阅读说明：本技术 协同式理料机构及协同式理料方法 (Cooperative material arranging mechanism and cooperative material arranging method ) 是由 朱海鸿 于 2018-08-17 设计创作，主要内容包括：本发明提供了一种协同式理料机构,包括支撑装置、料盒、传送装置及控制装置。所述支撑装置用于支撑所述料盒；所述料盒用于放置物料；所述传送装置包括送料带、位于所述送料带上的理料位及多个机器人；所述控制装置用于控制所述机器人将物料从所述料盒转移至所述理料位。相较于现有技术,本发明的协同式理料机构,利用多个机器人协同作业,将物料从料盒转移至理料位,不仅可以对大量的、材质各异的物料进行自动分拣,而且具有低成本、高效率的优点,可应用于多个行业,实现产线的全自动化。(The invention provides a cooperative material arranging mechanism which comprises a supporting device, a material box, a conveying device and a control device. The supporting device is used for supporting the material box; the material box is used for placing materials; the conveying device comprises a feeding belt, a material arranging position and a plurality of robots, wherein the material arranging position is positioned on the feeding belt; the control device is used for controlling the robot to transfer the materials from the material box to the material arranging position. Compared with the prior art, the cooperative material arranging mechanism provided by the invention has the advantages that the plurality of robots are cooperatively operated to transfer materials from the material box to the material arranging position, so that a large number of materials with different materials can be automatically sorted, the cost is low, the efficiency is high, the cooperative material arranging mechanism can be applied to a plurality of industries, and the full automation of a production line is realized.)

1. The utility model provides a concerted type reason material mechanism, includes strutting arrangement, magazine, conveyer and controlling means, strutting arrangement is used for supporting the magazine, the magazine is used for placing material, its characterized in that: the conveying device comprises a feeding belt, a material arranging position and a plurality of robots, wherein the material arranging position is located on the feeding belt, and the control device is used for controlling the robots to transfer materials from the material boxes to the material arranging position.

2. The coordinated organizing mechanism of claim 1, wherein: the robot comprises a first motor, a micro motion controller, swing arms and a grabbing piece, wherein the micro motion controller is connected with the first motor, the micro motion controller is connected with the control device through a CAN (controller area network) bus, the micro motion controllers of the robots are connected to the CAN bus in a daisy chain mode, the swing arms are connected with a motor shaft of the first motor so as to drive the swing arms to rotate around the motor shaft when the first motor rotates, and the grabbing piece is perpendicular to the swing arms and CAN move up and down relative to the swing arms.

3. The coordinated organizing mechanism of claim 2, wherein: the first motor is fixed on the supporting device, the first motor and the miniature motion controller are integrally installed, the grabbing piece comprises a first air cylinder and a grabbing part, and the first air cylinder is connected with the miniature motion controller through an electromagnetic valve.

4. The coordinated organizing mechanism of claim 1, wherein: the feeding belt is provided with a plurality of partition plates, the distance between every two adjacent partition plates is equal, and the material sorting position is formed between every two adjacent partition plates.

5. The coordinated organizing mechanism of claim 4, wherein: the conveying device further comprises a sensor which is arranged on the supporting device and corresponds to the starting position of the feeding belt, the sensor is connected with the robot, and the sensor is used for detecting the occurrence time of the first partition plate on the feeding belt.

6. The coordinated organizing mechanism of claim 1, wherein: the cooperative material arranging mechanism further comprises a material homogenizing structure, the material homogenizing structure comprises a second motor, a speed reducer connected with the second motor and a swing rod connected with the speed reducer, the second motor is connected with the control device, the material box is connected with the swing rod, so that when the second motor rotates, the swing rod moves under the driving of the speed reducer, and the material box vibrates under the driving of the swing rod.

7. The coordinated organizing mechanism of claim 6, wherein: the refining structure further comprises a second cylinder connected with the control device, one end of the second cylinder is fixed with the supporting device, and the other end of the second cylinder is connected with the material box, so that the second cylinder drives the material box to vibrate when the second cylinder performs compression and stretching motions.

8. The coordinated organizing mechanism of claim 1, wherein: the supporting device comprises a rack and a support fixed on the rack, the feeding belt is located on one side of the supporting device, the material box is arranged between the support and the rack and opposite to the feeding belt, and the robot is fixedly installed on the support, located above the material box and close to the feeding belt.

