Material sorting equipment, vibration-dispersing tray and mode control method based on vibration-dispersing tray

Abstract

The present invention provides a material sorting device, a vibrating and spreading plate, and a mode control method based on the vibrating and spreading plate. The vibrating and spreading plate includes a base, a power component, a panel, and a controller. A control board is arranged on the base. There are at least two power components, and each power component is dispersedly installed on the base. The panel is located above the base, and the panel is in transmission connection with the power components. The controller is used to generate a mode adjustment instruction according to the distribution state of the material to be processed on the panel, and the mode adjustment instruction is used to control the power components to act according to a preset strategy so that the panel starts the vibrating and spreading mode. Taking the distribution state of the material to be processed on the panel as the trigger condition for the corresponding vibrating and spreading mode of the panel, and determining the vibration mode according to the distribution state of the material to be processed, it solves the technical problem in the prior art that the vibration mode of the vibrating disc is single and the vibration mode cannot be determined and adjusted in combination with the state of the material, resulting in poor vibrating and spreading effect of the material, and improves the vibrating and spreading effect of the material.

Description

Technical Field

[0001] The present invention relates to the technical field of material sorting, and in particular to a material sorting device, a vibration dispersing plate, and a mode control method based on the vibration dispersing plate. Background Art

[0002] Before feeding the bulk materials, it is usually necessary to use a vibrating plate to break up and flatten the materials so that the materials can be easily grabbed by the robot. However, in the prior art, the vibrating plate can only vibrate in a single mode that is set. When the vibrating plate is turned on, the vibration mode is activated, and the vibration mode cannot be adjusted according to the state of the materials on the vibrating plate, which easily causes the materials to get stuck and scratch each other, resulting in poor vibration and dispersion of the materials. Summary of the invention

[0003] The present invention provides a material sorting device, a vibration plate and a mode control method based on the vibration plate, so as to solve the technical problem that the vibration mode of the vibration plate in the prior art is single and the vibration mode cannot be determined and adjusted in combination with the state of the material, thus resulting in poor material vibration effect.

[0004] The present invention provides a vibration dispersing plate for use in material sorting equipment, the vibration dispersing plate comprising:

[0005] A base, wherein a control panel is arranged on the base, and the control panel has an electrical interface and a light source interface;

[0006] A power component, wherein there are at least two power components, and each of the power components is discretely installed on the base;

[0007] A panel, the panel is located above the base and is transmission-connected to the power component;

[0008] A controller is used to generate a mode adjustment instruction according to the distribution state of the material to be processed on the panel, and the mode adjustment instruction is used to control the power component to act according to a preset strategy so that the panel starts a dispersion mode.

[0009] In some embodiments, the panel is detachably mounted to the base.

[0010] In some embodiments, a plurality of limiting grooves are provided on the material contact surface of the panel, and the shape and specification of the limiting grooves are adapted to the material to be processed.

[0011] In some embodiments, there are at least two light source interfaces, and the two light source interfaces are respectively connected to image acquisition auxiliary mechanisms.

[0012] The present invention also provides a material sorting device, comprising:

[0013] A frame, on which an image acquisition device is installed;

[0014] The vibrating and spreading plate as described above;

[0015] A storage bin for storing materials to be processed and transporting the materials to be processed to the vibrating and spreading plate;

[0016] A sorting robot for gripping the materials to be processed on the vibrating and spreading plate and placing them on a feeding jig.

[0017] In some embodiments, the controller is further configured to control the working mode of the storage bin, and the controller is integrated in the base of the vibrating and spreading plate or integrated in the control unit of the sorting robot.

[0018] The present invention also provides a mode control method based on a vibrating and spreading plate. Based on the vibrating and spreading plate as described above, the method includes:

[0019] Obtaining the distribution state of the materials to be processed on the panel of the vibrating and spreading plate, where the distribution state at least includes the current front and back states of the materials to be processed and the current position information on the panel;

[0020] Generating a mode adjustment instruction according to the distribution state of the materials to be processed on the panel, where the mode adjustment instruction is used to control the power components of the vibrating and spreading plate to act according to a preset strategy so that the panel starts a vibrating and spreading mode.

