Fully automatic dual-channel servo sequential lane separation machine and lane separation method

Abstract

The present invention relates to the field of light industry technology, and in particular to a fully automatic dual-channel servo sequential lane sorting machine and a lane sorting method. Containers (bottles) conveyed in two columns and in a single row enter the dual-channel servo lane sorting machine and are counted after being detected by photoelectric detection; in the dual-channel servo lane sorting machine, two groups of bidirectional servo drive mechanisms A and B are installed respectively to drive the longitudinal and lateral movement of the lane sorting mechanism respectively; one container sorting and lane sorting are completed; two containers sorting and lane sorting are completed; two containers sorting and lane sorting are repeated respectively, and the lane sorting can complete three or four containers sorting and lane sorting work; beneficial effects: therefore, by adopting the dual servo lane sorting technology, 24,000 bottles / hour can be achieved; at least the lane sorting of flat bottles can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of light industry, and in particular to a full-automatic dual-channel servo sequential lane-splitting machine and a lane-splitting method. Background Art

[0002] With the development of society and the improvement of people's living standards, the packaging of liquid containers such as alcoholic beverages and daily chemicals has become diversified, and the requirements for such packaging have also increased, especially to prevent mixed goods and counterfeiting. Therefore, each minimum single independent packaging unit (container) is required to be numbered and packed in a corresponding numbered package (carton). This requires sequential packing. The prerequisite for sequential packing is to arrange the packaging containers in order. For standard containers (conventional cylinders), they are usually arranged by stacking. For special-shaped containers, stacking is impossible. If cylinder lanes are used, the production capacity can only reach 10,000 per hour.

[0003] On this basis, the use of dual-channel technology can not only further increase production capacity (up to 24,000 pieces per hour), but also make it more valuable for multi-row arrangements. Summary of the invention

[0004] Purpose of the invention: To provide a new type of fully automatic dual-channel servo sequential lane separation machine and lane separation method with better effect. The specific purpose can be seen in the multiple substantial technical effects of the specific implementation part. In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] The fully automatic dual-channel servo sequential lane sorting machine is characterized in that the lane sorting machine comprises a frame 2,

[0006] The frame includes a double-channel feeding system 1, which is a double-channel single-row input chain. The double-channel single-row input chain is two independent chain conveying systems, and the bottles 3 can be placed on the two independent chain conveying systems for transportation; the frame includes two sets of bidirectional servo drive mechanisms, which are a bidirectional servo drive mechanism A and a bidirectional servo drive mechanism B respectively; the bidirectional servo drive mechanism A and the bidirectional servo drive mechanism B are a longitudinal servo transport system 6 and a transverse servo transport system 8, and the longitudinal servo transport system 6 includes a longitudinal track 7; a longitudinal servo motor 5 is fixed on the longitudinal track 7, and a power output shaft of the longitudinal servo motor 5 is provided. It includes a sprocket, which meshes with the chain on the longitudinal track 7; the longitudinal servo motor 5 is fixedly connected to the longitudinal clamping structure 4 as a whole, and the longitudinal clamping structure 4 can protect the bottle from the side to prevent it from falling over; the longitudinal track 7 is connected to the moving plate 10, the moving plate 10 passes through the transverse guide rail 11, and the upper end of the moving plate 10 is fixedly connected to the transverse motion chain 13 through the connecting part 12, and also includes a transverse moving motor 15, the transverse moving motor 15 is installed on the frame, and the power output shaft of the transverse moving motor 15 includes a sprocket 14, the sprocket 14 can drive the transverse motion chain 13 to move, and the transverse motion chain can drive the moving plate 10 and the longitudinal track 7 to move transversely as a whole.

