A method and apparatus for jewelry sorting using automated equipment

Abstract

The present invention discloses a method and device for screening jewelry using automated equipment. The method includes the following steps: S7, the central control system sends a screening and摆盘 action code to the recognition and grasping device. The central control system extracts the actual weight m of the product and compares the defined value n with m. When the defined value n ≥ m, according to the sorting instruction issued by the central control system, the recognition and grasping device puts the grasped and packaged product into sorting channel A. When the defined value n < m, according to the sorting instruction issued by the control device, the recognition and grasping device puts the grasped and packaged product into sorting channel B. The purpose of the present invention is to provide a method and device that can screen and摆盘 jewelry through automated equipment.

Description

Technical Field

[0001] The present invention belongs to the field of automated equipment, and particularly relates to an automated jewelry screening device and method. Background Art

[0002] With the continuous development and progress of society, people's demand for jewelry is increasing day by day. Especially in the field of precious metal jewelry, the consumer market has higher and higher requirements for the refined production of precious metal jewelry. The reason is that the material cost of precious metals is too high, and a slight deviation in grams directly affects the final selling price of the product. In the jewelry production process, it is becoming increasingly difficult to control the grams of precious metals to meet the market's requirements for precise control of the grams of jewelry. Because re-production of jewelry due to non-compliance with the gram weight will cause huge waste. To meet the market requirements, jewelry production factories generally manually distinguish the grams of jewelry in the final packaging link. Manual distinction is inefficient and difficult to meet the increasing shipping requirements.

[0003] With the rapid development of e-commerce, for single popular products, there are higher and higher requirements for accurately distinguishing the grams of jewelry in large quantities in a short period of time and delivering them. The traditional jewelry processing process already has many packaging processes, and a large amount of manual work is required in the packaging process. Coupled with the requirement of gram weight distinction, even more manual work is needed. For traditional jewelry manufacturing enterprises, organizing a large number of manual workers to produce popular orders in a short period of time is a very high challenge to the production and delivery capacity. After rushing to complete the goods, a large number of manual workers will be idle, directly increasing a large amount of jewelry processing and manufacturing costs. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a method and device for screening and arranging jewelry through an automated device.

[0005] The present application provides a method for screening jewelry using an automated device, including the following steps:

[0006] S7, the central control system sends a screening and arranging action code to the recognition and grasping device. The central control system extracts the actual gram weight m of the product and compares the defined value n with m. When the defined value n ≥ m, according to the sorting instruction issued by the central control system, the recognition and grasping device puts the grasped and packaged product into sorting channel A; when the defined value n < m, according to the sorting instruction issued by the control device, the recognition and grasping device puts the grasped and packaged product into sorting channel B.

[0007] Further, it also includes the following steps:

[0008] S1, after grasping the product, the central control system sends a first weighing instruction to the recognition and grasping device. The recognition and grasping device runs to the first weighing electronic scale and places the product on the first weighing electronic scale. After the first weighing electronic scale is vertically stable, the gram weight of the product is read as α;

[0009] S2, the central control system sends a re-weighing command to the identification and grasping device. The identification and grasping device moves to the re-weighing electronic scale and places the product on the re-weighing electronic scale. After the re-weighing electronic scale is vertical and stable, the weight of the product is read as β. The central control system compares α and β. When |α|-|β|≤K, the weight is less than the floating range, which is normal. Otherwise, an audible and visual alarm is triggered.

[0010] Furthermore, it also includes the following steps:

[0011] S3, the central control system sends a material picking command to the identification and gripping device. The identification and gripping device moves to the first product shooting position. After reaching the position, the identification and gripping device sends an identification and positioning command to the vision camera. The vision camera takes a picture and calculates the actual planar coordinates of the jewelry through the vision system algorithm on the vision recognition and positioning module. Let the actual planar coordinates be {(X+Xa),(Y+Yb)}. The offset is calculated according to the standard template variables {(X),(Y)} to obtain the actual horizontal offset of the robot's electric gripper on the plane {(Xa),(Yb)}. The positioning control algorithm is used to compensate for the positioning and move the change point.

