Flexible automatic sorting system for plate cutting parts and sorting control method thereof

Abstract

The present invention discloses a flexible automatic sorting system for plate cutting parts and a sorting control method thereof, the flexible automatic sorting system comprises a ring conveyor line, the plate cutting parts to be sorted are surrounded by the ring conveyor line, at least one placing area and a grabbing area are defined on the ring conveyor line, and a material frame area is provided near the grabbing area for placing the material frame; the flexible automatic sorting system also comprises a sorting industrial computer, a sorting robot, a sorting vision, a palletizing robot, the palletizing vision and a controller, the sorting industrial computer is configured with a sorting management system, the sorting robot and the sorting vision are used in pairs, a track is provided on the side of a roller tray, the sorting robot is installed on the track, the sorting vision is installed on the sorting robot and takes pictures to guide the sorting robot to grab parts and put them into the placing area, the palletizing robot and the palletizing vision are used in pairs, the palletizing vision takes pictures to identify the parts, and the palletizing vision guides the palletizing robot to grab parts from the grabbing area and put them into the material frame; the parts in the placing area are conveyed to the grabbing area for grabbing by the palletizing robot as the ring conveyor line runs.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent blanking production lines, and in particular to a flexible automatic sorting system for cut plate parts and a sorting control method thereof. Background Art

[0002] In the construction machinery industry, traditional operations generally involve manual sorting and palletizing of parts after steel plate cutting. In recent years, the industry has gradually promoted the automatic sorting and palletizing of steel plate cut parts. This solution uses vision to guide sorting robots to grab parts from fixed positions and place them on a linear conveyor line for backward flow. At the same time, several industrial cameras and palletizing robots are arranged at equal intervals along the conveyor line. After the parts are photographed and identified by the camera in turn, the palletizing robot then grabs the parts according to the instructions and places them in the designated material frame. When the palletizing robot upstream of the conveyor line is busy, the parts continue to flow backward and are picked up by the downstream palletizing robot. Although this solution basically realizes the automatic sorting and palletizing functions, the following problems still exist:

[0003] 1) Large material frame usage and low loading rate: In actual applications, the lack of material frames often leads to cycle jams or even line stoppages, and the actual demand for material frames is high. Specifically, when a single sheet of sheet material is cut with many different parts and a small number of each type, the working material frame may not be full (in extreme cases, only one part) and must be transferred to the next process. This not only wastes AGV transportation capacity and affects the overall cycle time, but also requires a large number of empty material frames as standby.

[0004] 2) The same type of parts are scattered across multiple frames: Specifically, when the incoming materials are multiple parts of the same type, the upstream robot is busy and the downstream robot is responsible for re-inspection. This will cause the same parts to appear in different frames, requiring a second re-assembly.

[0005] 3) Manual re-picking of missing parts and manual re-palletizing: When there is no available work frame or the robot is busy, and no re-picking is done later, parts will be missed at the end of the line and manual re-picking and re-palletizing are required;

[0006] Patent publication number CN114042649A discloses a method for sorting and merging steel plate parts based on limited cache. Although this patent solves the problems of untimely pallet conversion and AGV transfer at the sorting line and subsequent difficulty in managing and controlling cached materials to a certain extent, the linear conveyor line and timed merging method it adopts still cannot solve the above problems, and it does not have the function of optimizing the task queue of multiple types of nesting diagrams and updating the control strategy model, making it difficult to apply to small-batch and multiple types of nesting diagram production mode. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a flexible automatic sorting system for plate cutting parts that can reduce the total amount of material frames used, increase the full frame rate of parts, and avoid the scattered distribution of similar parts.

[0008] The present invention also provides a flexible automatic sorting control method for plate cutting parts.

[0009] The purpose of the present invention is achieved through the following technical solutions:

[0010] A flexible automatic sorting system for plate cutting parts comprises a ring conveyor line, the plate cutting parts to be sorted are placed on a roller tray and surrounded by the ring conveyor line, at least one placing area and a grabbing area are defined on the ring conveyor line, and a material frame area is provided near the grabbing area to place the material frame; the flexible automatic sorting system also comprises a sorting industrial computer, at least one sorting robot, a sorting vision, at least one pallet matching robot, a pallet matching vision and a controller, a sorting management system is configured in the sorting industrial computer, the sorting robot and the sorting vision are paired and used, a track is provided on the side of the roller tray, the sorting robot is installed on the track and can move along the track Movement, the sorting vision is installed on the sorting robot to take pictures to guide the sorting robot to grab parts from the cut pieces of plate to be sorted and put them into the placement area. The pallet matching robot and the pallet matching vision are paired and used. The pallet matching vision is installed above the circular conveyor line to take pictures and identify the parts flowing through in sequence. The pallet matching robot is set near the material frame area. Under the guidance of the pallet matching vision, the pallet matching robot grabs the parts from the grabbing area and puts them into the material frame; as the circular conveyor line runs, the parts in the placement area are transported to the grabbing area for the pallet matching robot to grab; the controller is used to control the action sequence of the sorting robot and the pallet matching robot and the operation of the circular conveyor line.