[0007] A further technical solution of the present invention is that the longitudinal clamping structure 4 has two groups of clamping components, and the clamping components include a fixed clamping leg 20 and a movable clamping leg 21; the fixed clamping leg 20 is fixed on the longitudinal track 7, and the movable clamping leg 21 is connected to the conveying chain 17 through the fixed plate 18; the conveying chain 17 can drive the movable clamping leg 21 to move back and forth along the track 7, and the bottom of the fixed clamping leg 20 is connected to the bottom fixed plate 19, and the bottom of the movable clamping leg 21 is connected to the movable plate 22; then the bottom fixed plate 19 under the fixed clamping leg 20 and the movable plate 22 under the movable clamping leg 21 are relative nested and telescopic, and the bottom fixed plate 19 and the movable plate 22 constitute a movable telescopic guardrail; there is a clamping gap between the two groups of clamping components, which can clamp bottles.

[0008] A further technical solution of the present invention is that the frame includes a position sensor 23.

[0009] A further technical solution of the present invention is that the transverse moving motor 15 and its mounting shaft are arranged on both sides of the frame; the two transverse moving motors 15 correspond to a set of longitudinal servo transport system 6 and transverse servo transport system 8 respectively.

[0010] A further technical solution of the present invention is that the right side of the frame is a multi-channel output part 9.

[0011] The fully automatic dual-channel servo sequential lane separation method is characterized by comprising the following steps:

[0012] The two columns of single-row conveyed containers and bottles enter the dual-channel servo lane dividing machine and are counted after being detected by the photoelectric detection. In the dual-channel servo lane dividing machine, two groups of bidirectional servo drive mechanisms A and B are installed respectively to drive the longitudinal and transverse movement of the lane dividing mechanism respectively. In this way, for the single-column bottles after counting, the PLC setting parameters are adjusted as needed to determine the number of longitudinal movements and the number of columns for each transverse movement, and the speed of the longitudinal moving telescopic guardrail is adjusted to match the speed of the multi-column conveyor belt to achieve synchronous conveying and avoid tipping caused by speed difference. After passing the fixed guardrail, the counting detection only counts the containers passing through. After each set number of bottles, the counting detection sends a signal to the PLC. At this time, the servo lane dividing motor moves the container according to the fixed number of pulses and moves the distance to align the container only with the next lane. At the same time, the longitudinal servo synchronous conveying mechanism works to drive the telescopic guardrail to move the distance according to the fixed number of pulses and keep the same speed as the conveying chain. The counting detection and the container are in a relatively static state, completing the container and lane division in one lane.

[0013] After the telescopic guardrail stops, the retraction command is executed and the counting detection starts working. After passing 6 containers, it returns to the container handling origin. At the same time, the counting detection sends a signal to the PLC. At this time, the servo lane motor moves a distance according to a fixed number of pulses, and the container is only aimed at the next lane. At the same time, the servo container handling motor drives the telescopic guardrail to extend forward, moves a distance according to a fixed number of pulses, and maintains the same speed as the container chain. The counting detection and the container are in a relatively static state, completing the second container handling and lane separation;

[0014] Repeat the process of sorting containers in two lanes and sorting lanes in three or four lanes respectively;

[0015] After completing a cycle, the servo lane motor returns to the origin; at this time, the lane deceleration detection starts working first, and the servo motor decelerates; then the lane origin detection works, and the servo motor stops; and then the next working cycle is carried out.

[0016] A further technical solution of the present invention is that the servo motors are connected to the actuators via chain drives.

[0017] The present invention adopting the above technical solution has the following beneficial effects compared with the prior art: by adopting the dual servo lane separation technology, the output can reach 24,000 bottles per hour; at least the lane separation of flat bottles can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to further illustrate the present invention, the following is further described in conjunction with the accompanying drawings:

[0019] Figure 1 It is a side schematic diagram of the overall structure of the invention;

[0020] Figure 2 for Figure 1A magnified view of the local structure;

[0021] Figure 3 for Figure 1 A magnified view of the local structure;

[0022] Figure 4 It is a top view of the overall structure of the invention;

[0023] Figure 5 It is a structural schematic diagram of the longitudinal servo transport system;

[0024] Figure 6 It is a schematic diagram of the structure of the lateral servo transport system from top view;

[0025] Figure 7 Detection position map for sensors;

