Plastic parts detection and sorting system and method

Abstract

The present invention relates to the technical field of plastic parts detection and sorting, and discloses a plastic parts detection and sorting system and method. The posture of the wire box is adjusted by a vibration platform so that the opening surface of the wire box or the surface parallel to the opening surface faces the platform, thereby facilitating the classification clamping device to accurately identify the posture of the wire box. The system transports wire boxes with different postures to two conveyor belts respectively to ensure that wire boxes with different postures are not mixed together. By judging whether the number of wire boxes on the two conveyor belts meets the cross strategy, the system can flexibly respond to the production needs of different batches. When the cross strategy is met, the system uses a reverse clamping device to adopt strategy one for stacking; if it is not met, strategy two is used for adjustment to ensure the efficiency and flexibility of the sorting and stacking process. The introduction of strategy two is particularly effective in solving the problem of unbalanced number of wire boxes and ensuring the smooth progress of the entire stacking process.

Description

Technical Field

[0001] The present invention relates to the technical field of plastic parts detection and sorting, and in particular to a plastic parts detection and sorting system and method. Background Art

[0002] With the continuous development of the manufacturing industry, automation technology has become a key driving force for improving production efficiency and reducing operating costs. In many automation applications, the sorting and classification of items is an important link, especially in large-scale production environments. How to sort products quickly and accurately is an important prerequisite for ensuring the efficient operation of the production line. The traditional manual sorting method has gradually become unable to meet the needs of modern industrial production due to problems such as low efficiency and high error rate.

[0003] In recent years, with the development of artificial intelligence and robotic arm technology, automated sorting systems have been widely used. These systems use various sensors, visual recognition and intelligent algorithms to automatically detect the characteristics of products and sort them to designated locations. In the plastic products industry, electrical wire boxes are a common product, and their production process requires multiple links such as demolding, inspection, classification and packing. If it relies on manual operation, this process is not only time-consuming and labor-intensive, but also prone to sorting errors, which in turn affects product quality and production efficiency. Therefore, the development of an efficient and accurate method for detecting and sorting plastic parts has become an important direction for modern manufacturing to improve its competitiveness. To this end, this case intends to propose a method and system to improve the efficiency of sorting and stacking electrical wire boxes. Summary of the invention

[0004] The present invention provides a plastic parts detection and sorting system and method, which facilitates solving the problems mentioned in the above background technology.

[0005] The present invention provides the following technical solution: a method for detecting and sorting plastic parts, comprising:

[0006] Place the demoulding wire boxes in batches on the vibration platform;

[0007] Start the vibration platform to change the placement of the wire box;

[0008] The changing of the placement posture of the wire box specifically includes changing the surface of the wire box in contact with the vibration platform to the opening surface of the wire box or a surface parallel to the opening surface;

[0009] Set up two conveyor belts;

[0010] The two conveyor belts respectively convey wire boxes with openings facing upward and facing downward, the conveyor belt conveying the wire boxes with openings facing upward is recorded as conveyor belt No. 1, and the conveyor belt conveying the wire boxes with openings facing downward is recorded as conveyor belt No. 2;

[0011] Use the classification clamping device to clamp the wire boxes to the No. 1 conveyor belt and the No. 2 conveyor belt respectively;

[0012] Get the number of wire boxes on conveyor belt No. 1 and conveyor belt No. 2 respectively;

[0013] Determine whether the number of wire boxes on the two conveyor belts satisfies the crossover strategy;

[0014] If the cross strategy is satisfied, the reverse gripping device is used to adopt strategy 1 to grip the wire boxes on the two conveyor belts onto the wire box stacking platform;

[0015] If the cross strategy is not satisfied, the reverse gripping device is used to adopt strategy 2 to grip the wire boxes on the two conveyor belts onto the wire box stacking platform;

[0016] Pack the stacked electrical wire boxes into boxes.

[0017] Optionally, the classification and clamping device specifically includes:

[0018] A rotating platform is connected by a supporting pillar, and the rotating platform is connected to the gripping module via a connecting rod;

[0019] The rotating platform specifically includes: a rotating motor and a rotating gear;

[0020] The gripping module specifically comprises: a lifting rod, a suction cup and two telescopic rods;

[0021] The lifting rod specifically includes: a force sensor connected to the lifting rod;

[0022] The suction cup specifically comprises: an air suction machine, a suction cup body and a pressure gauge;

[0023] The telescopic rods specifically include: each telescopic rod is composed of a cylinder, and each telescopic rod is connected to a force sensor.

[0024] Optionally, the step of using a classification clamping device to clamp the wire boxes to a first conveyor belt and a second conveyor belt respectively includes:

[0025] Get the weight of the wire box, denoted as W;

[0026] Get the length of each side of the wire box and compare them, select the longest side, and record the length of the longest side as L;

[0027] Obtain the height position of the suction cup when the lifting rod is fully extended and retracted, and record it as the initial height position;

[0028] Get the length of each telescopic rod when it is fully extended and record it as the initial length;

[0029] Start the rotary motor to drive the rotary gear to rotate, rotate the gripping module to the vibration platform, stop the rotary motor, start the lifting rod to lower the suction cup, and stop the extension movement of the lifting rod when the value of the force sensor is greater than zero during the descent process;

[0030] Turn on the suction machine of the suction cup;

[0031] The pressure value inside the suction cup is obtained by the pressure gauge and recorded as P vac ;

[0032] Get the atmospheric pressure, recorded as P atm ;

[0033] Get the suction force F of the suction cup, F=P atm -P vac ;

[0034] When F>W, turn off the suction machine to stop suction, and start the telescopic rod to raise the suction cup to the initial height position;