[0011] Furthermore, the flexible automatic sorting system also includes a material frame buffer area as a supplement to the material frame.

[0012] Furthermore, the flexible automatic sorting system further comprises a detection element arranged near the placement area, wherein the detection element is connected to the controller signal and feeds back the part status information of the placement area to the controller.

[0013] A control method for flexible automatic sorting of sheet metal cutting parts using the flexible automatic sorting system described above is provided, wherein the sorting management system is responsible for nesting diagram analysis, strategy library matching, task management, and material frame management; the control method comprises the following steps:

[0014] S1. Import nesting diagram part information. The sorting management system filters and sorts the parts according to the nesting diagram information and generates a nesting diagram task queue. The nesting diagram task queue includes a material frame plan.

[0015] S2. Execute a single nesting map task in the order of the nesting map task queue. Convert a single nesting map into a single-station task queue according to the capacity model. The capacity model constraints are the status of each single-station equipment and work frame.

[0016] S3. Divide the cut sheet materials to be sorted into different grabbing areas Z according to the reach of the sorting robot j , where j is the sorting robot number; the sorting management system will Z j The regional parts task is sent to the corresponding sorting vision, guiding the sorting robot from Z j After the parts are grabbed and placed in the corresponding placement area, the sorting of individual parts is completed, and the results are reported to the sorting management system and recorded in the single-station task queue;

[0017] S4. Parts are transported on the circular conveyor line and pass through the V τ Identify and apply for a material frame F from the sorting management system; the palletizing robot grabs the part from its grabbing area and places it into the material frame of the corresponding material frame area. At this point, the single part palletizing is completed, and the result is reported to the sorting management system and recorded in the single-station task queue;

[0018] S5. When multiple sorting robots and multiple palletizing robots are working simultaneously around a circular conveyor line, involving the replacement and transfer of material frames, there are the following classifications:

[0019] a) Number of parts in the material frame r = r l , needs to be transferred immediately, the sorting management system calls the AGV to transfer to the next process;

[0020] b) Number of parts in the material frame r>r l , and there is no process route l in the nesting map task queue, and it needs to be transferred in time, the sorting management system calls the AGV to transfer it to the next process;

[0021] c) Number of parts in the material frame r<r l 2. However, there is process route 1 in the nesting map task queue. The sorting management system calls the AGV to transfer it to another location. When the next nesting map single-station task comes, the sorting management system will call back the material frame that has been transferred to another location until the conditions a) or b) are met, and then transfer it to the next process.

[0022] d) After the material frame is transferred and left, the sorting management system will immediately call the AGV to transfer the empty material frame for replenishment and initialize the empty material frame;

[0023] Among them, l is the process route, r l is the maximum number of parts that can be placed in the material frame, m is the total number of process routes in the nesting task queue, l∈(0→m);

[0024] S6. After receiving the completion information of all single-station task queues, the sorting management system generates a single-station task report. After receiving the completion information of the single nesting map task, it updates the strategy library and then issues a new single nesting map task.

[0025] Furthermore, the steps for generating the nesting map queue task in S1 are as follows:

[0026] S11. The nesting diagrams are batch-input, the production plan is issued, and the sorting management system sorts and sorts the nesting diagrams to obtain the nesting diagram set Q{P};

[0027] S12. Find the nesting map P0 that best matches the characteristics of the last single nesting map task from Q{P};

[0028] S13. Sort by matching degree and calculate the solution score S to get the nesting map queue Q that is most similar to P0 i {P};

[0029] S14. Get the material frame plan L required for the batch nesting diagram in S11 S .

[0030] Furthermore, the nesting map queue Q i {P} executes the single nesting task in sequence. The generation method of the single station task queue in S2 is: according to the single station capacity status and the total time S t , get the queue that exceeds the single-station capacity time, and add it to other sorting stations, and then get the single-station sorting queue Q n {P}.

