Automatic sorting method and system for modular cabinet production

Abstract

The present invention discloses an automatic sorting method and system for modular cabinet production, the sorting method comprising: obtaining image information of a plate workpiece based on a visual recognition component, marking the model of the plate workpiece according to the image information; numbering the plate workpiece according to the position information of a push rod mechanism; obtaining the model information of the plate workpiece sent by an assembly operation end, querying the position number of the corresponding model plate workpiece according to the model information, and obtaining the target plate workpiece; driving the push rod mechanism to push and unload the target plate workpiece, and feeding back the position information of the target plate workpiece; regulating the sorting robot to grab the target plate workpiece based on the position information of the target plate workpiece. The sorting method obtains the model of the plate workpiece, determines the position number information of the plate workpiece, and queries and sorts the plate workpiece according to the assembly requirements of the assembly operation end, thereby improving the convenience of sorting the plate workpiece and the assembly efficiency of the modular cabinet.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of mechanical processing and sorting, and in particular to an automatic sorting method and system for modular cabinet production. Background Art

[0002] A modular cabinet is a cabinet body formed by combining multiple sheet metal workpieces. In the current modular cabinet production process, various types of sheet metal workpieces are processed and sorted and combined to form a modular cabinet. The existing modular cabinet production line relies on visual recognition of the types of sheet metal workpieces and sorting by a robotic arm. Since the sorting and assembly operations of the existing production line are independent processes, the sheet metal workpieces on the production line are piled up, affecting the convenience of sorting sheet metal workpieces, thereby affecting the assembly efficiency of the modular cabinet production line. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides an automatic sorting method and system for the production of modular cabinets. The sorting method obtains the model of the plate workpiece and determines the position number information of the plate workpiece, queries and sorts the plate workpiece according to the assembly requirements of the assembly operation end, thereby improving the convenience of sorting the plate workpiece and the assembly efficiency of the modular cabinet.

[0004] The present invention provides an automatic sorting method for modular cabinet production, the sorting method comprising:

[0005] Acquire image information of the plate workpiece based on the visual recognition component, and mark the model of the plate workpiece according to the image information;

[0006] Position numbering of the plate workpiece is performed according to the position information of the push rod mechanism;

[0007] Obtain the plate workpiece model information sent by the assembly operation end, query the position number of the corresponding model plate workpiece according to the model information, and obtain the target plate workpiece;

[0008] The push rod mechanism is driven to push and unload the target plate workpiece, and the position information of the target plate workpiece is fed back;

[0009] Based on the position information of the target plate workpiece, the sorting robot is controlled to grasp the target plate workpiece.

[0010] Furthermore, the step of acquiring image information of the plate workpiece based on the visual recognition component and marking the model of the plate workpiece according to the image information includes:

[0011] Acquire image information of the plate workpiece based on the visual recognition component, perform image processing on the image information, and extract size and shape features of the plate workpiece;

[0012] Determine the model of the sheet metal workpiece and mark it according to its size and shape characteristics.

[0013] Furthermore, the step of position numbering the plate workpiece according to the position information of the push rod mechanism includes:

[0014] A counting array is set according to the arrangement of the push rod mechanism, and the position of the plate workpiece entering the working range of the push rod mechanism is numbered by the counting array.

[0015] Furthermore, the step of position numbering the plate workpiece according to the position information of the push rod mechanism further includes:

[0016] The counting array is dynamically updated according to the transportation of the plate workpiece and the action of the push rod mechanism.

[0017] Furthermore, dynamically updating the counting array according to the transportation of the plate workpiece and the action of the push rod mechanism includes:

[0018] The sub-control system dynamically updates the information of the plate workpiece in the counting array according to the transportation of the plate workpiece by the sorting conveyor belt;

[0019] The sub-control system queries the plate workpiece information of the previous push rod mechanism, and updates the plate workpiece information of the current push rod mechanism according to the plate workpiece information of the previous push rod mechanism.