[0021] In some embodiments, the power components of the vibrating and spreading plate include a first voice coil motor, a second voice coil motor, a third voice coil motor, and a fourth voice coil motor respectively installed at the four corners of the panel;

[0022] The mode adjustment instruction includes a first mode adjustment instruction and a second mode adjustment instruction;

[0023] Generating a mode adjustment instruction according to the distribution state of the materials to be processed on the panel, where the mode adjustment instruction is used to control the power components of the vibrating and spreading plate to act according to a preset strategy so that the panel starts a vibrating and spreading mode, specifically including:

[0024] Determining that the distribution state does not match the preset state in terms of the current front and back states, and generating the first mode adjustment instruction, where the first mode adjustment instruction is used to control the first voice coil motor, the second voice coil motor, the third voice coil motor, and the fourth voice coil motor to start;

[0025] Determining that the distribution state has a deviation from the preset position in terms of the current position information, and generating the second mode adjustment instruction, where the first mode adjustment instruction is used to control two of the first voice coil motor, the second voice coil motor, the third voice coil motor, and the fourth voice coil motor to start.

[0026] In some embodiments, obtaining the distribution state of the material to be processed on the panel of the dispersion disk also includes:

[0027] In response to a material feeding instruction or a material discharging instruction, a start instruction is sent to the material storage bin, and the start instruction is used to control the opening of the material storage bin.

[0028] The present invention also provides a mode control device based on a dispersion disc, based on the dispersion disc as described above, the device comprises:

[0029] A data acquisition unit, used to acquire the distribution state of the material to be processed on the panel of the vibration and dispersion disk, wherein the distribution state at least includes the current front and back state of the material to be processed and the current position information on the panel;

[0030] The instruction generation unit is used to generate a mode adjustment instruction according to the distribution state of the material to be processed on the panel, and the mode adjustment instruction is used to control the power component of the dispersion disk to operate according to a preset strategy so that the panel starts the dispersion mode.

[0031] The vibration and dispersion disk provided by the present invention includes a base, a power component, a panel and a controller. The base is provided with a control panel, the control panel has an electrical interface and a light source interface, there are at least two power components, each of which is dispersedly installed on the base, the panel is located above the base, and the panel is connected to the power component in a transmission manner; the controller is used to generate a mode adjustment instruction according to the distribution state of the material to be processed on the panel, and the mode adjustment instruction is used to control the power component to act according to a preset strategy so that the panel starts the vibration and dispersion mode.

[0032] During the operation of the vibration and dispersion disk, the distribution state of the material to be processed on the panel of the vibration and dispersion disk is obtained in real time, and a mode adjustment instruction is generated according to the distribution state of the material to be processed on the panel. The mode adjustment instruction is used to control the power component of the vibration and dispersion disk to act according to a preset strategy so that the panel starts the vibration and dispersion mode. In this way, the distribution state of the material to be processed on the panel is used as the trigger condition of the vibration and dispersion mode corresponding to the panel, and the vibration mode is determined according to the distribution state of the material to be processed, which solves the technical problem that the vibration mode of the vibration disk in the prior art is single and the vibration mode cannot be determined and adjusted in combination with the state of the material, resulting in poor material dispersion effect, and improves the material dispersion effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] To more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0034] Figure 1 One of the schematic structural diagrams of the vibration and dispersion plate provided by the present invention;

[0035] Figure 2 Another schematic structural diagram of the vibration and dispersion plate provided by the present invention;

[0036] Figure 3 The third schematic structural diagram of the vibration and dispersion plate provided by the present invention;

[0037] Figure 4 The schematic structural diagram of the material sorting device provided by the present invention;

[0038] Figure 5 The working flow chart of the material sorting device provided by the present invention;

[0039] Figure 6 One of the schematic flow charts of the mode control method based on the vibration and dispersion plate provided by the present invention;

[0040] Figure 7 Another schematic flow chart of the mode control method based on the vibration and dispersion plate provided by the present invention;

[0041] Figure 8 The schematic structural diagram of the panel provided by the present invention;

[0042] Figure 9 The schematic structural diagram of the mode control device based on the vibration and dispersion plate provided by the present invention.