[0031] Furthermore, in S12, P0=min(|∑C len -q len |), where C len is the number of material frames required for the parts on the nesting diagram, q len It is the number of material frames belonging to all single workstations.

[0032] Furthermore, in S13 Among them S S is the similarity score, S t is the total duration score; further, S t =max(T Q ), T Q is the queue length; S S =∑z, z is the characteristic value of a single part; is the weight coefficient.

[0033] Furthermore, in S14 where n l is the number of parts with process route l.

[0034] Furthermore, if the matching robot R τ Received frame number F τ =0, then the matching robot R τ Without grabbing, the parts continue to flow to the matching tray visual V τ+1 Identification; Same as above if you apply for F τ =f(f≠0), and then apply for the tray grabbing information from the sorting management system. The controller calculates the part position offset according to the speed of the circular conveyor line, and the tray robot R τ+1 The parts are picked up and placed into the material frame f.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] This sorting control method generates the optimal nesting map task queue through strategy model matching, evaluates the material frame occupancy to obtain the material frame plan, and then generates a single-station task queue based on the production capacity model; at the same time, an automatic sorting system composed of a controller, a robot, a vision system, a ring conveyor line and other devices is set up. After the automatic sorting system receives the single-station task queue, it realizes the sorting and palletizing of the sheet metal cutting parts.

[0037] The present invention improves the flexibility of the automatic sorting system for plate cutting parts. The update of the strategy library can make the system compatible with more types of nesting diagrams. Especially in the sorting and matching tray scenarios of small batches of multiple types of plate cutting parts, the total amount of material frames used can be reduced, the full frame rate of parts can be increased, and the situation of similar parts being scattered on the tray can be avoided to avoid subsequent secondary matching. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a general layout diagram of the flexible automatic sorting system for cut plate parts according to Example 1 of the present invention;

[0039] Figure 2 This is a control principle block diagram of the flexible automatic sorting system for cut plate parts according to Example 1 of the present invention;

[0040] Figure 3 This is a flowchart of the steps of the automatic sorting control method according to Example 2 of the present invention;

[0041] Figure 4 This is a flow chart for generating the nesting diagram task queue described in Example 3 of the present invention. DETAILED DESCRIPTION

[0042] In order to clearly illustrate the technical features of this solution, the technical solution is described in detail below through specific implementation methods and in conjunction with the accompanying drawings.

[0043] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0044] In addition, in the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply 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 on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0045] In this application, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0046] In this application, unless otherwise expressly specified and limited, a first feature "above" or "below" a second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0047] Example 1

[0048] like Figure 1The flexible automatic sorting system for plate cutting parts shown includes a circular conveyor line 1. The plate cutting parts to be sorted are placed on a roller tray 2 and surrounded by the circular conveyor line 1. At least one placing area 11 and a grabbing area 12 are defined on the circular conveyor line 1. The placing area 11 and the grabbing area 12 are arranged adjacent to each other. In this embodiment, a placing area and a grabbing area are respectively arranged on both sides of the symmetrical ring conveyor line (the placing area and the grabbing area are not fixed areas on the circular conveyor line, and they will not change position with the transmission of the circular conveyor line, that is, the placing area and the grabbing area are actually a certain area relative to the ground), and a material frame area 3 is set near the grabbing area 12 to place the material frame 31 (that is, the working material frame).

[0049] The flexible automatic sorting system also includes a sorting industrial control computer 4, a controller 5, at least one sorting robot 61, a sorting vision 62 used in conjunction with the sorting robot, at least one tray matching robot 71, and a tray matching vision 72 used in conjunction with the tray matching robot. Figure 2 As shown, the sorting industrial computer 4 is respectively communicated with the sorting vision 62 and the tray vision 72, the sorting vision 62 and the sorting robot 61 are communicated one-to-one, the tray vision 72 and the tray robot 71 are communicated one-to-one, the controller 5 is communicated with each sorting robot 61, each tray robot 71 and the ring conveyor line 1, and the sorting industrial computer 4 is configured with a sorting management system (software), which is responsible for nesting map analysis, strategy library matching, task management and material frame management during operation; tracks 13 are respectively set on the two symmetrical sides of the roller pallet 2, and the tracks are arranged parallel to the aforementioned placement area and grabbing area. The sorting robot 61 is installed on the track 13 and can move along the track, and the sorting vision 62 is installed on the sorting robot 61 to take pictures to guide the sorting robot to grab parts from the cut plate to be sorted and put them in the placement area, and the tray vision 72 is installed above the ring conveyor line 1 (the tray vision is fixed to the ground and cannot be moved). The matching robot 71 is arranged near the material frame area 3, specifically, a circle of material frames 31 can be placed around the matching robot 71, and the matching robot 71 is located in the center of the material frame area 3. The matching robot 71 grabs the parts from the grabbing area and puts them into the material frame 31 under the guidance of the matching vision 72; as the circular conveyor line 1 runs, the parts in the placement area 11 will be conveyed to the grabbing area 12 for the matching robot 71 to grab; a detection element 8 is also provided near the placement area 11, and the detection element 8 can be an encoder, a laser, etc. The position of the detection element relative to the ground is also fixed. The detection element 8 is connected to the controller 5 signal and feeds back the part status information of the placement area 11 to the controller 5. The controller 5 is the control core of the flexible automatic sorting system action execution, and is mainly used to receive detection element data to control the action timing of the sorting robot and the matching robot and the operation of the circular conveyor line.