[0020] Further, the updating of the sheet workpiece information of the current push rod mechanism according to the sheet workpiece information of the previous push rod mechanism includes:

[0021] The sub-control system inquires whether the previous push rod mechanism executes the push rod instruction operation. If so, the sub-control system marks the plate workpiece information of the current push rod mechanism as empty.

[0022] Further, the obtaining of the plate workpiece model information sent by the assembly operation end, querying the position number of the plate workpiece of the corresponding model according to the model information, and obtaining the target plate workpiece includes:

[0023] The plate workpiece model information sent by the assembly operation end is obtained, and the plate workpiece model under the push rod mechanism is queried according to the model information to obtain the position number of the plate workpiece of the corresponding model.

[0024] Furthermore, the driving push rod mechanism pushes and unloads the target plate workpiece, and feeds back the position information of the target plate workpiece, including:

[0025] A push rod instruction is generated according to the position number of the target plate workpiece, and a push rod mechanism is driven based on the push rod instruction to push and unload the target plate workpiece.

[0026] Furthermore, the controlling the sorting robot to grasp the target plate workpiece based on the position information of the target plate workpiece includes:

[0027] A transport instruction is generated according to the position information of the target plate workpiece, and the sorting robot performs a transport operation of the target plate workpiece based on the transport instruction.

[0028] The present invention also provides an automatic sorting system for modular cabinet production, the automatic sorting system comprising a main control system, a sub-control system, a sorting conveyor belt, a plurality of sorting robots and a plurality of assembly operation terminals;

[0029] The main control system is connected to the plurality of assembly operation terminals and the plurality of sorting robots, the sub-control system is connected to the sorting conveyor belt, and the main control system is signal-connected to the sub-control system;

[0030] The automatic sorting system is used to execute the automatic sorting method.

[0031] The present invention provides an automatic sorting method and system for modular cabinet production. The sorting method obtains the model of the plate workpiece and determines the position number information of the plate workpiece, queries and sorts the plate workpiece according to the assembly requirements of the assembly operation end, thereby improving the convenience of sorting the plate workpiece and the assembly efficiency of the modular cabinet. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 It is a schematic diagram of the structure of an automatic sorting system for modular cabinet production in an embodiment of the present invention;

[0034] Figure 2 1 is a top view of the sorting conveyor belt structure of the automatic sorting system for modular cabinet production in an embodiment of the present invention;

[0035] Figure 3 It is a flow chart of the automatic sorting method for modular cabinet production in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Figure 1 The schematic diagram of the structure of the automatic sorting system for modular cabinet production in an embodiment of the present invention is shown. Figure 2 A top view of the structure of a sorting conveyor belt 5 of an automatic sorting system for modular cabinet production in an embodiment of the present invention is shown. The automatic sorting system for modular cabinet production comprises: a main control system 1, a sub-control system 2, a sorting conveyor belt 5, a plurality of sorting robots 4 and a plurality of assembly operation terminals 3. The main control system 1 is connected to the plurality of assembly operation terminals 3 and the plurality of sorting robots 4, the sub-control system 2 is connected to the sorting conveyor belt 5, and the main control system 1 is signal-connected to the sub-control system 2.

[0038] The sorting conveyor belt 5 includes a first conveyor belt 51 and a second conveyor belt 52 arranged in parallel, the transport directions of the first conveyor belt 51 and the second conveyor belt 52 are opposite, one end of the first conveyor belt 51 is set as an input end, and the other end of the first conveyor belt 51 is provided with a first lever mechanism 53, the first lever mechanism 53 is used to move the plate workpiece on the first conveyor belt 51 to one end of the second conveyor belt 52, and the other end of the second conveyor belt 52 is provided with a second lever mechanism 54, the second lever mechanism 54 is used to push the plate workpiece on the second conveyor belt 52 onto the first conveyor belt 51, that is, the first conveyor belt 51 and the second conveyor belt 52 can form a rotary circulation transmission structure, so that the plate workpiece can be transmitted back and forth on the first conveyor belt 51 and the second conveyor belt 52.