[0012] Furthermore, it also includes the following steps:

[0013] S4, the central control system sends a marking instruction to the identification and grasping device. The identification and grasping device executes to the product's punching hole position. When the identification and grasping device reaches the punching hole position, it sends a hole-finding instruction to the vision camera to trigger the punching hole vision camera to take pictures. When the identification and grasping device receives "receive vision camera data 1[4]=1 and receive vision camera data 1[0]≠0" from the vision camera, it will perform rotation shooting centered on the product by establishing the product tool coordinate system tool(1). It rotates 6 degrees each time until the hole is captured. After rotating to the empty position, it moves to the laser marking position near the marking device. The central control system triggers the laser marking machine to engrave the current weight on the product. Conversely, when the rotation exceeds a certain number of times, the robotic arm reaches the rotation limit. The robotic arm takes the product back to the material tray position and prompts an abnormality. The window prompts whether to continue or proceed to the next product.

[0014] Also provided is an automated jewelry sorting device, including a central control system, and identification and grasping devices and a bagging device respectively connected to and controlled by the central control system; wherein,

[0015] The central control system includes a weight comparison module for comparing the product's weight with a defined value, and a product sorting module for determining which product to place at the corresponding sorting lane based on the comparison result.

[0016] The identification and grasping device includes two six-axis robots equipped with compatible electric grippers, each six-axis robot having a vision camera for product identification and positioning;

[0017] The bagging device is used to bag, seal, and code products.

[0018] Furthermore, it also includes weighing devices, marking devices, and cleaning devices that are connected to the central control system and controlled by the central control system.

[0019] Furthermore, the central control system also includes a PLC linkage control module, a visual recognition and positioning module, a weighing module, a laser marking module, a bagging module, and a coding module.

[0020] Furthermore, the bagging device includes a bag feeding mechanism, a bag picking mechanism, a bag opening mechanism, a bag closing mechanism, a bag sealing mechanism, an adsorption positioning mechanism, and a coding mechanism.

[0021] The improvements in this application bring the following advantages: This application adopts automation to replace manual labor for various jewelry packaging requirements. It integrates multiple processes—from weighing, laser marking, cleaning, bagging, coding, and weight-based tray arrangement—into a single automated machine. Through a six-axis robot PLC linkage control system, product vision recognition and positioning system, electronic scale re-weighing system, laser marking system, bagging control system, coding control system, and jewelry weight-based tray arrangement control system, it truly achieves automated, intelligent, and flexible jewelry packaging production. This application provides automated, intelligent, and flexible production equipment for automatically selecting jewelry weight during the packaging stage of jewelry processing and manufacturing, and offers a partial solution for fully automated, intelligent, and flexible jewelry production. Attached Figure Description

[0022] Figure 1 This application describes the process of packaging and screening products using an automated jewelry sorting device according to an embodiment of the present application.

[0023] Figure 2 This is a schematic diagram of the structure of an automated jewelry sorting device according to an embodiment of this application. Detailed Implementation

[0024] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0025] See Figure 1-2As shown in the figure, an automated jewelry sorting device according to an embodiment of this application includes a central control system, and identification and grasping devices, weighing devices, marking devices, cleaning devices, and bagging devices that are connected to the central control system and controlled by the central control system.

[0026] The central control system includes a PLC linkage control module, a weight comparison module, a product sorting module, a visual recognition and positioning module, a weighing module, a laser marking module, a bagging module, and a coding module.

[0027] The weight comparison module is used to compare the weight of the product with the defined value. The product sorting module is used to determine the placement of the product into the corresponding sorting lane based on the comparison result. The PLC linkage control module is used to control the six-axis robot. The vision recognition and positioning module, weighing module, laser marking module, bagging module, and inkjet coding module are used to control the vision camera, weighing device, marking device, and bagging device, respectively.

[0028] The identification and grasping device includes a six-axis robot equipped with a compatible electric gripper, and a vision camera for product identification and positioning.

[0029] The weighing device includes a first electronic scale and a second electronic scale.

[0030] The marking device includes a laser marking machine, which is used for marking the weight of jewelry and printing product logos. The laser marking machine has vision function and can accurately print weight marks and product logos onto designated areas of the jewelry through system linkage control.

[0031] The bagging device includes a bag feeding mechanism, a bag picking mechanism, a bag opening mechanism, a bag closing mechanism, a bag sealing mechanism, an adsorption positioning mechanism, and a coding mechanism.

[0032] Equipment Operation Example

[0033] By gripping jewelry products, a six-axis robot places the product on a first electronic scale. The PLC reads and stores the data in the control system's storage area via the Modbus protocol and defines its variable α. Then, the product is placed on a second electronic scale, and the data is read and stored in the control system's storage area and its variable β is defined. The defined variables α and β are compared multiple times. When |αX|-|βX|≤K (|αX| is the average weight of scale A, |βX| is the average weight of scale B, and K is the reasonable error), the weight is less than the fluctuation range, which is normal. Otherwise, an audible and visual alarm is triggered.