9. A cooperative material arranging method comprises a material box, a conveying device and a control device, wherein the material box is used for placing materials, the conveying device comprises a feeding belt, a material arranging position and a plurality of robots, the material arranging position is located on the feeding belt, the robots comprise gripping pieces, and the cooperative material arranging method mainly comprises the following steps:

s1, the control device sends an instruction to the robot;

s2, controlling the grabbing piece to move to the position above the material box from an initial position by the robot according to the received instruction, wherein the initial position is that the grabbing piece is positioned above the feeding belt;

s3, descending the grabbing piece and grabbing the materials;

s4, the grabbing piece ascends, whether the grabbing piece successfully grabs the material is judged, if yes, the grabbing piece returns to the initial position, and if not, the step S3 is executed;

s5, judging whether the material falls off, if so, entering the step S2, and if not, continuing;

s6, judging whether the feeding belt has a vacant material arranging position, if so, descending the grabbing piece and placing the material to the corresponding material arranging position, otherwise, entering the step S5;

s7, the grabbing pieces ascend, and the process circularly enters the step S2 until all the materials are completely sorted.

10. The collaborative material organizing method according to claim 9, wherein: the robot also comprises a first motor and a micro motion controller connected with the first motor, the micro motion controller is connected with the control device through a CAN bus, the micro motion controllers of the robots are connected to the CAN bus in a daisy chain manner, and the movement, the descending and the ascending of the grabbing piece are controlled by the micro motion controller.

11. The collaborative material organizing method of claim 10, wherein: the robot further comprises a swing arm, the swing arm is connected with a motor shaft of the first motor so as to drive the swing arm to rotate around the motor shaft when the first motor rotates, and the grabbing piece is perpendicular to the swing arm and can move up and down relative to the swing arm.

12. The collaborative material organizing method of claim 11, wherein: step S2 specifically includes: the miniature motion controller controls the swing arm to drive the grabbing piece to move to the upper side of the material box from an initial position, wherein the initial position is that the swing arm is perpendicular to the feeding belt and the grabbing piece is located above the feeding belt.

13. The collaborative material organizing method according to claim 9, wherein: in step S4, if the number of times the grasping member grasps the material reaches the set value and the grasping is not successful yet, it is determined that there is no material at the position of the magazine, the grasping member is moved, and the grasping is continued in the other direction.

Technical Field

The invention relates to a cooperative material arranging mechanism and a cooperative material arranging method, and belongs to the field of automatic control.

Background

Under the background of 'Chinese manufacturing 2025', production lines of various industries are transformed and upgraded and develop towards automatic production. In the current development stage, the full automation of the production line is not realized. Such as: in a production line for processing, packaging and the like, materials to be processed or packaged are conveyed to a feeding port of automatic equipment at a certain distance and then are discharged from a discharging port, so that the operations of automatic processing or packaging and the like are realized. However, in the face of thousands of original materials, the equipment cannot be automatically arranged into a form suitable for processing, and generally the materials need to be manually sorted and then placed on a conveyor belt for feeding and arranging.

In order to ensure the production efficiency, the labor cost of an automatic processing or packaging production line is high, and the semi-automatic production line does not meet the requirement of industrial upgrading and transformation. In addition, in the food industry, the artificial feeding can cause secondary pollution to the food.

Aiming at the problems, a small amount of materials are fed by a vibration disc as an auxiliary feeding device, disordered materials are automatically and orderly arranged in a directional mode through vibration and are conveyed to the next procedure in a neat and accurate mode, the disordered materials automatically and orderly mode enter a processing or packaging position in a unified state, a part of problems can be solved, and when the materials are too many or the materials contain oil and water, the vibration disc is prone to failure and is not applicable any more.

In view of the above, it is desirable to provide an automatic material arranging mechanism with low cost and high efficiency to solve the above problems.

Disclosure of Invention

The invention aims to provide a cooperative material arranging mechanism which can solve the problem of automatic sorting of different materials in various industries and has the advantages of low cost and high efficiency.

In order to achieve the purpose, the invention provides a cooperative material arranging mechanism which comprises a supporting device, a material box, a conveying device and a control device, wherein the supporting device is used for supporting the material box, the material box is used for placing materials, the conveying device comprises a feeding belt, a material arranging position and a plurality of robots, the material arranging position is located on the feeding belt, and the control device is used for controlling the robots to transfer the materials from the material box to the material arranging position.

