CN108355986B - Unmanned autonomous intelligent device of two-way material loading and letter sorting towards material detection - Google Patents
Unmanned autonomous intelligent device of two-way material loading and letter sorting towards material detection Download PDFInfo
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- CN108355986B CN108355986B CN201810001568.3A CN201810001568A CN108355986B CN 108355986 B CN108355986 B CN 108355986B CN 201810001568 A CN201810001568 A CN 201810001568A CN 108355986 B CN108355986 B CN 108355986B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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Abstract
The invention discloses a bidirectional feeding and sorting unmanned autonomous intelligent device for material detection. According to the invention, the action beats of the first feeding, positioning, detecting and sorting system and the second feeding, positioning, detecting and sorting system are alternately performed; after a first material of the first feeding, positioning, detecting and sorting system leaves the radiation area of the light source simulator, a second material of the second feeding, positioning, detecting and sorting system enters the radiation area of the light source simulator; after the second material of the second feeding, positioning, detecting and sorting system leaves the radiation area of the light source simulator, the first material of the first feeding, positioning, detecting and sorting system enters the radiation area of the light source simulator; and (5) bidirectional alternate feeding and detection. The invention is used for improving unmanned automatic feeding, positioning and detection and sorting according to grades, and realizes unmanned automation and intellectualization of material detection.
Description
Technical Field
The invention belongs to the field of electromechanical automation, and particularly relates to a bidirectional feeding and sorting unmanned autonomous intelligent device for material detection, which is used for improving unmanned autonomous feeding, positioning and detection and sorting according to grades, and realizing unmanned automation and intellectualization of material detection.
Background
The processes of feeding, detecting and sorting are commonly adopted in the manufacturing industry. Traditional feeding and sorting rely on manual work, and is low in efficiency, poor in sorting quality and very poor in economic benefit. For example: in the stamping field, operators often have very great social hazard because of the lack of concentration of the attention of the operators in the operation process and the cutting of arms and fingers by the punch in the feeding or discharging process.
The development of automation brings many new opportunities and creates different automated feeding, discharging and sorting systems.
The automatic feeder can automatically operate according to the specified requirement and the established program, and a person only needs to determine the control requirement and the program without directly operating the feeding mechanism. I.e., a mechanism for transporting items from one location to another, during which the process is automatically and accurately completed without human intervention. Generally, the device is provided with a detection device, a feeding device and the like. The automatic conveying device is mainly used for conveying various materials and industrial product semi-products, and can also be matched with the next procedure to automate production.
The automatic sorting system generally consists of an automatic control and computer management system, an automatic identification device, a sorting mechanism, a main conveying device, pretreatment equipment and a sorting crossing. The automatic control and computer management system is a control and command center for the whole automatic sorting, and all actions of each part of the sorting system are determined by the control system. The sorting machine is used for identifying, receiving and processing sorting signals, and indicating a sorting mechanism to automatically sort products according to a certain rule according to the sorting signals so as to determine the flow direction of the products.
When a series of automated control processes such as feeding, positioning, feeding, detecting, sorting and the like form a loop and iterate continuously and autonomously, such a system is called a manufacturing unmanned autonomous control system.
The case of the photovoltaic cell detection and sorting industry is surrounded, and the potential practical market demands of an unmanned control system are further described. Solar renewable energy is gradually replacing conventional energy, and becomes one of clean energy for protecting the ecological environment of the earth. The solar cell is an important component of the photovoltaic power generation system, has close relation with the working efficiency and the power generation capacity of the system, and can increase the utilization rate of solar energy by improving the energy conversion efficiency of the solar cell. Because some factors in practical application can influence the characteristics of the solar cells, the characteristics or performances of the battery units are inconsistent or not similar, so that unnecessary energy waste can be caused, and even the phenomenon of reducing the service life of the battery can occur. Therefore, when the photovoltaic cell array is configured, the characteristics of the photovoltaic cell array need to be tested, and the cell array meeting the requirements is selected, so that the working efficiency of the photovoltaic power generation system is improved. The photovoltaic characteristic testing system for the photovoltaic device of the solar cell belongs to a photoelectric testing device, and can solve the problems that the existing testing system must adopt a manual operation mode to set irradiance values, and irradiance value measurement and sample cell testing processes cannot be performed simultaneously. Based on the research of the characteristic analysis and detection methods of the photovoltaic cells, the portable characteristic tester based on the low-power consumption singlechip is designed for the existing market products, and the characteristics of the photovoltaic cells are measured and analyzed, so that scientific data are provided for the assembly of various photovoltaic cells. However, such simple devices cannot be matched with the production of large-scale photovoltaic cells and are only suitable for sampling detection.