[0039] Specifically, a visual recognition component 56 is provided at the input end of the sorting conveyor belt 5. The visual recognition component 56 captures the plate workpiece passing through the input end through a CCD camera unit, and sends the captured image of the plate workpiece to the sub-control system 2. The sub-control system 2 can obtain the size and shape characteristics of the plate workpiece according to the image information captured by the visual recognition component 56, and mark the model of the plate workpiece according to the size and shape characteristics of the plate workpiece.

[0040] Furthermore, the CCD (Charge coupled Device) camera unit is a charge coupled device shooting unit, which is used to capture the plate workpiece entering the input end of the sorting conveyor belt 5 and feed back the image data of the plate workpiece to the sub-control system 2.

[0041] Furthermore, the input end of the sorting conveyor belt 5 is connected to a conveyor belt 6 for various sheet workpieces, that is, various types of sheet workpieces are transported into the input end of the sorting conveyor belt through the conveyor belt 6, and the conveyor belt 6 is connected to the sub-control system 2 by signal, so that the sub-control system 2 can regulate the operation of the conveyor belt 6, thereby adjusting the feeding rhythm of the conveyor belt 6 to the sorting conveyor belt 5.

[0042] Furthermore, a database is provided in the sub-control system 2, and the database records the model and corresponding size of each plate workpiece of the combination cabinet. The sub-control system 2 senses and identifies the image information captured by the visual recognition component 56 based on the plate workpiece model and size recorded in the database.

[0043] The sub-control system 2 can extract the contour features of the plate workpiece in the image information captured by the visual recognition component 56, and obtain the size of the plate workpiece, including the long side, wide side, shape contour and opening size of the plate workpiece.

[0044] Specifically, a plurality of push rod mechanisms 57 are provided on the first conveyor belt 51 and the second conveyor belt 52, and a plurality of temporary storage tables 55 are provided on the outer sides of the first conveyor belt 51 and the second conveyor belt 52. The plurality of temporary storage tables 55 are arranged one by one at the positions of the plurality of push rod mechanisms 57, and the push rod mechanisms 57 are used to push the plate workpiece into the temporary storage table 55.

[0045] Furthermore, the temporary storage table 55 is an inclined structure, and the temporary storage table 55 can accommodate the temporary storage operation of three plate workpieces. When the temporary storage table 55 is in a full material state, the push rod mechanism 57 corresponding to the temporary storage table 55 suspends the push rod operation.

[0046] Furthermore, the plate workpiece is placed on a pallet so that the push rod mechanism 57 pushes the plate workpiece onto the temporary storage table 55, and the color difference between the pallet and the plate workpiece is large, which can improve the accuracy of recognizing the image information of the plate workpiece.

[0047] Specifically, a counting array is provided in the sub-control system 2. The sub-control system 2 sorts the positions of the sheet workpieces entering the sorting conveyor belt 5 by combining the counting array with the arrangement of several push rod mechanisms 57, and dynamically updates the position information of the sheet workpieces through the counting array.

[0048] Furthermore, the sorting conveyor belt 5 drives the plate workpiece to rotate cyclically on the first conveyor belt 51 and the second conveyor belt 52, so that the plate workpiece enters the working range of the next push rod mechanism 57 from the working range of the current push rod mechanism 57. When the plate workpiece moves with the sorting conveyor belt 5, the sub-control system 2 updates the position information of the plate workpiece in real time, including updating the plate workpiece model information under the working range of the previous push rod mechanism 57 to the plate workpiece information under the working range of the current push rod mechanism 57, so that the data in the counting array is shifted right by one grid as a whole, thereby realizing the update of the plate workpiece information.