[0043] Explanation of reference numerals:

[0044] 100 - vibration and dispersion plate, 200 - frame, 300 - storage bin, 400 - sorting robot;

[0045] 101 - base, 102 - control board, 103 - electrical interface, 104 - light source interface, 105 - panel, 106 - controller, 107 - first voice coil motor, 108 - second voice coil motor, 109 - third voice coil motor, 110 - fourth voice coil motor;

[0046] 901 - data acquisition unit, 902 - instruction generation unit. Detailed implementation manners

[0047] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. For the embodiments applied to the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0048] To solve the problems in the prior art that the vibration mode of the vibrating plate for the material sorting equipment is single and sheet materials are prone to jamming, the present invention provides a vibrating plate and a mode control method. By determining different vibration modes according to the distribution state of the materials on the vibrating plate, the vibration mode is more in line with the distribution state of the materials, improving the vibrating and scattering effect of the materials and preventing jamming.

[0049] In a specific embodiment, the vibrating plate 100 provided by the present invention is used for a material sorting equipment, such as Figures 1-3 shown, the vibrating plate 100 includes a base 101, a power component, a panel 105, and a controller 106. Among them, the base 101 is the supporting structure of the vibrating plate 100, which can be a frame structure, such as Figure 1 shown, it can be a rectangular frame with a receiving cavity. Other components of the vibrating plate 100 are all installed on the base 101, and the base 101 is placed or installed on the frame 200 of the material sorting equipment.

[0050] A control board 102 is provided on the base 101, and the control board 102 has an electrical interface 103 and a light source interface 104. The light source interface 104 has at least two, and the two light source interfaces are respectively connected to an image acquisition auxiliary mechanism. The image acquisition auxiliary mechanism is a high-power and high-brightness light source or an auxiliary camera. By adding two high-power and high-brightness light sources or adding an auxiliary camera on the control board 102, the identification effect during image acquisition is improved, and the accuracy of image acquisition is ensured.

[0051] In some embodiments, two light source interfaces 104 are provided on the control board 102, thus setting two light source channels. Specifically, the control board 102 adjusts the frequency and width of the pulse in the form of sending pulses to achieve vibration adjustment, and controls the light source to control the backlight source of the vibrating plate 100. It should be understood that the brightness and weakness of the light source can be adjusted. By setting two light source (fly shooting) channels, the input signal is the output of the fault signal; at the same time, a light source for the second channel is added. In the prior art, usually only one light source is provided. In this embodiment, an external positive light source is also provided on the PCBA and is controlled by the PCBA for both channels; the external light source can be located anywhere and can be moved to the required position. The light source is installed at the position where it is needed, with greater flexibility.

[0052] Furthermore, the control board 102 may be provided with a handle network port, which is used to connect to an external computer and be controlled through hardware IO; alternatively, the control board 102 may also be connected to an external controller 106 through 485 communication for control, or may be controlled by a manual controller 106.

[0053] In the vibration-dispersion disk 100 provided by the present invention, there are at least two power components, and each of the power components is dispersedly installed on the base 101. Specifically, the power component can be a voice coil motor, which has low noise and can vibrate in both directions to achieve a gathering and dispersion effect, and is more suitable for the use scenario of the vibration-dispersion disk 100. Theoretically speaking, the power component is not limited to a voice coil motor, and it can also use a servo motor and a cam transmission structure to replace the voice coil motor.

[0054] In some embodiments, the vibration dissipation disk 100 is generally configured as a rectangular structure. In order to adapt to the rectangular structure, the power components of the vibration dissipation disk 100 include a first voice coil motor 107, a second voice coil motor 108, a third voice coil motor 109 and a fourth voice coil motor 110 respectively installed at the four corners of the panel 105.

[0055] The panel 105 of the vibration-dispersing disk 100 is a component that contacts the material during operation and disperses the material through vibration. The panel 105 is located above the base 101, and the panel 105 is connected to the power component by transmission; the panel 105 of the vibration-dispersing disk 100 can be realized by a PLC or PCBA control board 102. A certain gap should be left between the panel and the base to avoid interference during the vibration process.