Here, a bidirectional feeding and sorting unmanned autonomous intelligent device and a working principle for material detection are disclosed, which are used for improving unmanned autonomous feeding, positioning, detection and sorting according to grades, so that unmanned autonomy and intellectualization of material detection are realized.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides a bidirectional feeding and sorting unmanned autonomous intelligent device for material detection, which is used for improving unmanned autonomous feeding, positioning and detection and sorting according to grades, and realizing unmanned automation and intellectualization of material detection.
A bidirectional feeding and sorting unmanned autonomous intelligent device for material detection, comprises a second material, a master console connecting arm, an upper body, an upper needle arranging driving motor fixing structure, a light source simulator fixing mechanism, an I-V tester, a first material, a first tray, a second material, a third material, a fourth material, a fifth material, a fourth material, a the first lead screw, the first lead screw driving motor, the first visual detector positioner, the first sucker robot, the first robot, the guide rail, the first robot base, the lower machine body, the machine body supporting mechanism, the first raw material box, the first sorting box the second sorting box, the first vacuum pump, the first vacuum accessory mechanism, the first tray sucker, the lower needle arranging driving motor fixing structure, the lower needle arranging driving motor, the second lead screw, the second tray sucker, the second raw material box, the third sorting box, the fourth sorting box, the second vacuum pump, the second vacuum accessory mechanism, the second robot base, the second lead screw driving motor, the second robot, the second sucker robot arm, the second visual detector positioner and the second visual detector;
The upper machine body is arranged right above the lower machine body, and a guide rail is arranged between the upper machine body and the lower machine body; the master control desk is connected with the upper machine body through a master control desk connecting arm; the light source simulator is connected with the boss of the upper body through the light source simulator fixing mechanism, and penetrates through a boss center hole of the boss of the upper body; the I-V tester is arranged below the upper body boss and is parallel to the light source simulator; the upper needle arranging device comprises an upper needle arranging driving motor, a lower needle arranging driving motor and a lower needle arranging driving motor, wherein the upper needle arranging driving motor is connected with a driving mechanism of the upper needle arranging driving motor and is fixed on a side plate of an upper machine body through an upper needle arranging driving motor fixing structure; the first material is arranged at a detection station above the first tray, and the first tray is arranged in the middle of the guide rail and can slide; the first tray is in transmission connection with a first screw rod through a screw rod nut, and the first screw rod is connected with a rotating output shaft of a first screw rod driving motor; the second material is arranged at a detection station above the second tray, and the second tray is arranged in the middle of the guide rail and can slide; the second tray is in transmission connection with a second lead screw through a lead screw nut, and the second lead screw is connected with a rotating output shaft of a second lead screw driving motor; the first vacuum pump is fixed in the lower machine body, the first vacuum pump and the first tray sucking discs are respectively arranged at two ends of the first vacuum auxiliary mechanism, and the first tray sucking discs are arranged below the first tray detection station; the second vacuum pump is fixed in the lower machine body, the second vacuum pump and the second tray sucking discs are respectively arranged at two ends of the second vacuum auxiliary mechanism, and the second tray sucking discs are arranged below the second tray detection station; the first visual detector is fixed on the front arm of the first robot through a first visual detector positioner, the first sucker robot is fixed at the tail end of the front arm of the first robot, and the first robot is fixed on the ground through a first robot base as an end effector; the first raw material box, the first sorting box and the second sorting box are respectively placed near the first robot base; the second visual detector is fixed on the forearm of the second robot through a second visual detector positioner, the second sucker robot is fixed at the tail end of the forearm of the second robot and used as an end effector, and the second robot is fixed on the ground through a second robot base, and the first raw material box, the third sorting box and the fourth sorting box are respectively placed near the second robot base.
