A method, device and system for sorting explosives rolls

Abstract

The embodiment of the present invention discloses a method, device and system for sorting explosive rolls, which solves the problem of low packing efficiency due to the large number of manipulators currently used to pick up randomly placed explosive rolls based on a blackboard-based cooperative communication mechanism , and the technical problem of high cost. The method in the embodiment of the present invention includes: the method for sorting explosives volumes includes: determining whether there are any volumes in the continuous and equidistant troughs on the conveyor belt according to the profile of the image of the preset volumes of explosives; Combining the sequence of box medicine rolls with the robot’s minimum manipulator overload, the maximum change rate of the medicine volume sequence, and the minimum invalid working time of the sorting system, the optimal feeding sequence based on the non-dominated sorting genetic algorithm and the feeding coordinate calculation corresponding to the feeding sequence are carried out ; According to the calculated optimal feeding sequence, feeding coordinates, and the running speed of the conveying device, the feeding manipulator is controlled to sort the explosive rolls.

Description

technical field [0001] The invention relates to the field of industrial automation packaging, in particular to a method, device and system for sorting explosives rolls. Background technique [0002] With the rapid development of my country's economy, the civil explosive equipment industry has developed rapidly, and a relatively complete industrial system has been formed. However, the packaging technology of industrial explosives is relatively backward, and the packaging process is mainly completed by manual assistance. The existing industrial explosives Packaging technology and form restrict the improvement of industrial explosive packaging output. [0003] However, due to the small market capacity of the civil explosives industry, many types of civil explosives equipment, and small batches, most of the research and development of civil explosives equipment in China is independently developed by enterprises, and the basic theory and common technology research capabilities are...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a sorting method, device and system for explosive rolls, which solves the problem of picking up randomly placed explosive rolls based on a blackboard-based collaborative communication mechanism with a large number of manipulators, resulting in low packing efficiency and high cost. high technical issues

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