[0026] Figure 8 This is a side schematic diagram of this patent;

[0027] Fig. 9 This is a schematic diagram of the retractable guardrail in a retracted state;

[0028] Fig.10 Schematic diagram of telescopic guardrail unfolding;

[0029] Fig.11 Schematic diagram of telescopic guardrail;

[0030] Among them: 1. Double-channel feeding system; 2. Frame; 3. Bottle; 4. Longitudinal clamping structure; 5. Longitudinal servo motor; 6. Longitudinal servo transport system; 7. Longitudinal track; 8. Transverse servo transport system; 9. Multi-channel output part; 10. Moving plate; 11. Transverse guide rail; 12. Connecting part; 13. Transverse motion chain; 14. Sprocket; 15. Transverse moving motor; 16. Connecting rod; 17. Conveying chain; 18. Fixed plate; 19. Bottom fixed plate; 20. Fixed clamping leg; 21. Moving clamping leg; 22. Moving plate; 23. Position sensor; 24. Counter. DETAILED DESCRIPTION

[0031] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "top", "bottom", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific circumstances.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0033] This patent provides a variety of parallel solutions, and the different expressions are improved solutions or parallel solutions based on the basic solution. Each solution has its own unique characteristics.

[0034] Embodiment 1: In conjunction with all the accompanying drawings; a fully automatic dual-channel servo sequential lane sorting machine, characterized in that the lane sorting machine comprises a frame 2, the frame comprises a dual-channel feeding system 1, the dual-channel feeding system 1 is a dual-channel single-row input chain, the dual-channel single-row input chain is two independent chain conveying systems, and the bottles 3 can be placed on the two independent chain conveying systems for conveying; the frame comprises two sets of bidirectional servo drive mechanisms, the two sets of bidirectional servo drive mechanisms are respectively a bidirectional servo drive mechanism A and a bidirectional servo drive mechanism B; the bidirectional servo drive mechanism A and the bidirectional servo drive mechanism B are a longitudinal servo transport system 6 and a transverse servo transport system 8, the longitudinal servo transport system 6 comprises a longitudinal track 7; a longitudinal servo is fixed on the longitudinal track 7. The longitudinal servo motor 5 includes a sprocket on the power output shaft, and the sprocket engages the chain on the longitudinal track 7; the longitudinal servo motor 5 is integrally fixedly connected to the longitudinal clamping structure 4, and the longitudinal clamping structure 4 can protect the bottle from the side to prevent it from falling over; the longitudinal track 7 is connected to the moving plate 10, the moving plate 10 passes through the transverse guide rail 11, and the upper end of the moving plate 10 is fixedly connected to the transverse motion chain 13 through the connecting part 12, and also includes a transverse moving motor 15, which is installed on the frame, and the power output shaft of the transverse moving motor 15 includes a sprocket 14, which can drive the transverse motion chain 13 to move, and the transverse motion chain can drive the moving plate 10 and the longitudinal track 7 to move horizontally as a whole. The substantial technical effect and the implementation process of the technical solution here are as follows: the present invention is a fully automatic servo sequential lane separation mechanism for special-shaped containers in the subsequent packaging of the production line, which realizes the process of automatic lane separation and sorting for flat, oval and other special-shaped containers according to the packaging form to meet the needs of automatic sequential cartoning machines.

[0035] Especially under high-speed conditions, it is impossible to achieve this with the original lane separation mechanism. At the same time, this mechanism is also suitable for the servo automatic sequence arrangement of conventional round containers.

[0036] The servo sequential lane division mechanism described in the present invention comprises a frame, a double-lane single-row input chain, a tail transition connection, longitudinal servo synchronous conveying, lateral servo lane division, a limit switch, a photoelectric detection including lane deceleration detection, lane origin detection, counting detection, etc., a multi-row output chain, a PLC control, etc.