Second material, first tray, first lead screw driving motor, first visual detector locator, first sucking disc manipulator, first robot, guide rail, first robot base, first raw materials box, first letter sorting box, second letter sorting box, first vacuum pump, first vacuum accessory mechanism, first tray sucking disc constitute first material loading, location, detection, letter sorting system, and the working process of first material loading, location, detection, letter sorting system is as follows: the first robot forearm moving over the first feed box; picking up the top material of the first raw material box by a first sucker robot; the first robot forearm moves to a proper position above the guide rail, namely, right above the first tray; the first visual detector shoots a first tray image, and positions the material feeding position through image identification; the first sucker robot releases a first material in a first tray at the identified and positioned material loading position; the first vacuum pump works, so that the first tray sucker generates an adsorption force on the first material; the first lead screw driving motor works to drive the first lead screw to rotate, so that the first tray moves to the middle of the guide rail; the upper pin header moves downwards under the drive of the upper pin header driving motor and contacts the anode of the material; the lower pin header moves upwards under the drive of a lower pin header driving motor and contacts with the negative electrode of the material; the light source simulator generates stroboscopic light and simulates sunlight to radiate the first material; the I-V tester receives the material output signals, performs intelligent calculation, generates a characteristic curve and classifies the materials; resetting the upper needle row and the lower needle row; the first lead screw driving motor works to drive the first lead screw to rotate, so that the first tray is reset to an original station; the first robot forearm moves to the upper part of the first tray, and picks up a first material through the first sucker robot arm; the first robot moves to the position above the first sorting box or the second sorting box according to the I-V test classification information, and the first sucker robot releases the first material to the corresponding sorting material box.
The second feeding, positioning, detecting and sorting system is composed of a second lead screw, a second tray sucker, a second raw material box, a third sorting box, a fourth sorting box, a second vacuum pump, a second vacuum auxiliary mechanism, a second robot base, a second lead screw driving motor, a second robot, a second sucker robot arm, a second visual detector positioner and a second visual detector, and the working process of the second feeding, positioning, detecting and sorting system is as follows: the second robot forearm is moved over the second feed box; picking up the top material of the second raw material box by a second sucker robot; the forearm of the second robot moves to a proper position above the guide rail, namely, right above the second tray; a second visual detector shoots a second tray image, and the material feeding position is positioned through image recognition; the second sucker robot releases a second material in the second tray at the identified and positioned material loading position; the second vacuum pump works, so that the second tray sucker generates an adsorption force on the second material; the second lead screw driving motor works to drive the second lead screw to rotate, so that the second tray moves to the middle of the guide rail; the upper pin header moves downwards under the drive of the upper pin header driving motor and contacts the anode of the material; the lower pin header moves upwards under the drive of a lower pin header driving motor and contacts with the negative electrode of the material; the light source simulator generates stroboscopic light and simulates sunlight to radiate the second material; the I-V tester receives the material output signals, performs intelligent calculation, generates a characteristic curve and classifies the materials; resetting the upper needle row and the lower needle row; the second lead screw driving motor works to drive the second lead screw to rotate, so that the second tray is reset to the original station; the forearm of the second robot moves to the upper part of the second tray, and the second material is picked up by the second sucker robot; the second robot moves to the position above the third sorting box or the fourth sorting box according to the information of the I-V test classification, and the second sucker robot releases the second material to the corresponding sorting material box.
The action beats of the first feeding, positioning, detecting and sorting system and the second feeding, positioning, detecting and sorting system are alternately performed; after a first material of the first feeding, positioning, detecting and sorting system leaves the radiation area of the light source simulator, a second material of the second feeding, positioning, detecting and sorting system enters the radiation area of the light source simulator; after the second material of the second feeding, positioning, detecting and sorting system leaves the radiation area of the light source simulator, the first material of the first feeding, positioning, detecting and sorting system enters the radiation area of the light source simulator; and (5) bidirectional alternate feeding and detection.
The first stream of the present invention is as follows: after a batch of materials to be detected are placed in a first group of raw material boxes; the first robot conveys the top material of the raw material box to the vicinity of the first tray, and at the moment, the first intelligent visual detection detects the relative positions of the first material and the first tray, so that the first robot sucker releases the first material at the proper position of the first tray; after a first tray is positioned in the middle of the guide rail by the first linear guide rail, needle contact is performed up and down, meanwhile, strobe exposure of a light source is intelligently simulated, and an intelligent I-V characteristic curve is calculated and classified after an intelligent I-V test system detects an electric signal; the upper row of pins and the lower row of pins are separated from the first material, and the first tray is reset to the original position by the first linear guide rail; the first robot carries the first materials in the first tray, sorts the first materials according to I-V characteristic classification, and places the first materials in a proper sorting material box.
The second stream of the present invention is as follows: placing a batch of materials to be detected into a second group of raw material boxes; the second robot conveys the top material of the raw material box to the vicinity of the second tray, and at the moment, the second intelligent visual detection detects the relative positions of the second material and the second tray, so that the second robot sucker releases the second material at the proper position of the second tray; after a second tray is positioned in the middle of the guide rail by the second linear guide rail, needle contact is performed up and down, meanwhile, strobe exposure of a light source is intelligently simulated, and an intelligent I-V characteristic curve is calculated and classified after an intelligent I-V test system detects an electric signal; the upper row pins and the lower row pins are separated from the second material, and the second tray is reset to the original position by the second linear guide rail; the second robot carries the second materials in the second tray, sorts the second materials according to the I-V characteristic classification, and places the second materials in a proper sorting material box.