[0035] Start the cylinder to extend the two telescopic rods respectively, and obtain the value of the pressure gauge in real time;

[0036] When the telescopic rod is gradually extended from the initial length to the length L, if the value of the pressure gauge is always 0, the wire box is judged to be open downward at this time, the telescopic rod is retracted to the initial length, the rotary motor is started, the gear is driven to rotate, the gripping module is rotated to the top of the No. 1 conveyor belt, the rotary motor is stopped, the lifting rod is started to lower the suction cup, and the extension movement of the lifting rod is stopped when the value of the force sensor is greater than zero, the suction machine is turned on to exhaust the suction cup and separate the suction cup from the wire box, causing the wire box to fall onto the No. 1 conveyor belt, and the telescopic rod is started to raise the suction cup to the initial height position;

[0037] When the telescopic rod is gradually extended from the initial length to the length L, if the value of the pressure gauge is greater than 0, the extension movement of the telescopic rod is stopped, and the wire box at this time is judged to be open upward, the telescopic rod is retracted to the initial length, the rotating motor is started, the gear is driven to rotate, the clamping module is rotated to the top of the No. 2 conveyor belt, the operation of the rotating motor is stopped, the lifting rod is started to lower the suction cup, and when the value of the force sensor is greater than zero, the extension movement of the lifting rod is stopped, the vacuum machine is opened to exhaust the suction cup and separate the suction cup from the wire box, causing the wire box to fall onto the No. 2 conveyor belt, and the telescopic rod is started to raise the suction cup to the initial height position.

[0038] Optionally, the crossover strategy specifically includes:

[0039] When stacking the wire boxes starting with the opening facing upwards;

[0040] The number of wire boxes with openings upward must equal the number of wire boxes with openings downward, or the number of wire boxes with openings upward - the number of wire boxes with openings downward must equal 1.

[0041] When stacking the wire boxes starting with the one opening downwards;

[0042] The number of wire boxes with openings downward must equal the number of wire boxes with openings upward, or the number of wire boxes with openings downward - the number of wire boxes with openings upward must equal 1.

[0043] Optionally, the reverse clamping device adopts strategy 1 to clamp the wire boxes on the two conveyor belts onto the wire box stacking platform, specifically including:

[0044] The wire boxes are stacked in rows with priority, and the row priority is as follows:

[0045] Divide the stacking platform into N rows and M columns;

[0046] The side of the stacking platform farthest from the reversing clamping device is recorded as the first side, the side closest to the reversing clamping device is recorded as the second side, the side closest to the No. 1 conveyor belt is recorded as the third side, and the side farthest from the No. 1 conveyor belt is recorded as the fourth side;

[0047] The rows divided on the stacking platform are recorded as the first row, the second row, ... the Nth row in order from the closest to the first side to the farthest;

[0048] The columns divided on the stacking platform are recorded as the first column, the second column, ... the Mth column in order from the closest to the third side to the farthest;

[0049] Starting from the first row, stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. Then move to the second row and continue to stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. And so on, fill each row in sequence.

[0050] Obtain the total number of rows and columns of wire boxes that can be stacked on the stacking platform, and mark and sort the rows and columns respectively;

[0051] When stacking wire boxes with openings facing upward in the first row and first column:

[0052] Stack the wire boxes with openings facing upwards in the odd-numbered columns of the odd-numbered rows, and stack the wire boxes with openings facing downwards in the even-numbered columns of the odd-numbered rows;

[0053] Stack the wire boxes with openings facing downwards in the odd columns of even-numbered rows, and stack the wire boxes with openings facing upwards in the even-numbered columns of even-numbered rows;

[0054] When stacking wire boxes with openings facing downwards in the first row and first column:

[0055] Stack the wire boxes with openings facing downwards in the odd-numbered columns of the odd-numbered rows, and stack the wire boxes with openings facing upwards in the even-numbered columns of the odd-numbered rows;

[0056] Stack the electrical boxes with their openings facing upward in the odd-numbered columns of even-numbered rows, and stack the electrical boxes with their openings facing downward in the even-numbered columns of even-numbered rows.

[0057] Optionally, the method of using the reverse clamping device to clamp the wire boxes on the two conveyor belts onto the wire box stacking platform using strategy 2 specifically includes:

[0058] The specific rules for stacking wire boxes are as follows:

[0059] The wire boxes are stacked in rows with priority, and the row priority is as follows:

[0060] Divide the stacking platform into N rows and M columns;

[0061] The side of the stacking platform farthest from the reversing clamping device is recorded as the first side, the side closest to the reversing clamping device is recorded as the second side, the side closest to the No. 1 conveyor belt is recorded as the third side, and the side farthest from the No. 1 conveyor belt is recorded as the fourth side;

[0062] The rows divided on the stacking platform are recorded as the first row, the second row, ... the Nth row in order from the closest to the first side to the farthest;

[0063] The columns divided on the stacking platform are recorded as the first column, the second column, ... the Mth column in order from the closest to the third side to the farthest;

[0064] Starting from the first row, stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. Then move to the second row and continue to stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. And so on, fill each row in sequence.