As a further improvement of the present invention, the robot includes a first motor, a micro motion controller connected to the first motor, a swing arm, and a gripper, the micro motion controller is connected to the control device via a CAN bus, the micro motion controllers of the plurality of robots are connected to the CAN bus in a daisy chain manner, the swing arm is connected to a motor shaft of the first motor to drive the swing arm to rotate around the motor shaft when the first motor rotates, and the gripper is disposed perpendicular to the swing arm and CAN move up and down relative to the swing arm.

As a further improvement of the present invention, the first motor is fixed on the supporting device, and the first motor and the micro motion controller are integrally installed, the gripping member includes a first cylinder and a gripping portion, and the first cylinder is connected with the micro motion controller through an electromagnetic valve.

As a further improvement of the invention, the feeding belt is provided with a plurality of partition plates, the distance between two adjacent partition plates is equal, and the material handling position is formed between two adjacent partition plates.

As a further improvement of the invention, the conveying device further comprises a sensor arranged on the supporting device and corresponding to the starting position of the feeding belt, the sensor is connected with the robot, and the sensor is used for detecting the appearance time of the first partition board on the feeding belt.

As a further improvement of the invention, the cooperative material arranging mechanism further comprises a material homogenizing structure, the material homogenizing structure comprises a second motor, a speed reducer connected with the second motor and a swing rod connected with the speed reducer, the second motor is connected with the control device, the material box is connected with the swing rod, so that when the second motor rotates, the swing rod moves under the driving of the speed reducer, and the material box vibrates under the driving of the swing rod.

As a further improvement of the invention, the refining structure further comprises a second cylinder connected with the control device, one end of the second cylinder is fixed with the supporting device, and the other end of the second cylinder is connected with the material box, so that the material box is driven to vibrate when the second cylinder performs compression and extension movements.

As a further improvement of the invention, the supporting device comprises a rack and a bracket fixed on the rack, the feeding belt is positioned on one side of the supporting device, the material box is arranged between the bracket and the rack and is opposite to the feeding belt, and the robot is fixedly arranged on the bracket, positioned above the material box and arranged close to the feeding belt.

The invention also aims to provide a cooperative material arranging method which can solve the problem of automatic sorting of different materials in various industries and is simple to operate.

In order to achieve the purpose, the invention provides a cooperative material arranging method which comprises a material box, a conveying device and a control device, wherein the material box is used for placing materials, the conveying device comprises a feeding belt, a material arranging position and a plurality of robots, the material arranging position is positioned on the feeding belt, the robots comprise gripping pieces, and the cooperative material arranging method mainly comprises the following steps:

s1, the control device sends an instruction to the robot;

s2, controlling the grabbing piece to move to the position above the material box from an initial position by the robot according to the received instruction, wherein the initial position is that the grabbing piece is positioned above the feeding belt;

s3, descending the grabbing piece and grabbing the materials;

s4, the grabbing piece ascends, whether the grabbing piece successfully grabs the material is judged, if yes, the grabbing piece returns to the initial position, and if not, the step S3 is executed;

s5, judging whether the material falls off, if so, entering the step S2, and if not, continuing;

s6, judging whether the feeding belt has a vacant material arranging position, if so, descending the grabbing piece and placing the material to the corresponding material arranging position, otherwise, entering the step S5;

s7, the grabbing pieces ascend, and the process circularly enters the step S2 until all the materials are completely sorted.

As a further improvement of the present invention, the robot further includes a first motor and a micro motion controller connected to the first motor, the micro motion controller is connected to the control device via a CAN bus, the micro motion controllers of the plurality of robots are daisy-chained to the CAN bus, and the movement, the lowering, and the raising of the gripper are controlled by the micro motion controller.

As a further improvement of the present invention, the robot further includes a swing arm, the swing arm is connected to a motor shaft of the first motor to drive the swing arm to rotate around the motor shaft when the first motor rotates, and the grasping member is disposed perpendicular to the swing arm and can move up and down relative to the swing arm.

As a further improvement of the present invention, step S2 specifically includes: the miniature motion controller controls the swing arm to drive the grabbing piece to move to the upper side of the material box from an initial position, wherein the initial position is that the swing arm is perpendicular to the feeding belt and the grabbing piece is located above the feeding belt.