The beneficial effects of the invention are as follows:
The invention provides automatic and intelligent equipment for unmanned automatic feeding, unmanned automatic positioning, unmanned automatic feeding, unmanned automatic detection, unmanned automatic resetting and unmanned automatic sorting, and an automatic action process can automatically and circularly reciprocate, so that unmanned automatic intelligent equipment for manufacturing industry is realized; the control processes of bidirectional feeding, bidirectional positioning, bidirectional feeding, efficient detection, bidirectional resetting, bidirectional sorting and the like are realized around the same detection station, and the working efficiency of the unmanned system is greatly improved; the intelligent position recognition based on the images is adopted based on the visual detection system, so that the accurate positioning of feeding and sorting is realized.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a first material flow diagram of the present invention.
FIG. 3 is a schematic diagram of a second stream of the present invention.
The second material 1, the master control table 2, the master control table connecting arm 3, the upper machine body 4, the upper needle arranging 5, the upper needle arranging driving motor 6, the upper needle arranging driving motor fixing structure 7, the light source simulator 8, the light source simulator fixing mechanism 9, the I-V tester 10, the first material 11, the first tray 12, the first lead screw 13, the first lead screw driving motor 14, the first visual detector 15, the first visual detector positioner 16, the first sucking disc robot 17, the first robot 18, the guide rail 19, the first robot base 20, the lower machine body 21, the machine body supporting mechanism 22, the first raw material box 23, the first sorting box 24, the second sorting box 25, the first vacuum pump 26, the first vacuum auxiliary mechanism 27, the first tray sucking disc 28, the lower needle arranging driving motor fixing structure 29, the lower needle arranging 30, the lower needle arranging driving motor 31, the second lead screw 32, the second tray 33, the second tray sucking disc 34, the second raw material box 35, the third sorting box 36, the fourth sorting box 37, the second vacuum auxiliary motor 38, the second vacuum pump 39, the second robot base 43, the second vacuum detector 40, the second robot positioning robot base 43 and the second vacuum detector 43.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, a bidirectional feeding and sorting unmanned autonomous intelligent device for material detection is provided, an upper machine body 4 is arranged right above a lower machine body 21, and a guide rail 19 is arranged between the upper machine body 4 and the lower machine body 21; the master console 2 is connected with the upper body 4 through a master console connecting arm 3; the light source simulator 8 is connected with the boss of the upper body 4 through a light source simulator fixing mechanism 9, and the light source simulator 8 penetrates through a boss center hole of the boss on the upper body 4; the I-V tester 10 is arranged below the boss of the upper body 4 and is parallel to the light source simulator 8; the upper needle arranging device comprises an upper needle arranging device 5, an upper needle arranging driving motor 6, a lower needle arranging device and a lower needle arranging device, wherein the upper needle arranging device 5 is connected with a driving mechanism of the upper needle arranging driving motor 6, and the upper needle arranging driving motor 6 is fixed on a side plate of an upper machine body 4 through an upper needle arranging driving motor fixing structure 7; the first material 11 is arranged at a detection station above the first tray 12, and the first tray 12 is arranged in the middle of the guide rail 19 and can slide; the first tray 12 is in transmission connection with a first screw rod 13 through a screw rod nut, and the first screw rod 13 is connected with a rotation output shaft of a first screw rod driving motor 14; the second material 1 is arranged at a detection station above the second tray 33, and the second tray 33 is arranged in the middle of the guide rail 19 and can slide; the second tray 33 is in transmission connection with the second screw rod 32 through a screw nut, and the second screw rod 32 is connected with a rotation output shaft of the second screw rod driving motor 41; the first vacuum pump 26 is fixed in the lower machine body 21, the first vacuum pump 26 and the first tray sucking discs 28 are respectively arranged at two ends of the first vacuum auxiliary mechanism 27, and the first tray sucking discs 28 are arranged below the detection station of the first tray 12; the second vacuum pump 38 is fixed in the lower body 21, the second vacuum pump 38 and the second tray sucking discs 34 are respectively arranged at two ends of the second vacuum auxiliary mechanism 39, and the second tray sucking discs 34 are arranged below the detection station of the second tray 33; the first vision detector 15 is fixed on the front arm of the first robot 18 through a first vision detector positioner 16, the first sucker robot 17 is fixed on the tail end of the front arm of the first robot 18, and as an end effector, the first robot 18 is fixed on the ground through a first robot base 20; the first raw material box 23, the first sorting box 24, and the second sorting box 25 are respectively placed near the first robot base 20; the second vision detector 45 is fixed to the forearm of the second robot 42 via a second vision detector positioner 44, the second suction cup robot 43 is fixed to the distal end of the forearm of the second robot 42, and the second robot 42 is fixed to the ground via the second robot base 40 as an end effector, and the first raw material box 35, the third sorting box 36, and the fourth sorting box 37 are placed in the vicinity of the second robot base 42, respectively.