[0065] Obtain the total number of rows and columns of wire boxes that can be stacked on the stacking platform, and mark and sort the rows and columns respectively;

[0066] When the wire boxes with the opening facing upward are stacked in the first row and first column;

[0067] The odd-numbered columns of odd-numbered rows are stacked with electrical boxes with openings facing upwards, and the even-numbered columns of odd-numbered rows are stacked with electrical boxes with openings facing downwards;

[0068] Even-numbered rows and odd-numbered columns are used to stack wire boxes with openings facing downwards, while even-numbered rows and even-numbered columns are used to stack wire boxes with openings facing upwards;

[0069] When the wire boxes with openings facing downward are stacked in the first row and first column;

[0070] The odd-numbered columns of odd-numbered rows are stacked with wire boxes with openings facing downwards, and the even-numbered columns of odd-numbered rows are stacked with wire boxes with openings facing upwards;

[0071] Even-numbered rows and odd-numbered columns are used to stack electrical boxes with their openings facing upwards, while even-numbered rows and even-numbered columns are used to stack electrical boxes with their openings facing downwards;

[0072] If the currently stacked wire box is one with the opening facing upwards, and this wire box is the last one on conveyor belt No. 1;

[0073] Obtain the number of remaining wire boxes on the second conveyor belt, and sort and mark them in order from near to far according to the distance between the wire boxes and the reversing gripping device;

[0074] When clamping the remaining wire boxes on the No. 2 conveyor belt, the wire boxes with odd numbers are directly clamped to the stacking platform for stacking, and the wire boxes with even numbers are clamped first, and then the clamping device's gripper is reversed 180°, and finally the wire boxes are clamped to the stacking platform for stacking until all the wire boxes on the No. 2 conveyor belt are stacked;

[0075] If the currently stacked wire box is one with its opening facing downwards, and this wire box is the last one on the No. 2 conveyor belt;

[0076] Obtain the number of remaining wire boxes on conveyor belt No. 1, and sort and mark them in order from near to far according to the distance between the wire boxes and the reversing gripping device;

[0077] When clamping the remaining wire boxes on conveyor belt No. 1, the wire boxes with odd numbers are directly clamped to the stacking platform for stacking, and the wire boxes with even numbers are clamped first, and then the clamping device's gripper is reversed 180°, and finally the wire boxes are clamped to the stacking platform for stacking until all the wire boxes on conveyor belt No. 1 are stacked.

[0078] A system for implementing the plastic parts detection and sorting method, comprising:

[0079] Module for changing the placement posture of the wire box: placing the demoulding wire boxes in batches on the vibration platform, starting the vibration platform to change the placement posture of the wire box, and changing the surface of the wire box in contact with the vibration platform to the opening surface of the wire box or a surface parallel to the opening surface;

[0080] Sorting module: Use the classification clamping device to clamp the wire boxes to the No. 1 conveyor belt and the No. 2 conveyor belt respectively;

[0081] Stacking module: Determine whether the number of wire boxes on the two conveyor belts meets the cross strategy. If so, use the reverse clamping device to adopt strategy one to clamp the wire boxes on the two conveyor belts to the wire box stacking platform. If not, use the reverse clamping device to adopt strategy two to clamp the wire boxes on the two conveyor belts to the wire box stacking platform.

[0082] The present invention has the following beneficial effects:

[0083] 1. Through vibration, the opening surface of the wire box or the surface parallel to the opening surface can be made to face the vibration platform, which helps the classification and clamping device to judge the posture of the wire box more accurately. By transporting the wire boxes with two different postures to different conveyor belts respectively, the system can handle the wire boxes in a more orderly manner to ensure that the wire boxes with different postures are not mixed together. By judging whether the number of wire boxes on the two conveyor belts meets the cross strategy, the system can flexibly respond to the production needs of different batches. This judgment step ensures that when the number of wire boxes is uneven, the system can still achieve efficient sorting and stacking through reasonable strategy adjustment. When the cross strategy is met, the system uses the reverse clamping device to operate using strategy one to ensure that the wire boxes can be stacked on the platform according to the predetermined arrangement. When the cross strategy is not met, the system can make adjustments by adopting strategy two to ensure the flexibility of the sorting operation. The introduction of strategy two provides a solution for dealing with the situation of unbalanced number of wire boxes, ensuring that the stacking process can proceed smoothly.

[0084] 2. The suction force of the suction cup can be determined by obtaining weight data. Selecting the longest side length L helps to accurately locate the posture of the wire box. By setting the initial height, the system can reset to a unified starting point each time an operation is performed, thereby improving the stability of the operation and reducing mechanical errors. Determining the initial length of the telescopic rod can ensure the consistency of the telescopic rod during operation. By calculating the pressure difference, the system can dynamically adjust the mechanical parameters during the adsorption process to ensure the safety and reliability of the adsorption process. After confirming that the adsorption force F is greater than the weight W of the wire box, the suction machine is turned off to stop suction to save energy and prevent excessive adsorption. The telescopic rod is then started to restore the suction cup to its initial height to ensure that the system can return to its initial state. This action can effectively prevent the wire box from falling off during the adsorption process, and also ensure that the suction cup can remain in a controllable initial position during the next operation. Starting the cylinder to extend the telescopic rod is to accurately detect the posture of the wire box. By obtaining the value of the pressure gauge in real time, the opening direction of the wire box is determined.

[0085] 3. When the value of the force sensor is 0, it means that the telescopic rod encountered no resistance, indicating that the suction cup adsorption surface did not touch the inside of the wire box. Therefore, the system judged that it was open downward. By opening the vacuum machine to exhaust, the suction cup lost its adsorption force, thereby releasing the wire box and causing it to fall onto conveyor belt No. 1. When the value of the force sensor is greater than 0, it means that the telescopic rod encountered resistance, which means that the suction cup touched the inside of the wire box, and the system judged that the wire box was open upward.

[0086] 4. Determine the number of wire boxes with two opening directions by obtaining the opening direction of the first wire box when stacking. This strategy requires that during the stacking process, the number of wire boxes with openings upward and downward should be close, or the difference is only 1, so that a balanced arrangement of the wire boxes can be achieved during stacking.