[0050] The flexible automatic sorting system further comprises a material frame buffer area 32 as a supplement to the material frames, which is used to store process route parts whose nesting diagram exceeds the fixed number of working material frames.

[0051] In order to realize the visualization and high controllability operation of the flexible automatic sorting device, the flexible automatic sorting system also includes a human-machine interaction interface 9, which serves as a system operation terminal for setting and displaying functional parameters, routine operations, etc.

[0052] The plate cutting piece of this embodiment is specifically a steel plate cutting piece.

[0053] Example 2

[0054] The control method for flexible automatic sorting of plate cutting parts using the flexible automatic sorting system in Example 1 is based on the nesting map queue matching, executable task generation, sorting and tray task execution, material frame transfer and strategy update of the strategy model algorithm. Figure 3 As shown, the control method specifically includes the following steps:

[0055] S1. Import nesting diagram part information, including part size, part outline, part weight, part location, and part process route. The sorting management system filters and sorts the nesting diagram part information and generates a nesting diagram task queue, which includes a material frame plan.

[0056] S2. Execute single nesting map tasks in the order of the nesting map task queue. Convert the single nesting map into a single-station task queue according to the capacity model. The capacity model constraints are the status of each single-station equipment and work frame (a single station includes the status of the sorting robot and the palletizing robot, the status of the sorting vision and the palletizing vision, the status of the ring conveyor line, and the status of the material frame);

[0057] S3. Divide the parts on the sheet metal cut pieces to be sorted into different grabbing areas Z according to the reach of the sorting robot j , where j is the sorting robot number; the sorting management system will be area Z j The parts task is sent to the corresponding sorting vision, guiding the sorting robot from Z j The sorting robot grabs the parts and places them in the placement area. After grabbing the parts, it moves to the placement area of the circular conveyor line. After inspecting the components and determining that the parts can be placed, it places the parts in the corresponding placement area. After that, the sorting of individual parts is completed. The results are reported to the sorting management system and recorded in the single-station task queue.

[0058] S4. Parts are transported on the circular conveyor line and pass through the V τ Identify and apply for material frame F to the sorting management system; if the tray robot R τ Received frame number F τ =0, then the matching robot Rτ Without grabbing, the parts continue to flow to the matching tray visual V τ+1 Identification; Same as above if you apply for F τ =f(f≠0), and then apply for the tray grabbing information from the sorting management system. At the same time, the controller calculates the part position offset according to the speed of the circular conveyor line. The tray robot R τ+1 The follow-up grabs the parts and puts them into the material frame f; further, when F τ =f(f≠0), if the matching robot R τ+1 If the status is busy, the current part grabbing is abandoned and the cycle continues. The sorting management system writes the part task status value μ = μ + 1 (μ initial value 0). When μ ≥ 3, the sorting management system will issue an alarm to prompt manual processing. After that, the single part pallet is completed, the result is reported to the sorting management system and the task completion information is recorded.

[0059] S5. When multiple sorting robots and multiple pallet distribution robots are working simultaneously around the circular conveyor line, it is also related to the status of the work position material frame, involving the replacement and transportation of the material frame, with the following classification:

[0060] a) Number of parts in the material frame r = r l , needs to be transferred immediately, the sorting management system calls the AGV to transfer to the next process;

[0061] b) Number of parts in the material frame r <r l , and there is no process route l in the nesting map task queue, and it needs to be transferred in time, the sorting management system calls the AGV to transfer it to the next process;

[0062] c) Number of parts in the material frame r <r l 2. However, there is process route 1 in the nesting map task queue. The sorting management system calls the AGV to transfer it to another location. When the next nesting map single-station task comes, the sorting management system will call back the material frame that has been transferred to another location until the conditions a) or b) are met, and then transfer it to the next process.