The first feeding, positioning, detecting and sorting system comprises a second material 1, a first material 11, a first tray 12, a first lead screw 13, a first lead screw driving motor 14, a first visual detector 15, a first visual detector positioner 16, a first sucking disc robot 17, a first robot 18, a guide rail 19, a first robot base 20, a first raw material box 23, a first sorting box 24, a second sorting box 25, a first vacuum pump 26, a first vacuum attachment mechanism 27 and a first tray sucking disc 28; the working principle is as follows: the first robot 18 forearm moves over the first magazine 23; picking up the top material of the first raw material box 23 by the first sucker robot 17; the forearm of the first robot 18 is moved to a suitable position above the rail 19, i.e. directly above the first tray 12; the first visual detector 15 shoots an image of the first tray 12 and positions the material feeding position through image recognition; the first sucker robot 17 releases the first material 11 in the first tray 12 at the identified and positioned material loading position; the first vacuum pump 26 is operated so that the first tray suction cup 28 generates suction force to the first material 11; the first lead screw driving motor 14 works to drive the first lead screw 13 to rotate, so that the first tray 12 moves to the middle of the guide rail 19; the upper pin 5 moves downwards under the drive of the upper pin driving motor 6 and contacts the anode of the material; the lower pin array 30 moves upwards under the drive of the lower pin array driving motor 31 and contacts with the negative electrode of the material; the light source simulator 8 generates stroboscopic light and simulates solar radiation of the first material 11; the I-V tester 10 receives the material output signals, performs intelligent calculation, generates a characteristic curve and classifies the materials; the upper pin 5 and the lower pin 30 are reset; the first lead screw driving motor 14 works to drive the first lead screw 13 to rotate, so that the first tray 12 is reset to the original station; the first robot 18 forearm moves over the first tray 12, picking up the first material 11 by the first suction cup robot 17; the first robot moves to the position above the first sorting box 24 or the second sorting box 25 according to the information of the I-V test classification, and the first sucker robot 17 releases the first material 11 to the corresponding sorting material box;
The actions of the first feeding, positioning, detecting and sorting systems are coherent and repeated circularly, so that unmanned autonomous control processes of material taking, positioning, feeding, detecting, discharging, sorting and the like of the first material 11 are realized; because the control system realizes unmanned autonomous control in the whole process, the automation and the intelligent degree are high, and manual operation is omitted;
the second feeding, positioning, detecting and sorting system comprises a second lead screw 32, a second tray 33, a second tray sucker 34, a second raw material box 35, a third sorting box 36, a fourth sorting box 37, a second vacuum pump 38, a second vacuum auxiliary mechanism 39, a second robot base 40, a second lead screw driving motor 41, a second robot 42, a second sucker robot arm 43, a second visual detector positioner 44 and a second visual detector 45. The principle of operation is as follows, the forearm of the second robot 42 is moved over the second magazine 35; picking up the top material of the second raw material box 35 by a second sucking disc robot 43; the forearm of the second robot 42 is moved to a suitable position above the rail 19, i.e. directly above the second tray 33; the second visual detector 45 shoots an image of the second tray 33 and positions the material feeding position through image recognition; the second suction cup robot 43 releases the second material 1 in the second tray 33 at the identified and located material loading position; the second vacuum pump 38 operates such that the second tray suction cups 34 generate suction force to the second material 1; the second screw driving motor 41 operates to drive the second screw 32 to rotate, so that the second tray 33 moves to the middle of the guide rail 19; the upper pin 5 moves downwards under the drive of the upper pin driving motor 6 and contacts the anode of the material; the lower pin array 30 moves upwards under the drive of the lower pin array driving motor 31 and contacts with the negative electrode of the material; the light source simulator 8 generates stroboscopic light and simulates the