[0087] 5. The row-first stacking strategy can ensure that the arrangement order of the wire boxes on the stacking platform is clear and orderly. By filling each row in turn, the space of the stacking platform can be effectively utilized, reducing the space waste caused by irregular stacking. Clearly marking each side of the stacking platform can help the equipment better understand the spatial relationship and ensure that each wire box can be accurately placed in the predetermined position. By accurately calculating the number of rows and columns of the stacking platform, marking and sorting them, the stacking process can be better planned. Selecting a wire box with a specific posture as the starting point during the stacking process can lay the foundation for subsequent arrangement. After obtaining the posture of the first stacked wire box, the stacking posture of the second, third...Nth wire box can be determined in turn, thereby realizing the rule of cross stacking.

[0088] 6. The row-first stacking strategy can ensure that the arrangement order of the wire boxes on the stacking platform is clear and orderly. By filling each row in turn, the space of the stacking platform can be effectively utilized, reducing the space waste caused by irregular stacking. Clearly marking each side of the stacking platform can help the equipment better understand the spatial relationship and ensure that each wire box can be accurately placed in the predetermined position. By accurately calculating the number of rows and columns of the stacking platform, marking and sorting them, the stacking process can be better planned. Selecting a wire box with a specific posture as the starting point during the stacking process can lay the foundation for subsequent arrangement. After obtaining the posture of the first stacked wire box, the stacking posture of the second, third...Nth wire box can be determined in turn, thereby realizing the cross-stacking rule. When the wire boxes on one of the conveyor belts are stacked, it is necessary to count the remaining wire boxes on the other conveyor belt, and then the remaining wire boxes can be stacked in a normal stacking and a reverse stacking sequence to realize the cross-stacking rule and complete the stacking of the wire boxes on each conveyor belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 It is a schematic diagram of the wire box of the present invention.

[0090] Figure 2 and Figure 3 It is a schematic diagram of the classification clamping device of the present invention.

[0091] Figure 4 It is a schematic diagram of the reverse clamping device of the present invention.

[0092] In the figure: 1. Wire box; 2. Opening surface; 3. Surface parallel to the opening; 4. Rotating platform; 5. Connecting rod; 6. Force sensor; 7. Rotating motor; 8. Lifting rod; 9. Vacuum; 10. Air pipe; 11. Gear; 12. Cylinder; 13. Telescopic rod; 14. Pressure gauge; 15. Suction cup; 16. Support pillar; 17. Wire box with opening upward; 18. Wire box with opening downward; 19. Reversing clamping device. DETAILED DESCRIPTION

[0093] 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.

[0094] Embodiment, a plastic parts detection and sorting method, comprising:

[0095] Place the demoulding wire boxes in batches on the vibration platform;

[0096] Start the vibration platform to change the placement of the wire box;

[0097] Reference Figure 1 The changing of the placement posture of the wire box is specifically to change the surface of the wire box in contact with the vibration platform to the opening surface of the wire box or a surface parallel to the opening surface. Since the wire box is wide at the top and narrow at the bottom, the instability of the side surface during the vibration process will cause the wire box to finally contact the vibration platform with the opening surface or the surface parallel to the opening.

[0098] Set up two conveyor belts;

[0099] The two conveyor belts respectively convey wire boxes with openings facing upward and facing downward, the conveyor belt conveying the wire boxes with openings facing upward is recorded as conveyor belt No. 1, and the conveyor belt conveying the wire boxes with openings facing downward is recorded as conveyor belt No. 2;

[0100] Reference Figure 2 and Figure 3 , use the classification clamping device to clamp the wire boxes to the No. 1 conveyor belt and the No. 2 conveyor belt respectively;

[0101] Get the number of wire boxes on conveyor belt No. 1 and conveyor belt No. 2 respectively;

[0102] Determine whether the number of wire boxes on the two conveyor belts satisfies the crossover strategy;

[0103] Reference Figure 3,If the cross strategy is satisfied, the reverse gripping device adopts strategy 1 to grip the wire boxes on the two conveyor belts onto the wire box stacking platform;

[0104] If the cross strategy is not satisfied, the reverse gripping device is used to adopt strategy 2 to grip the wire boxes on the two conveyor belts onto the wire box stacking platform;

[0105] Pack the stacked electrical wire boxes into boxes.

[0106] Through vibration, the opening surface of the wire box or the surface parallel to the opening surface can be made to face the vibration platform, which helps the sorting and clamping device to judge the posture of the wire box more accurately. By transporting the wire boxes with two different postures to different conveyor belts respectively, the system can handle the wire boxes in a more orderly manner to ensure that the wire boxes with different postures are not mixed together. By judging whether the number of wire boxes on the two conveyor belts meets the cross strategy, the system can flexibly respond to the production needs of different batches. This judgment step ensures that when the number of wire boxes is uneven, the system can still achieve efficient sorting and stacking through reasonable strategy adjustments. When the cross strategy is met, the system uses the reverse clamping device to operate using strategy one to ensure that the wire boxes can be stacked on the platform according to the predetermined arrangement. When the cross strategy is not met, the system can make adjustments by adopting strategy two to ensure the flexibility of the sorting operation. The introduction of strategy two provides a solution for dealing with the situation of unbalanced number of wire boxes to ensure that the stacking process can proceed smoothly.

[0107] The classification clamping device specifically comprises:

[0108] A rotating platform is connected by a supporting pillar, and the rotating platform is connected to the gripping module via a connecting rod;

[0109] The rotating platform specifically includes: a rotating motor and a rotating gear;

[0110] The gripping module specifically comprises: a lifting rod, a suction cup and two telescopic rods;

[0111] The lifting rod specifically includes: a force sensor connected to the lifting rod;

[0112] The suction cup specifically comprises: an air suction machine, a suction cup body and a pressure gauge;

[0113] The telescopic rods specifically include: each telescopic rod is composed of a cylinder, and each telescopic rod is connected to a force sensor.