[0037] Embodiment 1 takes flat containers as an example, and the packaging form is 4×6; the containers with labels and numbers in the present invention are only transported from a single-row container conveying chain. When passing through fixed guardrails and telescopic guardrails, the counting detection only counts the containers passing through. Every time 6 containers are passed, the counting detection sends a signal to the PLC. At this time, the servo lane motor moves a distance according to a fixed number of pulses to align the container only with the next lane. At the same time, the longitudinal servo synchronous conveying mechanism works to drive the telescopic guardrail to extend forward and move a distance according to a fixed number of pulses, and maintains the same speed as the conveying chain. The counting detection and the container are in a relatively static state, completing a lane of containers and lanes.

[0038] After the telescopic guardrail stops, the retraction instruction is executed and the counting detection starts to work. After passing 6 containers, it returns to the original point of container handling. At the same time, the counting detection sends a signal to the PLC. At this time, the servo lane motor moves a distance according to a fixed number of pulses to align the container only with the next lane. At the same time, the servo container handling motor drives the telescopic guardrail to extend forward and move a distance according to a fixed number of pulses, and maintains the same speed as the container chain. The counting detection and the container are in a relatively static state, completing the second container handling and lane separation.

[0039] Repeat the two-way container sorting and lane sorting work to complete three-way or four-way container sorting and lane sorting work.

[0040] After completing a cycle, the servo motor returns to the origin. At this time, the lane deceleration detection starts working first, and the servo motor decelerates; then the lane origin detection works, and the servo motor stops. Then the next working cycle is carried out.

[0041] The distance traveled by the lane is determined by the number of pulses, and accumulated errors are generated after multiple lane divisions. The accumulated errors are eliminated after returning to the origin through origin detection.

[0042] In the process of returning to the origin, in order to prevent violent movements from causing poor container handling effects, a process of deceleration and then stopping is required; and the lane deceleration detection can just accomplish this task.

[0043] The fully automatic dual-channel servo sequential lane separation machine includes two sets of the above mechanisms, that is, two sets of single-channel mechanisms are set in one frame and controlled by a PLC. In this way, the production capacity can be increased and the need for more lanes can be met. The number of arrangements and other requirements can also be set arbitrarily.

[0044] Innovatively, each of the above effects exists independently, and a set of structures can be used to combine the above results.

[0045] It should be noted that the multiple modules of this patent are an integration of modules of the prior art and do not involve new modules.

[0046] Embodiment 2: As a further improved solution or a parallel solution or an optional independent solution, the longitudinal clamping structure 4 has two groups of clamping components, and the clamping components include a fixed clamping leg 20 and a movable clamping leg 21; the fixed clamping leg 20 is fixed on the track 7, and the movable clamping leg 21 is connected to the conveying chain 17 through the fixed plate 18; the conveying chain 17 can drive the movable clamping leg 21 to move back and forth along the track 7, and the bottom of the fixed clamping leg 20 is connected to the bottom fixed plate 19, and the bottom of the movable clamping leg 21 is connected to the movable plate 22; then the bottom fixed plate 19 under the fixed clamping leg 20 and the movable plate 22 under the movable clamping leg 21 are relatively nested and telescopic, and the bottom fixed plate 19 and the movable plate 22 constitute a movable telescopic guardrail; there is a clamping gap between the two groups of clamping components, which can clamp bottles. The substantial technical effects of the technical solution here and its implementation process are as follows: Reference Figures 8 to 11 The bottom fixed plate 19 and the movable plate 22 constitute a movable telescopic guardrail to prevent the bottle from falling over.

[0047] Embodiment 3: As a further improved solution or a parallel solution or an optional independent solution, the rack includes a position sensor 23. The substantial technical effect and implementation process of the technical solution here are as follows: the position sensor 23 includes a plurality of sensors to measure the moving position of the rack.

[0048] Embodiment 4: As a further improved solution or a parallel solution or an optional independent solution, the transverse moving motor 15 and its mounting shaft are arranged on both sides of the frame; the two transverse moving motors 15 correspond to a set of longitudinal servo transport system 6 and transverse servo transport system 8 respectively.