irradiation of the second material 1 by sunlight; the I-V tester 10 receives the material output signals, performs intelligent calculation, generates a characteristic curve and classifies the materials; the upper pin 5 and the lower pin 30 are reset; the second screw driving motor 41 works to drive the second screw 32 to rotate, so that the second tray 33 is reset to the original station; the forearm of the second robot 45 moves above the second tray 33, picking up the second material 1 by the second suction cup robot 43; the second robot moves to above the third sorting box 36 or the fourth sorting box 37 according to the information of the I-V test classification, and the second sucker robot 43 releases the second material 1 to the corresponding sorting material box;
The actions of the second feeding, positioning, detecting and sorting systems are coherent and repeated circularly, so that unmanned autonomous control processes of material taking, positioning, feeding, detecting, discharging, sorting and the like of the second material 1 are realized; because the control system realizes unmanned autonomous control in the whole process, the automation and the intelligent degree are high, and manual operation is omitted;
The action beats of the first feeding, positioning, detecting and sorting system and the second feeding, positioning, detecting and sorting system can be alternately performed; after a first material 11 of the first feeding, positioning, detecting and sorting system leaves the radiation area of the light source simulator 8, a second material 1 of the second feeding, positioning, detecting and sorting system enters the radiation area of the light source simulator 8; after the second material 1 of the second feeding, positioning, detecting and sorting system leaves the radiation area of the light source simulator 8, the first material 11 of the first feeding, positioning, detecting and sorting system enters the radiation area of the light source simulator 8; the bidirectional alternate feeding and detection can improve the service efficiency of the doubled light source simulator 8, the upper row pins 5, the lower row pins 30 and the I-V tester 10.
Referring to fig. 2, the steps of the first stream of the present invention are as follows: after a batch of materials to be detected are placed in a first group of raw material boxes; the first robot conveys the top material of the raw material box to the vicinity of the first tray, and at the moment, the first intelligent visual detection detects the relative positions of the first material and the first tray, so that the first robot sucker releases the first material at the proper position of the first tray; after a first tray is positioned in the middle of the guide rail by the first linear guide rail, needle contact is performed up and down, meanwhile, strobe exposure of a light source is intelligently simulated, and an intelligent I-V characteristic curve is calculated and classified after an intelligent I-V test system detects an electric signal; the upper row of pins and the lower row of pins are separated from the first material, and the first tray is reset to the original position by the first linear guide rail; the first robot carries the first materials in the first tray, sorts the first materials according to I-V characteristic classification, and places the first materials in a proper sorting material box.
Referring to fig. 3, the steps of the second stream of the present invention are as follows: placing a batch of materials to be detected into a second group of raw material boxes; the second robot conveys the top material of the raw material box to the vicinity of the second tray, and at the moment, the second intelligent visual detection detects the relative positions of the second material and the second tray, so that the second robot sucker releases the second material at the proper position of the second tray; after a second tray is positioned in the middle of the guide rail by the second linear guide rail, needle contact is performed up and down, meanwhile, strobe exposure of a light source is intelligently simulated, and an intelligent I-V characteristic curve is calculated and classified after an intelligent I-V test system detects an electric signal; the upper row pins and the lower row pins are separated from the second material, and the second tray is reset to the original position by the second linear guide rail; the second robot carries the second materials in the second tray, sorts the second materials according to the I-V characteristic classification, and places the second materials in a proper sorting material box.