[0114] The method of using the classification clamping device to clamp the wire boxes to the first conveyor belt and the second conveyor belt respectively includes:

[0115] Get the weight of the wire box, denoted as W;

[0116] Get the length of each side of the wire box and compare them, select the longest side, and record the length of the longest side as L;

[0117] Obtain the height position of the suction cup when the lifting rod is fully extended and retracted, and record it as the initial height position;

[0118] Get the length of each telescopic rod when it is fully extended and record it as the initial length;

[0119] Start the rotary motor to drive the rotary gear to rotate, rotate the gripping module to the vibration platform, stop the rotary motor, start the lifting rod to lower the suction cup, and stop the extension movement of the lifting rod when the value of the force sensor is greater than zero during the descent process;

[0120] Turn on the suction machine of the suction cup;

[0121] The pressure value inside the suction cup is obtained by the pressure gauge and recorded as P vac ;

[0122] Get the atmospheric pressure, recorded as P atm ;

[0123] Get the suction force F of the suction cup, F=P atm -P vac ;

[0124] When F>W, turn off the suction machine to stop suction, and start the telescopic rod to raise the suction cup to the initial height position;

[0125] Start the cylinder to extend the two telescopic rods respectively, and obtain the value of the pressure gauge in real time;

[0126] When the telescopic rod is gradually extended from the initial length to the length L, if the value of the pressure gauge is always 0, the wire box is judged to be open downward at this time, the telescopic rod is retracted to the initial length, the rotary motor is started, the gear is driven to rotate, the gripping module is rotated to the top of the No. 1 conveyor belt, the rotary motor is stopped, the lifting rod is started to lower the suction cup, and the extension movement of the lifting rod is stopped when the value of the force sensor is greater than zero, the suction machine is turned on to exhaust the suction cup and separate the suction cup from the wire box, causing the wire box to fall onto the No. 1 conveyor belt, and the telescopic rod is started to raise the suction cup to the initial height position;

[0127] When the telescopic rod is gradually extended from the initial length to the length L, if the value of the pressure gauge is greater than 0, the extension movement of the telescopic rod is stopped, and the wire box at this time is judged to be open upward, the telescopic rod is retracted to the initial length, the rotating motor is started, the gear is driven to rotate, the clamping module is rotated to the top of the No. 2 conveyor belt, the operation of the rotating motor is stopped, the lifting rod is started to lower the suction cup, and when the value of the force sensor is greater than zero, the extension movement of the lifting rod is stopped, the vacuum machine is opened to exhaust the suction cup and separate the suction cup from the wire box, causing the wire box to fall onto the No. 2 conveyor belt, and the telescopic rod is started to raise the suction cup to the initial height position.

[0128] By obtaining weight data, the suction force of the suction cup can be determined. Selecting the longest side length L helps to accurately locate the posture of the wire box. By setting the initial height, the system can reset to a uniform starting point each time an operation is performed, thereby improving the stability of the operation and reducing mechanical errors. Determining the initial length of the telescopic rod can ensure the consistency of the telescopic rod during operation. By calculating the pressure difference, the system can dynamically adjust the mechanical parameters during the adsorption process to ensure the safety and reliability of the adsorption process. After confirming that the adsorption force F is greater than the weight W of the wire box, the suction machine is turned off to stop suction to save energy and prevent excessive adsorption. The telescopic rod is then started to restore the suction cup to its initial height to ensure that the system can return to its initial state. This action can effectively prevent the wire box from falling off during the adsorption process, and also ensure that the suction cup can remain in a controllable initial position during the next operation. Starting the cylinder to extend the telescopic rod is to accurately detect the posture of the wire box. By obtaining the value of the pressure gauge in real time, the opening direction of the wire box is determined.

[0129] When the value of the force sensor is 0, it means that the telescopic rod encountered no resistance, indicating that the suction cup adsorption surface did not touch the inside of the wire box. Therefore, the system judged that it was open downward. By opening the vacuum machine to exhaust, the suction cup lost its adsorption force, thereby releasing the wire box and causing it to fall onto conveyor belt No. 1. When the value of the force sensor is greater than 0, it means that the telescopic rod encountered resistance, which means that the suction cup touched the inside of the wire box, and the system judged that the wire box was open upward.

[0130] The crossover strategy specifically includes:

[0131] When stacking the wire boxes starting with the opening facing upwards;

[0132] The number of wire boxes with openings upward must equal the number of wire boxes with openings downward, or the number of wire boxes with openings upward - the number of wire boxes with openings downward must equal 1.

[0133] When stacking the wire boxes starting with the one opening downwards;

[0134] The number of wire boxes with openings downward must equal the number of wire boxes with openings upward, or the number of wire boxes with openings downward - the number of wire boxes with openings upward must equal 1.

[0135] The number of wire boxes with two opening directions is determined by obtaining the opening direction of the first wire box when stacking begins. This strategy requires that during the stacking process, the number of wire boxes with openings upward and downward must be close, or the difference is only 1, so that a balanced arrangement of the wire boxes can be achieved during stacking.