[0056] The controller 106 is used to generate a mode adjustment instruction according to the distribution state of the material to be processed on the panel 105, and the mode adjustment instruction is used to control the power component to act according to a preset strategy so that the panel 105 starts the dispersion mode. Specifically, the mode adjustment instruction can control the movement of one motor, any two motors or four motors in the power component (for example, the four voice coil motors in this embodiment), and there can be a total of 11 modes. For example, when the material to be processed needs to be turned over, the mode adjustment instruction controls the four motors to start at the same time; the position of the material on the panel 105 determines which two motors start the vibration. During the working process, the distribution state of the material on the panel 105 can be identified by the visual system, the product position is determined by the visual system, and then controlled by the controller 106; for the target material, it is necessary to identify the front and back of the product material through the results captured by the camera, and then the vibration of the preset strategy is realized by controlling the voice coil motor.

[0057] In an actual usage scenario, the vibrating and dispersing plate 100 may need to process various materials with different specifications and shapes. In order to adapt to different materials, in some embodiments, the panel 105 is detachably mounted on the base 101. When the material to be processed changes, the original panel 105 can be detached and a more suitable panel 105 can be replaced.

[0058] To prevent the material from slipping on the panel 105 and improve the effect of vibrating and dispersing the material, a plurality of limiting grooves can be formed on the material contact surface of the panel 105. The shape and specifications of the limiting grooves are adapted to the material to be processed. The limiting grooves can be square grooves, circular grooves or irregularly shaped limiting grooves, as long as they match the specifications and shape of the material.

[0059] On the same panel 105, limiting grooves with different specifications and shapes can be formed in different regions. For example, on the same panel 105, the left side is divided into area A and the right side is divided into area B. Circular limiting grooves are formed in area A to be adapted to the first material, and square limiting grooves are formed in area B to be adapted to the second material, so as to realize the synchronous screening of the two materials.

[0060] In the above specific implementation manner, the vibrating and dispersing plate 100 provided by the present invention includes a base 101, a power component, a panel 105 and a controller 106. Among them, a control board 102 is provided on the base 101. The control board 102 has an electrical interface 103 and a light source interface 104. The power components are at least two, and each power component is dispersedly mounted on the base 101. The panel 105 is mounted above the base 101, and the panel 105 is in transmission connection with the power components; the controller 106 is configured to generate a mode adjustment instruction according to the distribution state of the material to be processed on the panel 105, and the mode adjustment instruction is used to control the power components to act according to a preset strategy, so that the panel 105 starts the vibrating and dispersing mode.

[0061] During the working process of the vibrating and dispersing plate 100, by obtaining in real time the distribution state of the material to be processed on the panel 105 of the vibrating and dispersing plate 100, and generating a mode adjustment instruction according to the distribution state of the material to be processed on the panel 105, the mode adjustment instruction is used to control the power components of the vibrating and dispersing plate 100 to act according to a preset strategy, so that the panel 105 starts the vibrating and dispersing mode. In this way, taking the distribution state of the material to be processed on the panel 105 as the trigger condition for the corresponding vibrating and dispersing mode of the panel 105, and determining the vibration mode according to the distribution state of the material to be processed, it solves the technical problem in the prior art that the vibration mode of the vibrating plate is single and the vibration mode cannot be determined and adjusted in combination with the state of the material, resulting in poor vibrating and dispersing effect of the material, and improves the vibrating and dispersing effect of the material.

[0062] In addition to the above-mentioned vibrating and loosening tray, the present invention also provides a material sorting device, as Figure 4 shown. The material sorting device includes a frame 200, the vibrating and loosening tray as described above, a storage bin 300, and a sorting robot 400. An image acquisition device is installed on the frame. The storage bin is used to store the materials to be processed and transfer the materials to be processed to the vibrating and loosening tray. The sorting robot clamps the materials to be processed on the vibrating and loosening tray and places them on the feeding fixture. A coil is provided below the storage bin. The coil is a special coil that converts 24V to 15V alternating current. The working speed of the vibrating device is adjusted through the coil to replace the traditional 220V coil, which can improve the speed adjustment effect of the vibrating device. In the installation structure, an anti-disassembly plate can be provided outside the coil to improve the safety of the coil and prevent malicious disassembly.