[0034] After the repeated inspection is OK, the central control system sends "K1" to the identification and gripping device. The identification and gripping device then proceeds to the second electronic scale to pick up the material. The identification and gripping device then sends "T2" to the vision camera, which takes a picture. The vision system algorithm on the vision recognition and positioning module calculates the actual planar coordinates of the jewelry. Assuming the actual planar coordinates are {(X+Xa),(Y+Yb)}, the offset is calculated using the corresponding standard template variables {(X),(Y)} to obtain the actual horizontal offset of the robot's gripper on the plane {(Xa),(Yb)}. Through positioning control algorithm compensation, the move point is adjusted to achieve automatic control of the six-axis robotic arm's gripping, ensuring stable and efficient equipment operation. After successful product gripping, the identification and gripping device responds with "K1" indicating gripping completion.

[0035] The central control system sends "K2", and the identification gripping device moves the product to the shooting hole position. When the identification gripping device reaches the shooting hole position, it responds with "K2". At this time, the identification gripping device sends "T3" to trigger the shooting hole camera to take pictures. When the identification gripping device receives "Received camera data 1[4] = 1 and Received camera data 1[0] ≠ 0" from the vision camera, it will rotate and shoot with the product as the center by establishing the product tool coordinate system tool(1). Each rotation is 6 degrees until the hole is captured. (Conversely, when the rotation exceeds 25 times, the robot reaches the rotation limit. The robot will take the product back to the material tray position and prompt an abnormality. The window will prompt whether to continue or proceed to the next product.)

[0036] After rotating to the empty position, the recognition and gripping device sends "K2" to indicate that the drilling rotation angle is ready; the central control system sends "K3", the recognition and gripping device moves to the laser marking position, responds to the central control system with "K3", the central control system triggers the laser machine to engrave the current weight, and after the engraving is completed, the laser machine responds that the engraving is complete.

[0037] The central control system sends the command "K4" to identify the gripping device to transfer the product to the cleaning station. Once the position is reached, it responds with "K4", and the stepper motor with the cleaning brush will perform the cleaning action.

[0038] After cleaning is completed, the central control system sends the command "K5", the robot performs the bagging action, and responds with "K5" when bagging is complete. Then, the inkjet printer is executed to print ink. After inkjet printing is complete, the system sends the command "K6", the robot performs the bag-removing action, and responds with "K6" when bag removal is complete.

[0039] The central control system sends the screening and palletizing action code "K7" to the identification and grasping device. The central control system extracts the actual weight m of the product and compares the preset boundary value n with m. When the boundary value n ≥ m, according to the sorting instruction issued by the central control system, the identification and grasping device will grasp the packaged product and put it into the sorting channel A; when the boundary value n < m, according to the sorting instruction issued by the control device, the identification and grasping device will grasp the packaged product and put it into the sorting channel B. After the sorting action is completed, it responds with "K7", and the entire process is completed. The central control system automatically proceeds to the next product.

[0040] At this time, during the system operation, when the identification and grasping device takes away the product, the central control system immediately issues the "K1" instruction, and the six-axis robot performs the product weighing process until the second electronic scale completes the weighing and waits for the identification and grasping device to be idle to grasp the product on the second electronic scale; if all products are taken, the system gives an audible and visual reminder to the production personnel to replenish the materials, and thus the automatic cycle process of the production system is carried out.

[0041] After the palletizing action is completed, it responds with "K7", and the entire process is completed. The system automatically proceeds to the next product.

[0042] Abnormal identification, judgment and handling

[0043] The identification and grasping device, weighing device, marking device, cleaning device, bagging device, etc. are all independent entities and are centrally controlled through the central control system; when equipment abnormalities occur, they can be promptly fed back to the central control system. For example, when the vision camera of the identification and grasping device captures an abnormality, the identification and grasping device can inform the central control system, and an alarm prompt will pop up accordingly, and an abnormal solution will be provided.

[0044]

[0045] Through the CPU communication protocol of the central control system, set the communication type with each sub-device. If the system identification of the abnormal capture of the identification and grasping device is M100 as the transmission source, the data transfer target is the central control system. It can also be defined that the system identification of the abnormal capture of the central control system is M100. At this time, this communication type is bit soft element reading, and the program specifies the execution interval time for data reading; when the identification and grasping device captures an abnormality, the system identification M100 is set to ON. At this time, the central control system knows that an abnormality has occurred in the identification and grasping device segment and gives a corresponding alarm prompt. Similarly, as long as it is monitored that any other system identification is set to the ON state, the abnormal state of the corresponding position can be known.