[0136] The method of using the reverse clamping device to clamp the wire boxes on the two conveyor belts onto the wire box stacking platform adopts strategy 1, specifically including:

[0137] The wire boxes are stacked in rows with priority, and the row priority is as follows:

[0138] Divide the stacking platform into N rows and M columns;

[0139] The side of the stacking platform farthest from the reversing clamping device is recorded as the first side, the side closest to the reversing clamping device is recorded as the second side, the side closest to the No. 1 conveyor belt is recorded as the third side, and the side farthest from the No. 1 conveyor belt is recorded as the fourth side;

[0140] The rows divided on the stacking platform are recorded as the first row, the second row, ... the Nth row in order from the closest to the first side to the farthest;

[0141] The columns divided on the stacking platform are recorded as the first column, the second column, ... the Mth column in order from the closest to the third side to the farthest;

[0142] Starting from the first row, stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. Then move to the second row and continue to stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. And so on, fill each row in sequence.

[0143] Obtain the total number of rows and columns of wire boxes that can be stacked on the stacking platform, and mark and sort the rows and columns respectively;

[0144] When stacking wire boxes with openings facing upward in the first row and first column:

[0145] Stack the wire boxes with openings facing upwards in the odd-numbered columns of the odd-numbered rows, and stack the wire boxes with openings facing downwards in the even-numbered columns of the odd-numbered rows;

[0146] Stack the wire boxes with openings facing downwards in the odd columns of even-numbered rows, and stack the wire boxes with openings facing upwards in the even-numbered columns of even-numbered rows;

[0147] When stacking wire boxes with openings facing downwards in the first row and first column:

[0148] Stack the wire boxes with openings facing downwards in the odd-numbered columns of the odd-numbered rows, and stack the wire boxes with openings facing upwards in the even-numbered columns of the odd-numbered rows;

[0149] Stack the electrical boxes with their openings facing upward in the odd-numbered columns of even-numbered rows, and stack the electrical boxes with their openings facing downward in the even-numbered columns of even-numbered rows.

[0150] The row-first stacking strategy can ensure that the arrangement order of the wire boxes on the stacking platform is clear and orderly. By filling each row in turn, the space of the stacking platform can be effectively utilized, reducing the space waste caused by irregular stacking. Clearly marking the various edges of the stacking platform can help the equipment better understand the spatial relationship and ensure that each wire box can be accurately placed in the predetermined position. By accurately calculating the number of rows and columns of the stacking platform, marking and sorting them, the stacking process can be better planned. Selecting a wire box with a specific posture as the starting point during the stacking process can lay the foundation for subsequent arrangement. After obtaining the posture of the first stacked wire box, the stacking postures of the second, third...Nth wire box can be determined in turn, thereby realizing the rule of cross stacking.

[0151] The method of using the reverse clamping device to clamp the wire boxes on the two conveyor belts onto the wire box stacking platform by adopting strategy 2 specifically includes:

[0152] The specific rules for stacking wire boxes are as follows:

[0153] The wire boxes are stacked in rows with priority, and the row priority is as follows:

[0154] Divide the stacking platform into N rows and M columns;

[0155] The side of the stacking platform farthest from the reversing clamping device is recorded as the first side, the side closest to the reversing clamping device is recorded as the second side, the side closest to the No. 1 conveyor belt is recorded as the third side, and the side farthest from the No. 1 conveyor belt is recorded as the fourth side;

[0156] The rows divided on the stacking platform are recorded as the first row, the second row, ... the Nth row in order from the closest to the first side to the farthest;

[0157] The columns divided on the stacking platform are recorded as the first column, the second column, ... the Mth column in order from the closest to the third side to the farthest;

[0158] Starting from the first row, stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. Then move to the second row and continue to stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. And so on, fill each row in sequence.

[0159] Obtain the total number of rows and columns of wire boxes that can be stacked on the stacking platform, and mark and sort the rows and columns respectively;

[0160] When the wire boxes with the opening facing upward are stacked in the first row and first column;

[0161] The odd-numbered columns of odd-numbered rows are stacked with electrical boxes with openings facing upwards, and the even-numbered columns of odd-numbered rows are stacked with electrical boxes with openings facing downwards;

[0162] Even-numbered rows and odd-numbered columns are used to stack wire boxes with openings facing downwards, while even-numbered rows and even-numbered columns are used to stack wire boxes with openings facing upwards;

[0163] When the wire boxes with openings facing downward are stacked in the first row and first column;

[0164] The odd-numbered columns of odd-numbered rows are stacked with wire boxes with openings facing downwards, and the even-numbered columns of odd-numbered rows are stacked with wire boxes with openings facing upwards;

[0165] Even-numbered rows and odd-numbered columns are used to stack electrical boxes with their openings facing upwards, while even-numbered rows and even-numbered columns are used to stack electrical boxes with their openings facing downwards;

[0166] If the currently stacked wire box is one with the opening facing upwards, and this wire box is the last one on conveyor belt No. 1;

[0167] Obtain the number of remaining wire boxes on the second conveyor belt, and sort and mark them in order from near to far according to the distance between the wire boxes and the reversing gripping device;

[0168] When clamping the remaining wire boxes on the No. 2 conveyor belt, the wire boxes with odd numbers are directly clamped to the stacking platform for stacking, and the wire boxes with even numbers are clamped first, and then the clamping device's gripper is reversed 180°, and finally the wire boxes are clamped to the stacking platform for stacking until all the wire boxes on the No. 2 conveyor belt are stacked;

[0169] If the currently stacked wire box is one with its opening facing downwards, and this wire box is the last one on the No. 2 conveyor belt;

[0170] Obtain the number of remaining wire boxes on conveyor belt No. 1, and sort and mark them in order from near to far according to the distance between the wire boxes and the reversing gripping device;

[0171] When clamping the remaining wire boxes on conveyor belt No. 1, the wire boxes with odd numbers are directly clamped to the stacking platform for stacking, and the wire boxes with even numbers are clamped first, and then the clamping device's gripper is reversed 180°, and finally the wire boxes are clamped to the stacking platform for stacking until all the wire boxes on conveyor belt No. 1 are stacked.