Claims (1)
1. The working method of the bidirectional feeding and sorting unmanned autonomous intelligent device for material detection is characterized by comprising a second material (1), a master control table (2), a master control table connecting arm (3), an upper machine body (4), an upper needle arranging (5), an upper needle arranging driving motor (6), an upper needle arranging driving motor fixing structure (7), a light source simulator (8), a light source simulator fixing mechanism (9), an I-V tester (10), a first material (11), a first tray (12), a first lead screw (13), a first lead screw driving motor (14), a first visual detector (15), a first visual detector positioner (16), a first sucker robot (17), a first robot (18), a guide rail (19), a first robot base (20), a lower machine body (21), a machine body supporting mechanism (22), a first raw material box (23), a first sorting box (24), a second sorting box (25), a first vacuum pump (26), a first vacuum attachment mechanism (27), a first tray sucker (28), a lower needle arranging motor fixing structure (29), a lower needle arranging motor (33), a second tray (32) and a second tray (33) The third sorting box (36), the fourth sorting box (37), a second vacuum pump (38), a second vacuum auxiliary mechanism (39), a second robot base (40), a second screw drive motor (41), a second robot (42), a second sucking disc robot (43), a second visual detector positioner (44) and a second visual detector (45);
The upper machine body (4) is arranged right above the lower machine body (21), and a guide rail (19) is arranged between the upper machine body (4) and the lower machine body (21); the master control table (2) is connected with the upper machine body (4) through a master control table connecting arm (3); the light source simulator (8) is connected with a boss of the upper body (4) through a light source simulator fixing mechanism (9), and the light source simulator (8) penetrates through a boss center hole of the boss on the upper body (4); the I-V tester (10) is arranged below the boss of the upper body (4) and is parallel to the light source simulator (8); the upper needle arranging device is characterized in that the upper needle arranging device (5) is connected with a driving mechanism of an upper needle arranging driving motor (6), and the upper needle arranging driving motor (6) is fixed on a side plate of the upper machine body (4) through an upper needle arranging driving motor fixing structure (7); the first material (11) is arranged at a detection station above the first tray (12), and the first tray (12) is arranged in the middle of the guide rail (19) and can slide; the first tray (12) is in transmission connection with a first screw (13) through a screw nut, and the first screw (13) is connected with a rotation output shaft of a first screw driving motor (14); the second material (1) is arranged at a detection station above the second tray (33), and the second tray (33) is arranged in the middle of the guide rail (19) and can slide; the second tray (33) is in transmission connection with a second screw (32) through a screw nut, and the second screw (32) is connected with a rotation output shaft of a second screw driving motor (41); the first vacuum pump (26) is fixed in the lower machine body (21), the first vacuum pump (26) and the first tray sucking discs (28) are respectively arranged at two ends of the first vacuum auxiliary mechanism (27), and the first tray sucking discs (28) are arranged below the detection station of the first tray (12); the second vacuum pump (38) is fixed in the lower machine body (21), the second vacuum pump (38) and the second tray sucking discs (34) are respectively arranged at two ends of the second vacuum auxiliary mechanism (39), and the second tray sucking discs (34) are arranged below the detection station of the second tray (33); the first visual detector (15) is fixed on the front arm of the first robot (18) through a first visual detector positioner (16), the first sucker robot (17) is fixed on the tail end of the front arm of the first robot (18) and used as an end effector, and the first robot (18) is fixed on the ground through a first robot base (20); the first raw material box (23), the first sorting box (24) and the second sorting box (25) are respectively arranged near the first robot base (20); the second visual detector (45) is fixed on the front arm of the second robot (42) through a second visual detector positioner (44), the second sucker robot (43) is fixed on the tail end of the front arm of the second robot (42) and used as an end effector, and the second robot (42) is fixed on the ground through a second robot base (40); the second raw material box (35), the third sorting box (36) and the fourth sorting box (37) are respectively arranged near the second robot base (40);
The automatic feeding and sorting device comprises a first material (11), a first tray (12), a first lead screw (13), a first lead screw driving motor (14), a first visual detector (15), a first visual detector positioner (16), a first sucker robot (17), a first robot (18), a guide rail (19), a first robot base (20), a first raw material box (23), a first sorting box (24), a second sorting box (25), a first vacuum pump (26), a first vacuum auxiliary mechanism (27) and a first tray sucker (28), wherein the working process of the first feeding, positioning, detecting and sorting system is as follows: the forearm of the first robot (18) moves to above the first raw material box (23); picking up the top material of the first raw material box (23) by a first sucker robot (17); the forearm of the first robot (18) moves to a proper position above the guide rail (19), namely, right above the first tray (12); the first visual detector (15) shoots an image of the first tray (12), and the material feeding position is identified and positioned through the image; the first sucker robot (17) releases the first material (11) in the first tray (12) at the identified and positioned material loading position; the first vacuum pump (26) works, so that the first tray sucker (28) generates an adsorption force on the first material (11); the first lead screw driving motor (14) works to drive the first lead screw (13) to rotate, so that the first tray (12) moves to the middle of the guide rail (19); the upper pin header (5) moves downwards under the drive of an upper pin header driving motor (6) and contacts the anode of the material; the lower pin header (30) moves upwards under the drive of a lower pin header driving motor (31) and contacts with the negative electrode of the material; the light source simulator (8) generates stroboscopic light and simulates the first material (11) irradiated by sunlight; the I-V tester (10) receives the material output signals, performs intelligent calculation, generates a characteristic curve and classifies the materials; resetting the upper row of pins (5) and the lower row of pins (30); the first lead screw driving motor (14) works to drive the first lead screw (13) to rotate, so that the first tray (12) is reset to an original station; the forearm of the first robot (18) moves to the upper part of the first tray (12), and the first material (11) is picked up by the first sucker robot arm (17); the first robot moves to the position above the first sorting box (24) or the second sorting box (25) according to the information of the I-V test classification, and the first sucker robot (17) releases the first materials (11) to the corresponding sorting material boxes;