[0049] Furthermore, the sub-control system 2 queries the push rod operation of the push rod mechanism 57. When updating the plate workpiece position information, the sub-control system 2 queries whether the previous push rod mechanism 57 performs a push rod operation. If so, the corresponding plate workpiece model information is cleared and marked as empty.

[0050] Furthermore, when the sheet workpiece model information within the working range of the push rod mechanism 57 at the initial position of the counting array is empty, the sub-control system 2 drives the input end of the sorting conveyor belt 5 to replenish new sheet workpieces.

[0051] Specifically, the main control system 1 is connected with the sub-control system 2 by signal. The main control system 1 is used to obtain the plate workpiece model required by the assembly operation end 3, and send the workpiece model information to the sub-control system 2. The sub-control system 2 queries the target plate workpiece on the sorting conveyor belt 5 according to the workpiece model information, and locates and sorts the target plate workpiece.

[0052] Furthermore, the main control system 1 receives the position information of the target plate workpiece fed back by the sub-control system 2 to generate a transport instruction, and controls the sorting robot 4 to perform the transport operation of the target plate workpiece based on the transport instruction.

[0053] Specifically, a timing operation module is provided in the main control system 1 , and the main control system 1 generates corresponding transport instructions in sequence according to the sequence of the position information of the target plate workpiece fed back by the sub-control system 2 .

[0054] Furthermore, the main control system 1 generates a number of transport instructions based on the position information of a number of target plate workpieces, and the priorities of the several transport instructions are sorted according to the order of feedback time of the corresponding plate workpiece position information, ensuring that the target plate workpieces pushed by the push rod mechanism 57 can be transported to the assembly operation end 3 in sequence, avoiding sorting errors.

[0055] An embodiment of the present invention provides an automatic sorting system for the production of modular cabinets. The automatic sorting system is configured to perform model identification and position marking on the plate workpieces on the sorting conveyor belt 5, obtain the position information of the target plate workpieces in combination with the assembly requirements of the assembly operation terminal 3, and update the workpiece positions on the sorting conveyor belt 5 in real time by means of a counting array, thereby improving the reliability and accuracy of plate sorting, thereby improving the assembly efficiency of the modular cabinet.

[0056] Figure 3 A flow chart of an automatic sorting method for modular cabinet production in an embodiment of the present invention is shown. The automatic sorting method for modular cabinet production includes:

[0057] S11: Acquire image information of the plate workpiece based on the visual recognition component 56, and mark the model of the plate workpiece according to the image information.

[0058] Specifically, the visual recognition component 56 captures image information of the plate workpiece passing through the input end of the sorting conveyor belt 5, and sends the image information to the sub-control system 2. The sub-control system 2 extracts size and shape features of the plate workpiece based on the image data acquired by the visual recognition component 56 to obtain sample data.

[0059] Furthermore, a database is provided in the sub-control system 2, and standard data is recorded in the database. The standard data is the size and shape characteristics of various types of plate workpieces used for assembly of combination cabinets. The sub-control system 2 obtains the model of the plate workpiece in the sample data by comparing and analyzing the sample data and the standard data, thereby marking the model of the plate workpiece.

[0060] Furthermore, the sheet workpiece is placed on a pallet, and there is a large difference between the color of the pallet and the color of the sheet workpiece, which can simplify the calculation volume of image recognition, and improve the accuracy of image recognition in extracting the outer contour features of the sheet workpiece, improve the accuracy of identifying the model of the sheet workpiece, and thus improve the accuracy of sorting the sheet workpiece.

[0061] S12: Position numbering of the plate workpiece is performed according to the position information of the push rod mechanism 57 .

[0062] Specifically, the sub-control system 2 is provided with a counting array according to the arrangement sequence of the plurality of push rod mechanisms 57, and the counting array is {a1, a2, a3...a n The counting array includes N data, where N is the number of the push rod mechanisms 57, and the N data includes a1, a2, a3, ... n The sub-control system 2 performs position numbering on the plate workpiece located under the corresponding push rod mechanism 57 and records the position information of the plate workpiece.