[0063] d) After the material frame is transferred and left, the sorting management system will immediately call the AGV to transfer the empty material frame for replenishment and initialize the empty material frame;

[0064] Among them, l is the process route, r l is the maximum number of parts that can be placed in the material frame, m is the total number of process routes in the nesting task queue, l∈(0→m);

[0065] S6. After receiving the completion information of all single-station task queues, the sorting management system generates a report, generates a single-station task report, updates the strategy library after receiving the completion information of the single nesting map task, and then issues a new single nesting map task.

[0066] Example 3

[0067] This embodiment provides the nesting diagram task queue generation process in S1 of embodiment 2, such as Figure 4 As shown, the steps are as follows:

[0068] S11. Nesting diagrams are batch-input, production plans are issued, and the sorting management system screens and sorts the nesting diagrams to obtain a nesting diagram set Q{P}.

[0069] S12. Find the nesting map P0 that best matches the last single nesting map task feature from Q{P}: P0 = min(|∑C len -q len |), where C len is the number of material frames required for the parts on the nesting diagram, q len The number of work material frames belonging to the sorting station.

[0070] S13. Sort by matching degree and calculate the solution score S: Among them S S is the similarity score, S t is the total duration score; further, S t =max(T Q ), T Q is the queue length; S S =∑z, z is the characteristic value of a single part; is the weight coefficient; , we get the nesting graph queue Q that is most similar to P0 i {P}.

[0071] Nesting map queue Q i {P} executes the single nesting task in sequence, and the generation method of the single station task queue in S2 is: according to the single station capacity status and the total time S t , get the queue that exceeds the single-station capacity time, and add it to other sorting stations, and then get the single-station sorting queue Q n {P}; Among them, a single workstation refers to a parts sorting / dispensing workstation with a plate cutting part to be sorted as the core. For example, in this patent, a single workstation is composed of a sorting robot, a dispensing robot, a ring conveyor line, etc. In actual application, multiple single workstations can be set up according to the site and process.

[0072] S14. Obtain the material frame plan LS required for the batch nesting diagram: Where nl is the number of parts with process route l.

[0073] Obviously, the above embodiments are merely examples for the purpose of clearly illustrating the technical solutions of the present invention, and are not intended to limit the implementation methods of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A control method for flexible automatic sorting of plate cutting parts, characterized in that: The control method is implemented based on a flexible automatic sorting system for plate cutting parts; The flexible automatic sorting system for plate cutting parts includes a ring conveyor line, and the plate cutting parts to be sorted are placed on a roller tray and surrounded by the ring conveyor line. At least one placing area and grabbing area are defined on the ring conveyor line, and a material frame area is set near the grabbing area to place the material frame; the flexible automatic sorting system also includes a sorting industrial computer, at least one sorting robot, a sorting vision, at least one tray distribution robot, a tray distribution vision and a controller. The sorting industrial computer is equipped with a sorting management system, which is responsible for nesting map analysis, strategy library matching, task management and material frame management; the sorting robot and the sorting vision are paired and used, and a track is set on the side of the roller tray to sort The picking robot is installed on a track and can move along the track. The sorting vision system is installed on the sorting robot and takes pictures to guide the sorting robot to grab parts from the cut pieces of plate to be sorted and place them in the placement area. The palletizing robot and the palletizing vision system are set up in pairs. The palletizing vision system is installed above the circular conveyor line to take pictures and identify the parts that flow through in sequence. The palletizing robot is set near the material frame area. Under the guidance of the palletizing vision system, the palletizing robot grabs parts from the grabbing area and places them in the material frame. As the circular conveyor line runs, the parts in the placement area are transported to the grabbing area for the palletizing robot to grab. The controller is used to control the action sequence of the sorting robot and the palletizing robot and the operation of the circular conveyor line. The control method comprises the following steps: S1. Import nesting diagram part information. The sorting management system filters and sorts the parts according to the nesting diagram information and generates a nesting diagram task queue. The nesting diagram task queue includes a material frame plan. S2. Execute a single nesting map task in the order of the nesting map task queue. Convert a single nesting map into a single-station task queue according to the capacity model. The capacity model constraints are the status of each single-station equipment and work frame. S3. Divide the cut sheet materials to be sorted into different grabbing areas Z according to the reach of the sorting robot j , where j is the sorting robot number; the sorting management system will Z j The regional parts task is sent to the corresponding sorting vision, guiding the sorting robot from Z j After the parts are grabbed and placed in the corresponding placement area, the sorting of individual parts is completed, and the results are reported to the sorting management system and recorded in the single-station task queue; S4. Parts are transported on the circular conveyor line and pass through the V τ Identify and apply for a material frame F from the sorting management system; the palletizing robot grabs the part from its grabbing area and places it into the material frame of the corresponding material frame area. At this point, the single part palletizing is completed, and the result is reported to the sorting management system and recorded in the single-station task queue; S5. When multiple sorting robots and multiple palletizing robots are working simultaneously around a circular conveyor line, involving the replacement and transfer of material frames, there are the following classifications: a) Number of parts in the material frame r = r l , needs to be transferred immediately, the sorting management system calls the AGV to transfer to the next process; b) Number of parts in the material frame r>r l , and there is no process route l in the nesting map task queue, and it needs to be transferred in time, the sorting management system calls the AGV to transfer it to the next process; c) Number of parts in the material frame r <r l 2. However, there is process route 1 in the nesting map task queue. The sorting management system calls the AGV to transfer it to another location. When the next nesting map single-station task comes, the sorting management system will call back the material frame that has been transferred to another location until the conditions a) or b) are met, and then transfer it to the next process. d) After the material frame is transferred and left, the sorting management system will immediately call the AGV to transfer the empty material frame for replenishment and initialize the empty material frame; Among them, l is the process route, r l is the maximum number of parts that can be placed in the material frame, m is the total number of process routes in the nesting task queue, l∈(0→m); S6. After receiving the completion information of all single-station task queues, the sorting management system generates a single-station task report. After receiving the completion information of the single nesting map task, it updates the strategy library and then issues a new single nesting map task.