[0049] Embodiment 5: As a further improved solution or a parallel solution or an optional independent solution, the right side of the rack is a multi-channel output part 9.

[0050] The fully automatic dual-channel servo sequential lane separation method is characterized by comprising the following steps:

[0051] The two columns of single-row conveyed containers and bottles enter the dual-channel servo lane dividing machine and are counted after being detected by the photoelectric detection. In the dual-channel servo lane dividing machine, two groups of bidirectional servo drive mechanisms A and B are installed respectively to drive the longitudinal and transverse movement of the lane dividing mechanism respectively. In this way, for the single-column bottles after counting, the PLC setting parameters are adjusted as needed to determine the number of longitudinal movements and the number of columns for each transverse movement, and the speed of the longitudinal moving telescopic guardrail is adjusted to match the speed of the multi-column conveyor belt to achieve synchronous conveying and avoid tipping caused by speed difference. After passing the fixed guardrail, the counting detection only counts the containers passing through. After each set number of bottles, the counting detection sends a signal to the PLC. At this time, the servo lane dividing motor moves the container according to the fixed number of pulses and moves the distance to align the container only with the next lane. At the same time, the longitudinal servo synchronous conveying mechanism works to drive the telescopic guardrail to move the distance according to the fixed number of pulses and keep the same speed as the conveying chain. The counting detection and the container are in a relatively static state, completing the container and lane division in one lane.

[0052] After the telescopic guardrail stops, the retraction command is executed and the counting detection starts working. After passing 6 containers, it returns to the container handling origin. At the same time, the counting detection sends a signal to the PLC. At this time, the servo lane motor moves a distance according to a fixed number of pulses, and the container is only aimed at the next lane. At the same time, the servo container handling motor drives the telescopic guardrail to extend forward, moves a distance according to a fixed number of pulses, and maintains the same speed as the container chain. The counting detection and the container are in a relatively static state, completing the second container handling and lane separation;

[0053] Repeat the process of sorting containers in two lanes and sorting lanes in three or four lanes respectively;

[0054] After completing a cycle, the servo lane motor returns to the origin; at this time, the lane deceleration detection starts working first, and the servo motor decelerates; then the lane origin detection works, and the servo motor stops; and then the next working cycle is carried out.

[0055] A further technical solution of the present invention is that the servo motors are connected to the actuators via chain drives.

[0056] The present invention adopting the above technical solution has the following beneficial effects compared with the prior art: by adopting the dual servo lane separation technology, the output can reach 24,000 bottles per hour; at least the lane separation of flat bottles can be achieved.

[0057] The basic principle, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the protection required.

Claims

1. Fully automatic dual-channel servo sequential lane sorting machine, characterized by: The lane dividing machine comprises a frame (2), the frame comprises a double-lane feeding system (1), the double-lane feeding system (1) is a double-lane single-row input chain, the double-lane single-row input chain is two independent chain conveying systems, and the bottles (3) can be placed on the two independent chain conveying systems for conveying; the frame comprises two sets of bidirectional servo drive mechanisms, the two sets of bidirectional servo drive mechanisms are respectively a bidirectional servo drive mechanism A and a bidirectional servo drive mechanism B; the bidirectional servo drive mechanism A and the bidirectional servo drive mechanism B are a longitudinal servo transport system (6) and a transverse servo transport system (8), the longitudinal servo transport system (6) comprises a longitudinal track (7); a longitudinal servo motor (5) is fixed on the longitudinal track (7), and a power output shaft of the longitudinal servo motor (5) comprises a sprocket, The sprocket engages with the chain on the longitudinal track (7); the longitudinal servo motor (5) is integrally fixedly connected to the longitudinal clamping structure (4), and the longitudinal clamping structure (4) can protect the bottle from the side to prevent it from falling over; the longitudinal track (7) is connected to the moving plate (10), the moving plate (10) passes through the transverse guide rail (11), the upper end of the moving plate (10) is fixedly connected to the transverse motion chain (13) through the connecting part (12), and also includes a transverse moving motor (15), the transverse moving motor (15) is installed on the frame, and the power output shaft of the transverse moving motor (15) includes a sprocket (14), the sprocket (14) can drive the transverse motion chain (13) to move, and the transverse motion chain can drive the moving plate (10) and the longitudinal track (7) to move transversely as a whole; The frame includes a position sensor (23); The right side of the frame is a multi-channel output part (9).