Second material (1), second lead screw (32), second tray (33), second tray sucking disc (34), second raw materials box (35), third letter sorting box (36), fourth letter sorting box (37), second vacuum pump (38), second vacuum auxiliary mechanism (39), second robot base (40), second lead screw driving motor (41), second robot (42), second sucking disc manipulator (43), second visual detector locator (44), second visual detector (45) constitute second material loading, location, detection, letter sorting system, and the working process of second material loading, location, detection, letter sorting system is as follows: the forearm of the second robot (42) moves to above the second stock box (35); picking up the top material of the second raw material box (35) by a second sucker robot (43); the forearm of the second robot (42) moves to a proper position above the guide rail (19), namely, right above the second tray (33); a second visual detector (45) shoots an image of a second tray (33), and the material feeding position is identified and positioned through the image; the second sucker robot (43) releases the second material (1) in the second tray (33) at the identified and positioned material loading position; the second vacuum pump (38) works, so that the second tray sucker (34) generates an adsorption force on the second material (1); the second lead screw driving motor (41) works to drive the second lead screw (32) to rotate, so that the second tray (33) moves to the middle of the guide rail (19); the upper pin header (5) moves downwards under the drive of an upper pin header driving motor (6) and contacts the anode of the material; the lower pin header (30) moves upwards under the drive of a lower pin header driving motor (31) and contacts with the negative electrode of the material; the light source simulator (8) generates stroboscopic light and simulates the sunlight to radiate the second material (1); the I-V tester (10) receives the material output signals, performs intelligent calculation, generates a characteristic curve and classifies the materials; resetting the upper row of pins (5) and the lower row of pins (30); the second lead screw driving motor (41) works to drive the second lead screw (32) to rotate, so that the second tray (33) is reset to the original station; the forearm of the second robot (42) moves to the upper part of the second tray (33), and the second material (1) is picked up by the second sucker robot (43); the second robot moves to the position above the third sorting box (36) or the fourth sorting box (37) according to the information of the I-V test classification, and the second sucker robot (43) releases the second material (1) to the corresponding sorting material box;
The first stream is as follows: after a batch of materials to be detected are put into a first raw material box; the first robot conveys the top material of the raw material box to the vicinity of the first tray, and at the moment, the first intelligent visual detection detects the relative positions of the first material and the first tray, so that the first robot sucker releases the first material at the proper position of the first tray; after a first tray is positioned in the middle of the guide rail by the first linear guide rail, needle contact is performed up and down, meanwhile, strobe exposure of a light source is intelligently simulated, and an intelligent I-V characteristic curve is calculated and classified after an intelligent I-V test system detects an electric signal; the upper row of pins and the lower row of pins are separated from the first material, and the first tray is reset to the original position by the first linear guide rail; the first robot carries first materials in a first tray, sorts the first materials according to I-V characteristic classification, and places the first materials in a proper sorting material box;
The second stream is prepared as follows: after a batch of materials to be detected are put into the second raw material box; the second robot conveys the top material of the raw material box to the vicinity of the second tray, and at the moment, the second intelligent visual detection detects the relative positions of the second material and the second tray, so that the second robot sucker releases the second material at the proper position of the second tray; after a second tray is positioned in the middle of the guide rail by the second linear guide rail, needle contact is performed up and down, meanwhile, strobe exposure of a light source is intelligently simulated, and an intelligent I-V characteristic curve is calculated and classified after an intelligent I-V test system detects an electric signal; the upper row pins and the lower row pins are separated from the second material, and the second tray is reset to the original position by the second linear guide rail; the second robot carries the second materials in the second tray, sorts the second materials according to the I-V characteristic classification, and places the second materials in a proper sorting material box;
The action beats of the first feeding, positioning, detecting and sorting system and the second feeding, positioning, detecting and sorting system are alternately performed; after a first material (11) of the first feeding, positioning, detecting and sorting system leaves a radiation area of the light source simulator (8), a second material (1) of the second feeding, positioning, detecting and sorting system enters the radiation area of the light source simulator (8); after the second material (1) of the second feeding, positioning, detecting and sorting system leaves the radiation area of the light source simulator (8), the first material (11) of the first feeding, positioning, detecting and sorting system enters the radiation area of the light source simulator (8); and (5) bidirectional alternate feeding and detection.
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