[0172] The row-first stacking strategy can ensure that the arrangement order of the wire boxes on the stacking platform is clear and orderly. By filling each row in turn, the space of the stacking platform can be effectively utilized, reducing the space waste caused by irregular stacking. Clearly marking each side of the stacking platform can help the equipment better understand the spatial relationship and ensure that each wire box can be accurately placed in the predetermined position. By accurately calculating the number of rows and columns of the stacking platform, marking and sorting them, the stacking process can be better planned. Selecting a wire box with a specific posture as the starting point during the stacking process can lay the foundation for subsequent arrangement. After obtaining the posture of the first stacked wire box, the stacking posture of the second, third...Nth wire box can be determined in turn, thereby realizing the cross stacking rule. When the wire boxes on one of the conveyor belts are stacked, it is necessary to count the remaining wire boxes on the other conveyor belt, and then the remaining wire boxes can be stacked in a normal stacking and a reverse stacking sequence to realize the cross stacking rule and complete the stacking of the wire boxes on each conveyor belt.

[0173] This embodiment also provides a system for a plastic parts detection and sorting method, including:

[0174] Module for changing the placement posture of the wire box: placing the demoulding wire boxes in batches on the vibration platform, starting the vibration platform to change the placement posture of the wire box, and changing the surface of the wire box in contact with the vibration platform to the opening surface of the wire box or a surface parallel to the opening surface;

[0175] Sorting module: Use the classification clamping device to clamp the wire boxes to the No. 1 conveyor belt and the No. 2 conveyor belt respectively;

[0176] Stacking module: Determine whether the number of wire boxes on the two conveyor belts meets the cross strategy. If so, use the reverse clamping device to adopt strategy one to clamp the wire boxes on the two conveyor belts to the wire box stacking platform. If not, use the reverse clamping device to adopt strategy two to clamp the wire boxes on the two conveyor belts to the wire box stacking platform.

[0177] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0178] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for detecting and sorting plastic parts, characterized in that: include: Place the demoulding wire boxes in batches on the vibration platform; Start the vibration platform to change the placement of the wire box; The changing of the placement posture of the wire box specifically includes changing the surface of the wire box in contact with the vibration platform to the opening surface of the wire box or a surface parallel to the opening surface; Set up two conveyor belts; The two conveyor belts respectively convey wire boxes with openings facing upward and facing downward, the conveyor belt conveying the wire boxes with openings facing upward is recorded as conveyor belt No. 1, and the conveyor belt conveying the wire boxes with openings facing downward is recorded as conveyor belt No. 2; Use the classification clamping device to clamp the wire boxes to the No. 1 conveyor belt and the No. 2 conveyor belt respectively; Get the number of wire boxes on conveyor belt No. 1 and conveyor belt No. 2 respectively; Determine whether the number of wire boxes on the two conveyor belts satisfies the crossover strategy; The crossover strategy specifically includes: When stacking the wire boxes starting with the opening facing upwards; The number of wire boxes with openings upward must equal the number of wire boxes with openings downward, or the number of wire boxes with openings upward - the number of wire boxes with openings downward must equal 1. When stacking the wire boxes starting with the one opening downwards; The number of wire boxes with downward openings must equal the number of wire boxes with upward openings, or the number of wire boxes with downward openings - the number of wire boxes with upward openings = 1. If the cross strategy is satisfied, the reverse gripping device is used to adopt strategy 1 to grip the wire boxes on the two conveyor belts onto the wire box stacking platform; If the cross strategy is not satisfied, the reverse gripping device is used to adopt strategy 2 to grip the wire boxes on the two conveyor belts onto the wire box stacking platform; Pack the stacked electrical wire boxes into boxes.

2. A plastic parts detection and sorting method according to claim 1, characterized in that: The classification clamping device specifically comprises: A rotating platform is connected by a supporting pillar, and the rotating platform is connected to the gripping module via a connecting rod; The rotating platform specifically includes: a rotating motor and a rotating gear; The gripping module specifically comprises: a lifting rod, a suction cup and two telescopic rods; The lifting rod specifically includes: a force sensor connected to the lifting rod; The suction cup specifically comprises: an air suction machine, a suction cup body and a pressure gauge; The telescopic rods specifically include: each telescopic rod is composed of a cylinder, and each telescopic rod is connected to a force sensor.