[0063] In some embodiments, the controller is further configured to control the working mode of the storage bin. The controller is integrated into the base of the vibrating and loosening tray or integrated into the control unit of the sorting robot. That is to say, the controller of the storage bin is integrated into the controller of the vibrating and loosening tray, or the controllers of the storage bin and the vibrating and loosening tray can be both integrated into the control unit of the sorting robot. By sharing the controller between the storage bin and the vibrating and loosening tray, the control unit of the storage bin is cancelled, reducing the complexity of the device and the cost of the device.

[0064] During the working process of the material sorting device, as Figure 5 shown, in response to the instruction to start the device, the materials to be processed by manual (usually bulk materials) are put into the storage bin. After the controller responds to the automatic feeding instruction, it drives the storage bin to start and automatically feeds the materials to be processed in the storage bin to the vibrating and loosening tray. Then, the distribution state of the materials to be processed on the panel is collected by the vision system, and a mode adjustment instruction is generated. The power component of the vibrating and loosening tray is controlled by the mode adjustment instruction to act according to a preset strategy, so that the panel starts with the corresponding vibrating and loosening mode. After the vibrating and loosening is completed, the materials are identified by the vision system. According to the identified image result, when there are materials that can be grabbed on the panel, the manipulator is controlled to grab the materials in sequence and place the grabbed materials on the feeding fixture. After completion, it enters the next process. When there is a lack of materials on the panel, a lack-of-materials alarm is issued and the feeding step is returned.

[0065] In this way, the material sorting device uses the distribution state of the materials to be processed on the panel as the trigger condition for the corresponding vibrating and loosening mode of the panel, determines the vibration mode according to the distribution state of the materials to be processed, solves the technical problem in the prior art that the vibration mode of the vibrating disk is single and the vibration mode cannot be determined and adjusted in combination with the state of the materials, resulting in poor vibrating and loosening effect of the materials, and improves the vibrating and loosening effect of the materials.

[0066] Please refer to Figure 6 , Figure 6One of the flow schematic diagrams of the pattern control method based on a vibration and spreading plate provided by the present invention.

[0067] In a specific embodiment, the pattern control method based on a vibration and spreading plate provided by the present invention includes the following steps:

[0068] S601: Obtain the distribution state of the material to be processed on the panel of the vibration and spreading plate. The distribution state at least includes the current front and back states of the material to be processed and the current position information on the panel. Specifically, a camera is installed above the vibration and spreading plate, and the camera is used to collect the image of the material on the panel, and the distribution state of the material to be processed on the panel is judged according to the image.

[0069] S602: Generate a pattern adjustment instruction according to the distribution state of the material to be processed on the panel. The pattern adjustment instruction is used to control the power components of the vibration and spreading plate to act according to a preset strategy, so as to start the vibration and spreading mode of the panel.

[0070] In some embodiments, the power components of the vibration and spreading plate include a first voice coil motor, a second voice coil motor, a third voice coil motor, and a fourth voice coil motor respectively installed at the four corners of the panel;

[0071] The pattern adjustment instruction includes a first pattern adjustment instruction and a second pattern adjustment instruction;

[0072] Generate a pattern adjustment instruction according to the distribution state of the material to be processed on the panel. The pattern adjustment instruction is used to control the power components of the vibration and spreading plate to act according to a preset strategy, so as to start the vibration and spreading mode of the panel, as Figure 7 shown, specifically including the following steps:

[0073] S701: Determine that the distribution state does not match the preset state of the current front and back states, and generate the first pattern adjustment instruction. The first pattern adjustment instruction is used to control the first voice coil motor, the second voice coil motor, the third voice coil motor, and the fourth voice coil motor to start; in an actual use scenario, when the material to be processed needs to be turned over, the first pattern adjustment instruction is generated, so as to control the four voice coil motors to start to realize the vibration turning over of the material. For example, when the manipulator needs to pick up the material in the front state, if the detected current front and back state of the material is the back, the material needs to be turned over. At this time, the first pattern adjustment instruction is generated, and the four voice coil motors are started simultaneously.