[0046] If the identification and capture device is to be cleared of an anomaly, assuming that the system identifier for the identification and capture device to trigger the anomaly clearance is M1000 and that is the data transmission source, then the data transmission target is the identification and capture device. When the central control system performs the anomaly clearance operation, the communication type is bit soft element write.

[0047] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method of jewelry screening using automated equipment, characterized in that, The method comprises the steps of: S1, after the identification and grabbing device grabs the product, the central control system sends a first weighing instruction to the identification and grabbing device, the identification and grabbing device runs to the first weighing electronic scale and places the product on the first weighing electronic scale, after the first weighing electronic scale is vertically stable, the gram weight of the product is read as α; S2, the central control system sends a reweighing instruction to the identification and grabbing device, the identification and grabbing device runs to the reweighing electronic scale and places the product on the reweighing electronic scale, after the reweighing electronic scale is vertically stable, the gram weight of the product is read as β; the central control system compares α and β, when |α-β|≤K, the gram weight is not greater than the floating range and is normal, otherwise, an audible and visual alarm is given; S3, the central control system sends a material taking instruction to the identification and grabbing device, the identification and grabbing device moves to the first product shooting position, after the position is reached, the identification and grabbing device sends an identification and positioning instruction to the visual camera; the visual camera shoots, the actual plane coordinates of the jewelry are calculated by the visual system algorithm on the visual identification and positioning module, the actual plane coordinates are set as {(X+Xa),(Y+Yb)}, the corresponding standard template variables {(X),(Y)} are calculated, the actual horizontal offset of the product corresponding to the robot electric claw on the plane {(Xa),(Yb)} is obtained; the change point is changed through the positioning control algorithm positioning compensation; S4, the central control system sends a marking instruction to the identification and grabbing device, the identification and grabbing device executes to the product hole shooting position, when the identification and grabbing device reaches the hole shooting position, the identification and grabbing device sends a hole searching instruction to the visual camera to trigger the hole shooting visual camera to shoot, when the identification and grabbing device receives the visual camera "receiving visual camera data 1[4]=1 and receiving visual camera data 1[0]≠0", "receiving visual camera data 1[4]=1", the product tool coordinate system tool(1) is established to perform rotation shooting around the product, each time 6 degrees, until the hole is shot, after rotating to the empty position, the laser marking device is moved to the laser marking position near the marking device, the central control system triggers the laser marking machine to engrave the current gram weight on the product; otherwise, when the rotation exceeds a certain time, the mechanical arm reaches the rotation limit; the mechanical arm takes back the product to the material disc position and prompts the abnormality, the window prompts whether to continue or to the next product; S7, the central control system sends a screening and disc placing action code to the identification and grabbing device, the central control system extracts the actual gram weight m of the product, compares the defined value n with m; when the defined value n≥m, according to the sorting instruction sent by the central control system, the identification and grabbing device places the packaged product into the sorting doorway A; when the defined value n<m, according to the sorting instruction sent by the control device, the identification and grabbing device places the packaged product into the sorting doorway B.

2. An apparatus for automated screening of jewelry using the method of claim 1, wherein, The method comprises a central control system, and an identification and grabbing device and a bagging device connected with the central control system and controlled by the central control system; The central control system comprises a gram weight comparison module for comparing the gram weight of the product with a defined value, and a product sorting module for deciding to place the product into a corresponding sorting doorway according to a comparison result. The recognition and grabbing device comprises two six-axis robots configured with compatible electric claws, each six-axis robot being provided with a visual camera for product recognition and positioning; The bagging device is used for bagging, packaging and code spraying of the products.

3. The apparatus of claim 2, wherein, The weighing device, the marking device and the cleaning device are connected with the central control system respectively and are uniformly commanded and controlled by the central control system.

4. The apparatus of claim 2, wherein, The central control system further comprises a PLC linkage control module, a visual recognition and positioning module, a weighing module, a laser marking module, a bagging module and a code spraying module.

5. The apparatus of claim 2, wherein, The bagging device comprises a bag feeding mechanism, a bag taking mechanism, a bag opening mechanism, a bag closing mechanism, a bag sealing mechanism, a suction positioning mechanism and a code spraying mechanism.

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