[0063] Furthermore, the plate workpiece passes through all the push rod mechanisms 57 in sequence as the sorting conveyor belt 5 runs, that is, the position information of any plate workpiece is updated according to the data arrangement of the counting array.

[0064] Furthermore, the sorting conveyor belt 5 realizes cyclic transmission through the first conveyor belt 51 and the second conveyor belt 52, that is, the sorting conveyor belt 5 is located at a n The sheet workpiece at position a1 can be transported by the sorting conveyor belt 5 to position a1.

[0065] Specifically, the position numbering of the plate workpiece according to the position information of the push rod mechanism 57 also includes:

[0066] According to the transportation of the plate workpiece and the action of the push rod mechanism 57, the counting array is dynamically updated. The sub-control system 2 updates the position information of the plate workpiece according to the operation of the sorting conveyor belt 5. The sorting conveyor belt 5 operates according to the preset production rhythm, so that the plate workpiece on the sorting conveyor belt 5 passes through several of the push rod mechanisms 57 in sequence. When the plate workpiece moves from the push rod mechanism 57 at the previous position to the push rod mechanism 57 at the next position, that is, when the position of the plate workpiece on the sorting conveyor belt 5 changes, the sub-control system 2 is triggered to update the position information of the counting array, and the sub-control system 2 updates the position number of the plate workpiece in the counting array.

[0067] Specifically, the sub-control system 2 queries the plate workpiece information of the previous push rod mechanism 57, and updates the plate workpiece information of the current push rod mechanism 57 according to the plate workpiece information of the previous push rod mechanism 57, that is, the sub-control system 2 updates the plate workpiece information at position a1 in the counting array to position a2 in the counting array, thereby realizing dynamic update of the plate workpiece position number.

[0068] Furthermore, when the sub-control system 2 updates the position information of the counting array, the sub-control system 2 queries whether the previous push rod mechanism 57 executes the push rod instruction operation. If the previous push rod mechanism 57 executes the push rod instruction operation, the sub-control system 2 marks the plate workpiece information of the current push rod mechanism 57 as empty, which reflects that there is no plate workpiece under the current push rod mechanism 57.

[0069] Furthermore, when position a in the counting array n When the sheet workpiece information is empty, the input end of the sorting conveyor belt 5 transports a new sheet workpiece to the push rod mechanism 57 corresponding to the position a1 during the next operation of the sorting conveyor belt 5.

[0070] Specifically, by combining the operation of the sorting conveyor belt 5 and the operation of the push rod mechanism 57, the position information of the plate workpiece information in the counting array is updated in real time, thereby ensuring the accuracy of the plate workpiece sorting when the plate workpiece is sorted.

[0071] S13: Obtain the plate workpiece model information sent by the assembly operation terminal 3, query the position number of the corresponding model plate workpiece according to the model information, and obtain the target plate workpiece:

[0072] Specifically, several assembly operation terminals 3 assemble the combination cabinets and feed back the required plate workpiece model information to the main control system 1. The main control system 1 generates an acquisition instruction based on the acquired plate workpiece model information and sends it to the sub-control system 2. The sub-control system 2 queries the plate workpiece of the corresponding model in the counting array based on the plate workpiece model information in the acquisition instruction to obtain the target plate workpiece.

[0073] Furthermore, the sub-control system 2 is installed with a reverse query method to query the plate workpiece in the counting array, that is, the sub-control system 2 starts querying from the Nth data. When the sub-control system 2 identifies the plate workpiece information that meets the acquisition instruction, the sub-control system 2 stops the query and records the position number of the corresponding model of the plate workpiece to obtain the target plate workpiece.

[0074] S14: driving the push rod mechanism 57 to push and unload the target plate workpiece, and feeding back the position information of the target plate workpiece.