As a further improvement of the present invention, in step S4, if the number of times the gripping member grips the material reaches the set value and the gripping member does not grip the material successfully, it is determined that there is no material at the position of the magazine, and the gripping member is moved to continue gripping in the other direction.

The invention has the beneficial effects that: the cooperative material arranging mechanism provided by the invention utilizes the cooperative operation of the plurality of robots to transfer materials from the material box to the material arranging position, can sort a large amount of materials with different materials, has the advantages of low cost and high efficiency, can be applied to a plurality of industries, and realizes the full automation of a production line.

Drawings

Fig. 1 is a schematic view of the overall structure of the cooperative material arranging mechanism of the present invention.

Fig. 2 is a top view of the cooperative organizing mechanism of fig. 1.

Fig. 3 is a detailed structural schematic diagram of the robot in fig. 1.

Fig. 4 is a schematic view showing a detailed structure of the refining structure of fig. 1.

FIG. 5 is a flow chart of the collaborative material organizing method according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 and 2, the present invention discloses a cooperative material arranging mechanism, which includes a supporting device 1, a material box 2, a conveying device 3 and a control device (not shown). The support device 1 is used for supporting the cartridge 2; the magazine 2 is used for placing materials (not shown); the conveying device 3 comprises a feeding belt 30, a material arranging position 31 and a plurality of robots 32, wherein the material arranging position 31 is positioned on the feeding belt 30. The control device is used for controlling the robot 32 to transfer the materials from the material box 2 to the material handling position 31 so as to send the materials to the next process through the feeding belt 30; preferably, the control device is an upper computer, and mainly sends an instruction to the robot 32, so as to instruct the robot 32 to complete the transfer of the material.

The supporting device 1 comprises a rack 10 and a bracket 11 fixed on the rack 10, the rack 10 has a structure substantially the same as a table and comprises a first mounting arm 101 and a second mounting arm (not numbered) which are parallel to each other, and a third mounting arm (not numbered) and a fourth mounting arm 102 which connect the first mounting arm 101 and the second mounting arm, the first mounting arm 101, the second mounting arm, the third mounting arm and the fourth mounting arm 102 are combined to form a rectangular shape, the first mounting arm 101 and the second mounting arm form a long side of the rectangle, and the third mounting arm and the fourth mounting arm 102 form a short side of the rectangle.

The support 11 with first installation arm 101 and second installation arm fixed connection, the support 11 is including first fixed arm 111 and second fixed arm 112 and the connection that is parallel to each other first fixed arm 111 and second fixed arm 112's linking arm 113, the one end and the first installation arm 101 fixed connection of first fixed arm 111, the other end link to each other with linking arm 113, the one end and the second installation arm fixed connection of second fixed arm 112, the other end link to each other with linking arm 113, so, the support 11 wholly is the type of falling U setting on the rack 10.

The feeding belt 30 is positioned at one side of the supporting device 1, and the material box 2 is arranged between the bracket 11 and the rack 10 and is opposite to the feeding belt 30. The support 11 further comprises an extension arm 114 extending outwards from the connection arm 113, and the robot 32 is fixedly mounted on the extension arm 114 and located above the material box 2 and close to the feeding belt 30, so that the robot 32 can conveniently sort and transfer the materials in the material box 2 to the feeding belt 30. The feeding belt 30 is preferably flush with the magazine 2, i.e. the feeding belt 30 is the same thickness as the magazine 2 and the height from the horizontal plane (i.e. on the same horizontal plane).

Specifically, the magazine 2 is placed below the connecting arm 113 of the rack 11, above the stand 10, and inside the first fixing arm 111 of the rack 11. The length of the magazine 2 can be set to be smaller than, equal to or larger than the distance between the third mounting arm and the fourth mounting arm 102, and the width of the magazine 2 can be set to be smaller than or equal to the distance between the first mounting arm 101 and the second mounting arm; preferably, the length of the magazine 2 is smaller than the distance between the third mounting arm and the fourth mounting arm 102, and the width of the magazine 2 is smaller than the distance between the first mounting arm 101 and the second mounting arm, so that the robot 32 can sort the materials conveniently.