2. The fully automatic dual-channel servo sequential lane sorting machine as claimed in claim 1, characterized in that: The longitudinal clamping structure (4) comprises two groups of clamping components, the clamping components comprising a fixed clamping leg (20) and a movable clamping leg (21); the fixed clamping leg (20) is fixed on the longitudinal track (7), and the movable clamping leg (21) is connected to the conveying chain (17) via a fixed plate (18); the conveying chain (17) can drive the movable clamping leg (21) to reciprocate along the track (7), the bottom of the fixed clamping leg (20) is connected to the bottom fixed plate (19), and the bottom of the movable clamping leg (21) is connected to the movable plate (22); then, the bottom fixed plate (19) under the fixed clamping leg (20) and the movable plate (22) under the movable clamping leg (21) are relatively nested and telescopic, and the bottom fixed plate (19) and the movable plate (22) under the movable clamping leg (21) form a movable telescopic guardrail; there is a clamping gap between the two groups of clamping components, which can clamp bottles.

3. The fully automatic dual-channel servo sequential lane sorting machine as claimed in claim 2, characterized in that: The transverse moving motor (15) and its mounting shaft are arranged on both sides of the frame; the two transverse moving motors (15) correspond to a set of longitudinal servo transport system (6) and a transverse servo transport system (8), respectively.

4. Fully automatic dual-channel servo sequential lane separation method, characterized in that: Utilizing the fully automatic dual-channel servo sequential lane sorting machine as claimed in claim 3, It includes the following steps: The two columns of single-row conveyed containers and bottles enter the dual-channel servo lane dividing machine and are counted after being detected by the photoelectric detection. In the dual-channel servo lane dividing machine, two groups of bidirectional servo drive mechanisms A and B are installed respectively to drive the longitudinal and transverse movement of the lane dividing mechanism respectively. In this way, for the single-column bottles after counting, the PLC setting parameters are adjusted as needed to determine the number of longitudinal movements and the number of columns for each transverse movement, and the speed of the longitudinal moving telescopic guardrail is adjusted to match the speed of the multi-column conveyor belt to achieve synchronous conveying and avoid tipping caused by speed difference. After passing the fixed guardrail, the counting detection only counts the containers passing through. After each set number of bottles, the counting detection sends a signal to the PLC. At this time, the servo lane dividing motor moves the container according to the fixed number of pulses and moves the distance to align the container only with the next lane. At the same time, the longitudinal servo synchronous conveying mechanism works to drive the telescopic guardrail to move the distance according to the fixed number of pulses and keep the same speed as the conveying chain. The counting detection and the container are in a relatively static state, completing the container and lane division in one lane. After the telescopic guardrail stops, the retraction command is executed and the counting detection starts working. After passing 6 containers, it returns to the container handling origin. At the same time, the counting detection sends a signal to the PLC. At this time, the servo lane motor moves a distance according to a fixed number of pulses, and the container is only aimed at the next lane. At the same time, the servo container handling motor drives the telescopic guardrail to extend forward, moves a distance according to a fixed number of pulses, and maintains the same speed as the container chain. The counting detection and the container are in a relatively static state, completing the second container handling and lane separation; Repeat the process of sorting containers in two lanes and sorting lanes in three or four lanes respectively; After completing a cycle, the servo lane motor returns to the origin; at this time, the lane deceleration detection starts working first, and the servo motor decelerates; then the lane origin detection works, and the servo motor stops; and then the next working cycle is carried out.

5. The fully automatic dual-channel servo sequential lane separation method according to claim 4, characterized in that: The servo motors are connected to the actuators through chain drives.

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