[0074] S702: Determine that the distribution state indicates a deviation of the current position information from a preset position, and then generate the second mode adjustment instruction. The first mode adjustment instruction is used to control the startup of two of the first voice coil motor, the second voice coil motor, the third voice coil motor, and the fourth voice coil motor. In an actual use scenario, when the material to be processed needs to be translated due to deviation from the central axis, the second mode adjustment instruction is generated to control the startup of two of the four voice coil motors, so as to achieve the vibratory translation of the material. For example, as Figure 8 shown, when the material is close to the L1 side of the panel, the second mode adjustment instruction controls the startup of the first voice coil motor and the second voice coil motor to vibrate the material in a direction away from the L1 side; when the material is close to the L2 side of the panel, the second mode adjustment instruction controls the startup of the second voice coil motor and the fourth voice coil motor to vibrate the material in a direction away from the L2 side; when the material is close to the L3 side of the panel, the second mode adjustment instruction controls the startup of the third voice coil motor and the fourth voice coil motor to vibrate the material in a direction away from the L3 side; when the material is close to the L4 side of the panel, the second mode adjustment instruction controls the startup of the first voice coil motor and the third voice coil motor to vibrate the material in a direction away from the L4 side; when the material deviates to the area between the L1 side and the L2 side, or to the area between the L3 side and the L4 side, the second mode adjustment instruction controls the startup of the second voice coil motor and the third voice coil motor to move the material in the diagonal direction of the first voice coil motor and the fourth voice coil motor; when the material deviates to the area between the L1 side and the L4 side, or to the area between the L3 side and the L2 side, the second mode adjustment instruction controls the startup of the first voice coil motor and the fourth voice coil motor to move the material in the diagonal direction of the second voice coil motor and the third voice coil motor.

[0075] In addition to the 7 modes controlled by the above first mode adjustment instruction and second mode adjustment instruction, when the material deviates to the four corners of the panel, a single voice coil motor at that corner can be started separately, that is, there are a total of 11 control modes.

[0076] In some embodiments, the vibration disk and the storage bin share a controller. Then, in this control method, before obtaining the distribution state of the material to be processed on the panel of the vibration disk, it further includes:

[0077] In response to a feeding instruction or a discharging instruction, send a startup instruction to the storage bin, and the startup instruction is used to control the opening of the storage bin.

[0078] In the above specific embodiments, the control method provided by the present invention obtains the distribution state of the material to be processed on the panel of the vibration and dispersion tray in real time, and generates a mode adjustment instruction according to the distribution state of the material to be processed on the panel. The mode adjustment instruction is used to control the power component of the vibration and dispersion tray to act according to a preset strategy, so as to start the vibration and dispersion mode of the panel. In this way, the distribution state of the material to be processed on the panel is used as the trigger condition for the corresponding vibration and dispersion mode of the panel, and the vibration mode is determined according to the distribution state of the material to be processed, solving the technical problem in the prior art that the vibration mode of the vibration tray is single and the vibration mode cannot be determined and adjusted in combination with the state of the material, resulting in poor vibration and dispersion effect of the material, and improving the vibration and dispersion effect of the material.

[0079] The present invention also provides a mode control device based on a vibration and dispersion tray, as Figure 9 shown, the device includes:

[0080] A data acquisition unit 901, configured to acquire the distribution state of the material to be processed on the panel of the vibration and dispersion tray, where the distribution state at least includes the current front and back states of the material to be processed and the current position information on the panel;

[0081] An instruction generation unit 902, configured to generate a mode adjustment instruction according to the distribution state of the material to be processed on the panel, where the mode adjustment instruction is used to control the power component of the vibration and dispersion tray to act according to a preset strategy, so as to start the vibration and dispersion mode of the panel.