The feeding belt 30 is provided with a plurality of partition plates 33, the distance between two adjacent partition plates 33 is equal, and the material handling position 31 is formed between two adjacent partition plates 33. The robot 32 is used for sorting and transferring disordered materials in the material box 2 to the material arranging position 31 of the feeding belt 30, and the disordered materials are orderly and directionally arranged so as to be accurately conveyed to the next procedure and automatically enter a processing or packaging position in a uniform state.

The conveying device comprises a sensor (not shown) which is arranged on the bracket 11 and corresponds to the initial position of the feeding belt 30, the sensor is connected with the robot 32, the sensor is used for detecting the time when the first partition 33 on the feeding belt 30 appears, forming a signal and transmitting the signal to the robot 32, and the robot 32 can judge the initial time of the first material handling position 31 according to the received signal. According to the information such as the distance between the material handling positions 31 (namely, the distance between the two adjacent partition plates 33), the running speed of the feeding belt 30, the setting position of the robot 32 and the like, each robot 32 can calculate the time for each material handling position 31 to reach the position of the robot, and then the feeding belt 30 and the robot 32 can be conveniently controlled to work orderly.

The invention realizes grabbing through probability, the success rate of grabbing materials by a single robot 32 is not 100%, and certain probability exists, so in order to guarantee successful grabbing of materials, a cooperative material arranging mechanism needs to be provided with a plurality of robots 32, the plurality of robots 32 are connected with a control device after being connected through a CAN bus, distributed control is realized, the control device uniformly issues task flows, each robot 32 works independently and CAN communicate with each other, and the cooperative work replaces manual work to finish sorting of a large number of materials. Specifically, the robot 32 is connected to the control device via a CAN bus, and the plurality of robots 32 are daisy-chained to the CAN bus.

The robot 32 has a certain probability of successfully grabbing once, so that the robot is set to grab for a plurality of times, the grabbing times can be set according to actual conditions, the robot can always grab for one time successfully, if the robot does not grab for a plurality of times successfully, the position is indicated to have no material at all, and the robot can continue to grab in the other direction.

Referring to fig. 3 in conjunction with fig. 1 and fig. 2, the robot 32 includes a first motor 320, a micro-motion controller 321 connected to the first motor 320, a swing arm 322, and a grabbing part 323. The micro motion controller 321 also forms part of the control device, and the sensor is connected to the micro motion controller 321. The first motor 320 is fixed to the extension arm 114, and the first motor 320 and the micro motion controller 321 are integrally installed. The swing arm 322 is connected to a motor shaft (not shown) of the first motor 320, so that when the first motor 320 rotates, the swing arm 322 is driven to rotate around the motor shaft (i.e. rotate on a plane parallel to the horizontal plane).

The micro motion controller 321 is connected to the control device via a CAN bus, and the micro motion controllers 321 of the plurality of robots 32 are daisy-chained to the CAN bus, so that the plurality of robots 32 CAN communicate with each other via the CAN bus.

The first motor 320 is provided with a motor cable 3201, one end of the motor cable 3201 is connected with the first motor 320, and the other end is connected with the micro motion controller 321, so as to realize the electrical connection between the first motor 320 and the micro motion controller 321. A control cable 3211 is arranged on the micro motion controller 321, one end of the control cable 3211 is connected with the micro motion controller 321, the other end of the control cable is connected with a power supply, a CAN bus and a sensor respectively, and the CAN bus is connected with the control device; preferably, the control cable 3211 is a multi-core cable, and a part of core wires at the other end of the control cable 3211 are connected to a power supply, a part of core wires are connected to a CAN bus, and the remaining core wires are connected to a sensor.

The grasping member 323 is disposed perpendicular to the swing arm 322, and the grasping member 323 is movable up and down relative to the swing arm 322. The grasping unit 323 includes a first cylinder 324 and a grasping portion 325 at the end of the first cylinder 324, the first cylinder 324 is connected to the micro-motion controller 321 through an electromagnetic valve (not shown), and the first cylinder 324 drives the grasping unit 323 to move up and down integrally with respect to the swing arm 322 through its own telescopic motion. The swing arm 322 extends along the horizontal direction, and the grabbing part 323 is perpendicular to the material box 2 and located above the material box 2, so that when the swing arm 322 rotates around the motor shaft, the grabbing part 323 can grab the material in the material box 2.