[0075] Specifically, the sub-control system 2 generates a push rod instruction according to the position number of the target plate workpiece, drives the push rod mechanism 57 to push and unload the target plate workpiece based on the push rod instruction, and pushes the target plate workpiece to the temporary storage table 55 outside the sorting conveyor belt 5. The sub-control system 2 sends the position information of the target plate workpiece to the main control system 1.

[0076] Furthermore, the sub-control system 2 drives the push rod mechanism 57 under the corresponding position information to perform the push rod operation according to the position information of the queried target plate workpiece, and extracts the model information and position information of the target plate workpiece, and compares the model information of the target plate workpiece with the acquisition instruction sent by the main control system 1 to review the target plate workpiece to ensure the accuracy of the target plate workpiece, and feeds back the position information of the target plate workpiece to the main control system 1.

[0077] Furthermore, when the position model information of the target plate workpiece is inconsistent with the workpiece model information of the acquisition instruction, the sub-control system 2 re-queries the target plate workpiece according to the acquisition instruction. The sub-control system 2 reports an error to the main control system 1 and feeds back the position information of the erroneous workpiece. The main control system 1 generates a correction instruction according to the error information of the sub-control system 2, and controls the sorting robot 4 to carry the erroneous workpiece based on the correction instruction, and re-delivers it to the input end of the sorting conveyor belt 5.

[0078] Furthermore, the sub-control system 2 is used to count and organize the position information of several plate workpieces on the sorting conveyor belt 5. The main control system 1 obtains the position information of the target plate workpiece through the sub-control system 2, that is, the main control system 1 does not participate in the workpiece position information marking and sorting operations of the sub-control system 2. By setting the sub-control system 2 to perform the position sorting of the plate workpiece, the computing volume of the main control system 1 is reduced, so that the automatic sorting system can operate efficiently.

[0079] S15: Based on the position information of the target plate workpiece, the sorting robot 4 is controlled to grab the target plate workpiece.

[0080] Specifically, the main control system 1 generates a transport instruction according to the acquired position information of the target plate workpiece, and drives the sorting robot 4 to sort and transport the target plate workpiece according to the transport instruction. The sorting robot 4 performs sorting and transporting according to the sorting instruction.

[0081] Furthermore, the transport instruction includes position information of the assembly operation end 3 and position information of the target plate workpiece. The sorting robot 4 moves to the position of the temporary storage table 55 under the corresponding push rod mechanism 57 according to the addressing of the transport instruction, and transports the target plate workpiece on the temporary storage table 55 to the corresponding assembly operation end 3.

[0082] Specifically, a timing operation module is provided in the main control system 1, and the main control system 1 generates corresponding handling instructions according to the time sequence of the target plate workpiece position information fed back by the sub-control system 2, that is, the main control system 1 generates multiple handling instructions according to the position information of multiple target plate workpieces fed back by the sub-control system 2, and the priorities of the multiple handling instructions are sorted according to the feedback time sequence of the multiple target plate workpiece position information, and several of the sorting robots 4 perform the handling of the target plate workpieces in sequence according to the priority of the handling instructions, so that the target plate workpieces can be sorted in order to the corresponding assembly operation terminals 3, thereby realizing efficient and orderly sorting operations of the target plate workpieces.

[0083] Furthermore, by setting the timing operation module, it is possible to avoid the target plate workpieces from piling up on the temporary storage table 55, thereby reducing the risk of incorrect sorting of the target plate workpieces.

[0084] An embodiment of the present invention provides a sorting method for the production of combination cabinets. The sorting method obtains the model of the plate workpiece, and updates the position number information of the plate workpiece in real time through array arrangement. The plate workpiece is queried and sorted according to the assembly requirements of the assembly operation terminal 3, thereby improving the accuracy and convenience of the plate workpiece sorting, thereby improving the assembly efficiency of the combination cabinet.