[0082] In some embodiments, the power components of the vibration and dispersion tray include a first voice coil motor, a second voice coil motor, a third voice coil motor, and a fourth voice coil motor respectively installed at the four corners of the panel;

[0083] The mode adjustment instruction includes a first mode adjustment instruction and a second mode adjustment instruction;

[0084] Generating a mode adjustment instruction according to the distribution state of the material to be processed on the panel, where the mode adjustment instruction is used to control the power component of the vibration and dispersion tray to act according to a preset strategy, so as to start the vibration and dispersion mode of the panel, specifically includes:

[0085] Determining that the distribution state does not match the preset state of the current front and back states, then generating the first mode adjustment instruction, where the first mode adjustment instruction is used to control the first voice coil motor, the second voice coil motor, the third voice coil motor, and the fourth voice coil motor to start;

[0086] If it is determined that the distribution state indicates a deviation of the current position information from the preset position, a second mode adjustment instruction is generated, and the first mode adjustment instruction is used to control the startup of two of the first voice coil motor, the second voice coil motor, the third voice coil motor, and the fourth voice coil motor.

[0087] In some embodiments, before obtaining the distribution state of the material to be processed on the panel of the vibrating and spreading tray, it further includes:

[0088] In response to a feeding instruction or a discharging instruction, a startup instruction is sent to the storage bin, and the startup instruction is used to control the opening of the storage bin.

[0089] In the above specific embodiments, the control device provided by the present invention obtains the distribution state of the material to be processed on the panel of the vibrating and spreading tray in real time, and generates a mode adjustment instruction according to the distribution state of the material to be processed on the panel. The mode adjustment instruction is used to control the power components of the vibrating and spreading tray to act according to a preset strategy, so as to start the vibrating and spreading mode of the panel. In this way, the distribution state of the material to be processed on the panel is used as the trigger condition for the corresponding vibrating and spreading mode of the panel, and the vibration mode is determined according to the distribution state of the material to be processed, solving the technical problem in the prior art that the vibration mode of the vibrating disk is single and the vibration mode cannot be determined and adjusted in combination with the state of the material, resulting in poor material vibrating and spreading effect, and improving the vibrating and spreading effect of the material.

[0090] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0091] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, also by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0092] The electronic device, computer program product, and non-transitory computer-readable storage medium provided by the present invention are configured such that by arranging phase change energy storage materials in the air conditioner indoor unit, during the operation of the air conditioner, the phase change energy storage materials perform energy storage operations. After the air conditioner stops operating, the phase change energy storage materials absorb or release heat to the indoor environment according to the stored energy, enabling the air conditioner to reasonably regulate the environmental temperature even after it stops operating. At the same time, by monitoring the temperature of the phase change energy storage materials, the phase change energy storage materials can be fully charged during the operation stage of the air conditioner and can reasonably absorb or dissipate heat during the stage when the air conditioner stops operating, keeping the indoor environment within a relatively comfortable temperature range.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vibrating and dispersing tray, which is used for a material sorting device, is characterized in that, The vibrating and spreading plate (100) includes: A base (101) provided with a control board (102) thereon, and the control board (102) has an electrical interface (103) and a light source interface (104); Power components, with at least two of the power components dispersedly installed on the base (101); A panel (105) located above the base (101), and the panel (105) is in transmission connection with the power components; A controller (106) for generating a mode adjustment instruction according to the distribution state of the material to be processed on the panel (105), and the mode adjustment instruction is used to control the power components to act according to a preset strategy so that the panel (105) starts the vibrating and spreading mode; After the controller responds to the automatic feeding instruction, it drives the storage bin to start and automatically feeds the material to be processed in the storage bin into the vibrating and spreading plate; then, the distribution state of the material to be processed on the panel is collected through the vision system to generate a mode adjustment instruction, and the power components of the vibrating and spreading plate are controlled by the mode adjustment instruction to act according to a preset strategy so that the panel starts in the corresponding vibrating and spreading mode; after the vibrating and spreading is completed, the material is identified through the vision system. According to the identified image result, when there is a material that can be grabbed on the panel, the manipulator is controlled to grab the material in sequence and place the grabbed material on the discharging fixture, and then enter the next process; when there is a lack of material on the panel, a lack-of-material alarm is issued and the feeding step is returned.