The gripping part 325 may be a suction cup or a gripper, and the gripper or the suction cup may be determined according to the properties of different materials. The gripping portion 325 shown in fig. 3 is a suction cup, and there are 3 suction cups, so the following description will be given by taking a suction cup as a preferred embodiment, but it should not be limited thereto, and any structure capable of performing the gripping action belongs to the protection scope of the gripping portion 325.

After one of the robots 32 grabs the material and successfully places the material into the corresponding material arranging position 31, because the plurality of robots 32 CAN communicate with each other through the CAN bus, the other robots 32 CAN know that the material is in the material arranging position 31, and therefore, whether the material arranging position 31 reaching the position is empty or not is judged according to the time when each material arranging position 31 reaches the position. Specifically, when a certain robot 32 successfully picks up a material, the corresponding micro motion controller 321 controls the pick part 325 to move above the feeding belt 30, and determines whether the current material handling position 31 is empty; if the current material arranging position 31 is empty, the micro motion controller 321 controls the grabbing part 325 to place the grabbed material to the corresponding material arranging position 31; if the material is present at the current material handling position 31, the material is continuously waited until a vacancy appears and then put down.

Referring to fig. 1 and 4, the cooperative material arranging mechanism further includes a material mixing structure (not numbered), and the material mixing structure includes a second motor 40, a speed reducer 41 connected to the second motor 40, and a swing link 42 connected to the speed reducer 41. The second motor 40 is connected with the control device, the speed reducer 41 is installed on the second motor 40, and the material box 2 is connected with the swing rod 42, so that when the second motor 40 rotates, the swing rod 42 can move under the driving of the speed reducer 41, and then the material box 2 vibrates under the driving of the swing rod 42. Specifically, the method comprises the following steps: one end of the swing rod 42 is connected with the speed reducer 41 through a shaft head (not shown), and the other end of the swing rod is connected with the sliding block 21 at the bottom of the material box 2 through the shaft head. The rack 10 is further provided with a guide rail 103, the sliding block 21 is sleeved on the guide rail 103 and can slide back and forth along the guide rail 103, so that when the second motor 40 rotates, the speed reducer 41 can drive the shaft head to rotate, the swing rod 42 moves, the swing rod 42 drives the sliding block 21 to slide back and forth along the guide rail 103, and then the material box 2 is driven to vibrate back and forth, so that the materials on the material box 2 are kept uniformly distributed constantly.

The refining structure further comprises a second cylinder 43, the second cylinder 43 is connected with the control device, one end of the second cylinder 43 is fixed to the second mounting arm, and the other end of the second cylinder 43 is connected with the material box 2, so that when the second cylinder 43 is compressed and extended, the other end of the second cylinder 43 is driven to reciprocate, and then the material box 2 is driven to vibrate left and right, and materials on the material box 2 are kept uniformly distributed constantly.

The control device can also be used for controlling the rotation of the second motor 40 and the movement of the second cylinder 43 to be alternately carried out, so that the material box 2 is ensured to do cross reciprocating movement in the front-back and left-right directions, and the material homogenizing function is realized. Specifically, the control means controls the rotation of the second motor 40 to alternate with the movement of the second cylinder 43 by sending commands.

Referring to fig. 5, a material arranging method of the cooperative material arranging mechanism of the present invention mainly includes the following steps:

s1, the control device sends an instruction to the robot 32;

s2, the robot 32 controls the gripping member 323 to move from the initial position to above the magazine 2 according to the received command, wherein the initial position is that the gripping member 323 is above the feeding belt 30;

s3, the grabbing piece 323 descends and grabs the material;

s4, the grabbing piece 323 ascends, whether the material is grabbed successfully is judged, if yes, the grabbing piece 323 returns to the initial position, and if not, the step S3 is executed;

s5, judging whether the material falls off, if so, entering the step S2, and if not, continuing;

s6, judging whether the feeding belt 30 has a vacant material arranging position 31, if so, descending the grabbing piece 323 and placing the material to the corresponding material arranging position 31, otherwise, entering the step S5;

s7, the grabbing piece 323 ascends, and the process circularly enters the step S2 until all the materials are completely sorted.

Since the movement, the descending and the ascending of the grabbing member 323 are controlled by the micro motion controller 321 in steps S2, S3, S4, S6 and S7, step S2 may specifically be: the micro-motion controller 321 controls the swing arm 322 to move the gripping member 323 from the initial position to the upper side of the magazine 2, where the swing arm 322 is perpendicular to the feeding belt 30 and the gripping member 323 is located above the feeding belt 30.

