position on the conveying belt is not less than a corresponding minimum distance threshold value and less than a corresponding maximum distance threshold value or not after the emptying area and the robot corresponding to the workpiece are determined, if yes, the workpiece is judged to move to the preset workpiece taking area, and if not, the workpiece is judged not to move to the preset workpiece taking area;

wherein, in the direction of transfer of conveyer belt, predetermine the measuring position and be located predetermine before getting a region, corresponding minimum distance threshold value is in the direction of transfer of conveyer belt, predetermine the measuring position with predetermine the minimum distance between the regional boundary of getting, corresponding maximum distance threshold value is in the direction of transfer of conveyer belt, predetermine the measuring position with predetermine the maximum distance between the regional boundary of getting.

In this embodiment, the setting parameter is a thickness, and accordingly, the setting parameter detection module may be specifically a laser displacement sensor. The laser displacement sensor is a sensor for measuring by utilizing a laser technology, is a novel measuring instrument, and can accurately measure the precise geometric measurement of displacement, thickness, vibration, distance, diameter and the like of a measured object in a non-contact manner. Of course, in other embodiments, the type of the parameter setting detection module is selected accordingly according to different measurement purposes.

The first judgment module, the first robot control module and the second robot control module can be realized based on the following devices:

the system comprises a PLC (programmable logic controller), a controller and a controller, wherein the PLC is a programmable logic controller and is used for acquiring input signals of various levels, analog quantity, digital quantity and the like, outputting controlled digital signals or analog quantity signals and the like through the operation processing of chip logic actions of the controller;

the optical fiber sensor is arranged at the feeding inlet of the conveying belt, and when the workpiece moves to the optical fiber sensor ON the conveying belt, the optical fiber sensor senses the feeding and outputs an ON signal (such as a high-level signal) to the DI module;

the DI module triggers a starting measurement signal to the laser displacement sensor after receiving an input signal of the optical fiber sensor, and the laser displacement sensor receives the starting measurement signal and outputs the measured data to the PLC controller;

the distance judgment unit can judge based on the encoder on the belt wheel of the conveying belt and the detection result of the optical fiber sensor for detecting the workpiece above the conveying belt;

the encoder input module is used for acquiring the running speed of the conveying belt and the position information of the workpiece;

DI (digital input) module, collect the switching value input signal module;

DO (digital output) module, switching value output signal module;

a DELTA robot servo driver for driving a driver of a robot servo motor;

HMI (human-machine interface) used for setting initial process parameters, dynamically modifying parameters on line and performing human-machine interaction of operation of various devices;

an Ethernet switch, a network device for implementing data transmission and switching based on Ethernet;

the Ethernet cable is a common network cable and is used for connecting and connecting a network;

an EtherNet network wire, a network wire commonly used for industrial communication, which is used for connecting and connecting a network;

an EtherCAT bus and a common network cable for industrial communication are used for communicating and connecting a network.

More specifically, the PLC controller sets initial process parameters including thickness intervals of different types defined according to a screening target and a material discharge area matched with each thickness interval via an HMI (Human Machine Interface). The initially set technological parameters can be dynamically modified, namely, the technological parameters are manually modified through an HMI (human machine interface), so that the dynamic measurement and online classification of the panel glass are realized.

The PLC receives the measurement data of the laser displacement sensor and carries out the following processing:

11) comparing the thickness interval with the thickness interval in the set initial process parameters, and calculating to obtain the partition information of the current workpiece, such as the thickness interval and a designated material placing area matched with the thickness value;

12) receiving position data of a workpiece recorded by an encoder through an encoder acquisition module, wherein the position data comprises position information when the current workpiece triggers an optical fiber sensor to output an ON signal and information of a conveying belt in which the workpiece is positioned;

13) the ID of the robot is distributed, so that data can be stored separately and preparation can be made for the next grabbing work;

14) and storing the calculated data into a designated area of an ID stack cache area corresponding to the robot in the PLC, wherein the data stored in the stack cache area corresponds to dynamic workpiece information one by one, and after the data is successfully stored, performing next incoming material measurement, and performing continuous dynamic cycle measurement.

The workpiece is positioned on the conveying belt and continuously and uninterruptedly runs along the conveying belt. The process that the PLC controller controls the robot matched with the current workpiece to grab the material partition is as follows:

21) the robot with the appointed ID reads data in a corresponding stack cache region;

22) judging whether the current workpiece enters a corresponding preset workpiece taking area or not, and moving the robot to a preset waiting position to wait when the workpiece does not enter the preset workpiece taking area; when a workpiece enters a preset workpiece taking area, the robot quickly follows the center position of the workpiece;

23) when the robot reaches the central position, the speed of the robot is quickly changed to be parallel to the conveying direction and synchronous with the speed of the conveying belt, and the robot and the conveying belt are in a relatively static state at the moment, so that the current workpiece can be sucked to the material placing area; wherein, absorb the process and specifically include: the robot descends to the height capable of normally sucking the workpiece; outputting a high level signal through a DO output module to open a vacuum suction nozzle valve of the robot;

24) the robot discharges materials in the corresponding material discharging area;

25) the above steps 22) to 24) are performed cyclically.

In addition to the workpiece sorting method and system, the present invention further provides a workpiece conveying system including the workpiece sorting system, which can be specifically the workpiece sorting system provided in any of the above embodiments. In addition, the workpiece conveying system also comprises a conveying belt for conveying the workpieces, and the conveying belt is electrically connected with the workpiece sorting system; and the robot is used for conveying the workpieces on the conveying belt to the corresponding discharging area and is electrically connected to the workpiece sorting system.

The conveyer belt is arranged below a measuring workbench with components such as a laser displacement sensor and an optical fiber sensor, and can be butted with an upstream process to connect a measuring station and a classifying station. The conveyer belt is the transmission line that is used for conveying the work piece, according to the production environment of difference, can set up many side by side, and the multirow supplied materials sieves simultaneously, improves the screening efficiency greatly. Of course, in other embodiments, the sensor may be disposed at the side of the conveyor belt or other locations according to the information such as the type of sensor, the size of the workpiece, etc.

The workpiece transmission system is compact in structure, high in screening and partitioning automation degree and high in measurement precision, production efficiency can be obviously improved, labor intensity is reduced, detection classification efficiency is improved, and detection accuracy and reliability are enhanced.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The workpiece sorting method, the workpiece sorting system and the workpiece conveying system provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.