2. The control method for flexible automatic sorting of plate cutting parts according to claim 1, characterized in that: The flexible automatic sorting system further includes a material frame buffer area as a supplement to the material frame.

3. The control method for flexible automatic sorting of plate cutting parts according to claim 1, characterized in that: The flexible automatic sorting system further includes a detection element disposed near the placement area, wherein the detection element is connected to the controller signal and feeds back part status information of the placement area to the controller.

4. The control method for flexible automatic sorting of plate cutting parts according to claim 1, characterized in that: The steps for generating the nesting map queue task in S1 are as follows: S11. The nesting diagrams are batch-input, the production plan is issued, and the sorting management system sorts and sorts the nesting diagrams to obtain the nesting diagram set Q{P}; S12. Find the nesting map P0 that best matches the characteristics of the last single nesting map task from Q{P}; S13. Sort by matching degree and calculate the solution score S to get the nesting map queue Q that is most similar to P0 i {P}; S14. Get the material frame plan L required for the batch nesting diagram in S11 S .

5. The control method for flexible automatic sorting of plate cutting parts according to claim 4 is further characterized in that: Nesting map queue Q i {P} executes the single nesting task in sequence. The generation method of the single station task queue in S2 is: according to the single station capacity status and the total time S t , get the queue that exceeds the single-station capacity time, and add it to other sorting stations, and then get the single-station sorting queue Q n {P}.

6. The control method for flexible automatic sorting of plate cutting parts according to claim 4, characterized in that: In S12, P0=min(|∑C len -q len |), where C len is the number of material frames required for the parts on the nesting diagram, q len It is the number of material frames belonging to all single workstations.

7. The control method for flexible automatic sorting of plate cutting parts according to claim 4, characterized in that: S13 Among them S S is the similarity score, S t is the total duration score; further, S t =max(T Q ), T Q is the queue length; S S =∑z, z is the characteristic value of a single part; is the weight coefficient.

8. The control method for flexible automatic sorting of plate cutting parts according to claim 4, characterized in that: S14 where n l is the number of parts with process route l.

9. The control method for flexible automatic sorting of plate cutting parts according to claim 1, characterized in that: If the matching robot R in S4 τ Received frame number F τ =0, then the matching robot R τ Without grabbing, the parts continue to flow to the matching tray visual V τ+1 Identification; Same as above if you apply for F τ =f(f≠0), and then apply for the tray grabbing information from the sorting management system. The controller calculates the part position offset according to the speed of the circular conveyor line, and the tray robot R τ+1 The parts are picked up and placed into the material frame f.

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