Step S3 specifically includes: the micro motion controller 321 controls the grasping member 323 to descend and grasp the material.

Step S4 specifically includes: the micro motion controller 321 controls the grabbing part 323 to ascend, and determines whether the grabbing of the material is successful, if so, the micro motion controller 321 controls the swing arm 322 to drive the grabbing part 323 to return to the initial position, and if not, the step S3 is executed. It should be noted that: in step S4, if the number of times the grasping member 323 grasps the material reaches the set value and the grasping is not successful yet, it is determined that there is no material at the position of the magazine 2, and the micro motion controller 321 controls the grasping member 323 to move, and continues to grasp the material in the other direction.

Step S6 specifically includes: and judging whether the feeding belt 30 has an empty material arranging position 31, if so, controlling the grabbing piece 323 to descend by the micro motion controller 321, and placing the material to the corresponding material arranging position 31, otherwise, entering the step S5.

Step S7 specifically includes: the micro-motion controller 321 controls the grabbing member 323 to ascend, and the process loops to step S2 until all the materials are sorted.

Referring to fig. 1 to 3, a suction cup is exemplified as the grasping portion 325: be equipped with spring (not shown) on sucking disc 325, first cylinder 324 drives sucking disc 325 action, and sucking disc 325 is touched the material after the spring is compressed, if the material piles up relatively high, then spring compression degree is great relatively, can guarantee that sucking disc 325 has sufficient power and snatchs multilayer material like this, and efficiency is higher. The initial positions of the gripper 323 of the robot 32 are: swing arm 322 is perpendicular to feed belt 30 and suction cup 325 is above feed belt 30.

The material arranging process comprises the following steps: the micro-motion controller 321 controls the swing arm 322 to move, so that the suction cup 325 moves to the upper side of the material box 2, the first air cylinder 324 drives the suction cup 325 to descend to a certain height, the suction cup 325 is always in a suction state, when the suction cup 325 sucks the material, the suction cup rises immediately and shakes one time (because the suction cup 325 picks one material out of a large amount of irregular materials and the material beside the suction cup is likely to be taken up, and thus the shaking action can enable the redundant material to return to the material box 2), the air cylinder detector of the first air cylinder 324 constantly detects whether the air passage of the suction cup 325 is blocked, so that whether the material is successfully picked up is judged, and the detection result is fed back to the micro-motion controller 321. If the detection result is that the grabbing is successful, the micro motion controller 321 controls the swing arm 322 to return to the initial position to wait for an empty material arranging position 31 on the feeding belt 30, and then controls the first air cylinder 324 to drive the suction cup 325 to descend by a certain height, the suction cup 325 finishes the adsorption and places the material on the corresponding material arranging position 31, and the feeding belt 30 sends the material to the next process; if the detection result is that the grabbing fails, repeating the actions and grabbing for a plurality of times; if the material box 2 is not successfully grabbed after the set grabbing times are reached, the micro motion controller 321 determines that no material exists at the position of the material box 2, and controls the swing arm 322 to rotate randomly by an angle so as to continuously grab the material box in the other direction, and the process is the same as the above.

When the suction cup 325 waits for the empty material handling position 31 above the feeding belt 30, the air cylinder detector always detects whether the material falls off or not and feeds back the detection result to the micro motion controller 321; once the air passage of the suction cup 325 is detected to be opened, the material is judged to fall off, and at the moment, the micro motion controller 321 controls the swing arm 322 to move to the upper part of the material box 2 again, and the operation is carried out according to the flow.

Of course, when the grasping portion 325 is a hand grip, a pressure sensor may be provided to detect a pressure value of the hand grip, so as to determine whether the grasping is successful, which will not be described in detail herein.

In conclusion, the cooperative material arranging mechanism provided by the invention utilizes the cooperative operation of the plurality of robots 32 and the cooperative material homogenizing mechanism, adopts CAN bus distributed control, realizes material grabbing through probability, and transfers the materials from the material box 2 to the material arranging position 31, CAN automatically sort a large amount of materials with different materials, has the advantages of low cost and high efficiency, CAN be applied to a plurality of industries, and realizes the full automation of a production line.

Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.