[0085] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0086] In addition, the above is a detailed introduction to a sorting method and system for combined cabinet production provided by an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in the field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An automatic sorting method for modular cabinet production, characterized in that: The sorting method comprises: Acquire image information of the plate workpiece based on the visual recognition component, and mark the model of the plate workpiece according to the image information; Position numbering of the plate workpiece is performed according to the position information of the push rod mechanism; Obtain the plate workpiece model information sent by the assembly operation end, query the position number of the corresponding model plate workpiece according to the model information, and obtain the target plate workpiece; The push rod mechanism is driven to push and unload the target plate workpiece, and the position information of the target plate workpiece is fed back; Based on the position information of the target plate workpiece, the sorting robot is controlled to grab the target plate workpiece; The position numbering of the plate workpiece according to the position information of the push rod mechanism comprises: A counting array is set according to the arrangement of the push rod mechanism, and the position of the plate workpiece entering the working range of the push rod mechanism is numbered by the counting array; Dynamically updating the counting array according to the transportation of the plate workpiece and the action of the push rod mechanism; The dynamically updating the counting array according to the transportation of the plate workpiece and the action of the push rod mechanism includes: The sub-control system dynamically updates the information of the plate workpiece in the counting array according to the transportation of the plate workpiece by the sorting conveyor belt; The sub-control system queries the plate workpiece information of the previous push rod mechanism, and updates the plate workpiece information of the current push rod mechanism according to the plate workpiece information of the previous push rod mechanism.

2. The automatic sorting method for modular cabinet production according to claim 1, characterized in that: The step of acquiring image information of the plate workpiece based on the visual recognition component and marking the model of the plate workpiece according to the image information comprises: Acquire image information of the plate workpiece based on the visual recognition component, perform image processing on the image information, and extract size and shape features of the plate workpiece; Determine the model of the sheet metal workpiece and mark it according to its size and shape characteristics.

3. The automatic sorting method for modular cabinet production according to claim 1, characterized in that: The updating of the sheet workpiece information of the current push rod mechanism according to the sheet workpiece information of the previous push rod mechanism includes: The sub-control system inquires whether the previous push rod mechanism executes the push rod instruction operation. If so, the sub-control system marks the plate workpiece information of the current push rod mechanism as empty.

4. The automatic sorting method for modular cabinet production according to claim 1, characterized in that: The step of obtaining the plate workpiece model information sent by the assembly operation terminal, querying the position number of the plate workpiece of the corresponding model according to the model information, and obtaining the target plate workpiece includes: The plate workpiece model information sent by the assembly operation end is obtained, and the plate workpiece model under the push rod mechanism is queried according to the model information to obtain the position number of the plate workpiece of the corresponding model.

5. The automatic sorting method for modular cabinet production according to claim 1, characterized in that: The driving push rod mechanism pushes and unloads the target plate workpiece, and feeds back the position information of the target plate workpiece, including: A push rod instruction is generated according to the position number of the target plate workpiece, and a push rod mechanism is driven based on the push rod instruction to push and unload the target plate workpiece.

6. The automatic sorting method for modular cabinet production according to claim 1, characterized in that: The method of regulating the sorting robot to grasp the target plate workpiece based on the position information of the target plate workpiece comprises: A transport instruction is generated according to the position information of the target plate workpiece, and the sorting robot performs a transport operation of the target plate workpiece based on the transport instruction.

7. An automatic sorting system for modular cabinet production, characterized in that: The automatic sorting system includes a main control system, a sub-control system, a sorting conveyor belt, a plurality of sorting robots and a plurality of assembly operation terminals; The main control system is connected to the plurality of assembly operation terminals and the plurality of sorting robots, the sub-control system is connected to the sorting conveyor belt, and the main control system is signal-connected to the sub-control system; The automatic sorting system is used to execute the automatic sorting method according to any one of claims 1 to 6.

Images