2. The vibrating and scattering plate according to claim 1, wherein The panel (105) is detachably installed on the base (101).

3. The vibrating and dispersing plate according to claim 1, wherein A plurality of limiting grooves are formed on the material contact surface of the panel (105), and the shape and specifications of the limiting grooves are adapted to the material to be processed.

4. The vibrating and dispersing plate according to claim 1, wherein There are at least two light source interfaces (104), and the two light source interfaces are respectively connected to an image acquisition auxiliary mechanism.

5. A material sorting device, characterized in that, Including: A frame (200) with an image acquisition device installed thereon; The vibrating and spreading plate (100) according to any one of claims 1-4; A storage bin (300) for storing the material to be processed and transporting the material to be processed to the vibrating and spreading plate (100); A sorting robot (400) for clamping the material to be processed on the vibrating and spreading plate (100) and placing it on the discharging fixture.

6. The material sorting device according to claim 5, wherein, The controller (106) is further used to control the working mode of the storage bin (300), and the controller (106) is integrated in the base (101) of the vibrating and spreading plate (100) or integrated in the control unit of the sorting robot (400).

7. A mode control method based on a vibration and scattering disk, based on the vibration and scattering disk (100) according to any one of claims 1-4, characterized in that, The method includes: Obtaining the distribution state of the material to be processed on the panel (105) of the vibrating and spreading plate (100), and the distribution state at least includes the current front and back states of the material to be processed and the current position information on the panel (105); Generate a mode adjustment instruction according to the distribution state of the material to be processed on the panel (105), where the mode adjustment instruction is used to control the power components of the vibrating and spreading plate (100) to act according to a preset strategy, so as to start the vibrating and spreading mode of the panel (105).

8. The mode control method based on a vibration and dispersion plate according to claim 7, wherein The power components of the vibrating and spreading plate (100) include a first voice coil motor (107), a second voice coil motor (108), a third voice coil motor (109), and a fourth voice coil motor (110) respectively installed at the four corners of the panel (105); The mode adjustment instruction includes a first mode adjustment instruction and a second mode adjustment instruction; Generate a mode adjustment instruction according to the distribution state of the material to be processed on the panel (105), where the mode adjustment instruction is used to control the power components of the vibrating and spreading plate (100) to act according to a preset strategy, so as to start the vibrating and spreading mode of the panel (105), specifically including: If it is determined that the distribution state does not match the preset state of the current front and back states, then generate the first mode adjustment instruction, and the first mode adjustment instruction is used to control the first voice coil motor (107), the second voice coil motor (108), the third voice coil motor (109), and the fourth voice coil motor (110) to start; If it is determined that the distribution state has a deviation from the preset position with respect to the current position information, then generate the second mode adjustment instruction, and the first mode adjustment instruction is used to control two of the first voice coil motor (107), the second voice coil motor (108), the third voice coil motor (109), and the fourth voice coil motor (110) to start.

9. The mode control method based on a vibration and dispersion disk according to claim 7, wherein Before obtaining the distribution state of the material to be processed on the panel (105) of the vibrating and spreading plate (100), it further includes: In response to the feeding instruction or the discharging instruction, send a start instruction to the storage bin (300), and the start instruction is used to control the storage bin (300) to open.

10. A pattern control device based on a vibration and dispersion plate, based on the vibration and dispersion plate according to any one of claims 1-6, characterized in that, The device includes: A data acquisition unit (901) for acquiring the distribution state of the material to be processed on the panel (105) of the vibrating and spreading plate (100), where the distribution state at least includes the current front and back states of the material to be processed and the current position information on the panel (105); An instruction generation unit (902) for generating a mode adjustment instruction according to the distribution state of the material to be processed on the panel (105), where the mode adjustment instruction is used to control the power components of the vibrating and spreading plate (100) to act according to a preset strategy, so as to start the vibrating and spreading mode of the panel (105).

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