3. A plastic parts detection and sorting method according to claim 1, characterized in that: The method of using the classification clamping device to clamp the wire boxes to the No. 1 conveyor belt and the No. 2 conveyor belt respectively includes: Get the weight of the wire box, denoted as W; Get the length of each side of the wire box and compare them, select the longest side, and record the length of the longest side as L; Obtain the height position of the suction cup when the lifting rod is fully extended and retracted, and record it as the initial height position; Get the length of each telescopic rod when it is fully extended and record it as the initial length; Start the rotary motor to drive the rotary gear to rotate, rotate the gripping module to the vibration platform, stop the rotary motor, start the lifting rod to lower the suction cup, and stop the extension movement of the lifting rod when the value of the force sensor is greater than zero during the descent process; Turn on the suction machine of the suction cup; The pressure value inside the suction cup is obtained by the pressure gauge and recorded as P vac ; Get the atmospheric pressure, recorded as P atm ; Get the suction force F of the suction cup, F=P atm -P vac ; When F>W, turn off the suction machine to stop suction, and start the telescopic rod to raise the suction cup to the initial height position; Start the cylinder to extend the two telescopic rods respectively, and obtain the value of the pressure gauge in real time; When the telescopic rod is gradually extended from the initial length to the length L, if the value of the pressure gauge is always 0, the wire box is judged to be open downward at this time, the telescopic rod is retracted to the initial length, the rotary motor is started, the gear is driven to rotate, the gripping module is rotated to the top of the No. 1 conveyor belt, the rotary motor is stopped, the lifting rod is started to lower the suction cup, and the extension movement of the lifting rod is stopped when the value of the force sensor is greater than zero, the suction machine is turned on to exhaust the suction cup and separate the suction cup from the wire box, causing the wire box to fall onto the No. 1 conveyor belt, and the telescopic rod is started to raise the suction cup to the initial height position; When the telescopic rod is gradually extended from the initial length to the length L, if the value of the pressure gauge is greater than 0, the extension movement of the telescopic rod is stopped, and the wire box at this time is judged to be open upward, the telescopic rod is retracted to the initial length, the rotating motor is started, the gear is driven to rotate, the clamping module is rotated to the top of the No. 2 conveyor belt, the operation of the rotating motor is stopped, the lifting rod is started to lower the suction cup, and when the value of the force sensor is greater than zero, the extension movement of the lifting rod is stopped, the vacuum machine is opened to exhaust the suction cup and separate the suction cup from the wire box, causing the wire box to fall onto the No. 2 conveyor belt, and the telescopic rod is started to raise the suction cup to the initial height position.

4. A plastic parts detection and sorting method according to claim 1, characterized in that: The method of using the reverse clamping device to clamp the wire boxes on the two conveyor belts onto the wire box stacking platform adopts strategy 1, specifically including: The wire boxes are stacked in rows with priority, and the row priority is as follows: Divide the stacking platform into N rows and M columns; The side of the stacking platform farthest from the reversing clamping device is recorded as the first side, the side closest to the reversing clamping device is recorded as the second side, the side closest to the No. 1 conveyor belt is recorded as the third side, and the side farthest from the No. 1 conveyor belt is recorded as the fourth side; The rows divided on the stacking platform are recorded as the first row, the second row, ... the Nth row in order from the closest to the first side to the farthest; The columns divided on the stacking platform are recorded as the first column, the second column, ... the Mth column in order from the closest to the third side to the farthest; Starting from the first row, stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. Then move to the second row and continue to stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. And so on, fill each row in sequence. Obtain the total number of rows and columns of wire boxes that can be stacked on the stacking platform, and mark and sort the rows and columns respectively; When stacking wire boxes with openings facing upward in the first row and first column: Stack the wire boxes with openings facing upwards in the odd-numbered columns of the odd-numbered rows, and stack the wire boxes with openings facing downwards in the even-numbered columns of the odd-numbered rows; Stack the wire boxes with openings facing downwards in the odd columns of even-numbered rows, and stack the wire boxes with openings facing upwards in the even-numbered columns of even-numbered rows; When stacking wire boxes with openings facing downwards in the first row and first column: Stack the wire boxes with openings facing downwards in the odd-numbered columns of the odd-numbered rows, and stack the wire boxes with openings facing upwards in the even-numbered columns of the odd-numbered rows; Stack the electrical boxes with their openings facing upward in the odd-numbered columns of even-numbered rows, and stack the electrical boxes with their openings facing downward in the even-numbered columns of even-numbered rows.

5. A plastic parts detection and sorting method according to claim 1, characterized in that: The method of using the reverse clamping device to clamp the wire boxes on the two conveyor belts onto the wire box stacking platform by adopting strategy 2 specifically includes: The specific rules for stacking wire boxes are as follows: The wire boxes are stacked in rows with priority, and the row priority is as follows: Divide the stacking platform into N rows and M columns; The side of the stacking platform farthest from the reversing clamping device is recorded as the first side, the side closest to the reversing clamping device is recorded as the second side, the side closest to the No. 1 conveyor belt is recorded as the third side, and the side farthest from the No. 1 conveyor belt is recorded as the fourth side; The rows divided on the stacking platform are recorded as the first row, the second row, ... the Nth row in order from the closest to the first side to the farthest; The columns divided on the stacking platform are recorded as the first column, the second column, ... the Mth column in order from the closest to the third side to the farthest; Starting from the first row, stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. Then move to the second row and continue to stack the wire boxes in the order of columns until all the columns in this row are filled with wire boxes. And so on, fill each row in sequence. Obtain the total number of rows and columns of wire boxes that can be stacked on the stacking platform, and mark and sort the rows and columns respectively; When the wire boxes with the opening facing upward are stacked in the first row and first column; The odd-numbered columns of odd-numbered rows are stacked with electrical boxes with openings facing upwards, and the even-numbered columns of odd-numbered rows are stacked with electrical boxes with openings facing downwards; Even-numbered rows and odd-numbered columns are used to stack wire boxes with openings facing downwards, while even-numbered rows and even-numbered columns are used to stack wire boxes with openings facing upwards; When the wire boxes with openings facing downward are stacked in the first row and first column; The odd-numbered columns of odd-numbered rows are stacked with wire boxes with openings facing downwards, and the even-numbered columns of odd-numbered rows are stacked with wire boxes with openings facing upwards; Even-numbered rows and odd-numbered columns are used to stack electrical boxes with their openings facing upwards, while even-numbered rows and even-numbered columns are used to stack electrical boxes with their openings facing downwards; If the currently stacked wire box is one with the opening facing upwards, and this wire box is the last one on conveyor belt No. 1; Obtain the number of remaining wire boxes on the second conveyor belt, and sort and mark them in order from near to far according to the distance between the wire boxes and the reversing gripping device; When clamping the remaining wire boxes on the No. 2 conveyor belt, the wire boxes with odd numbers are directly clamped to the stacking platform for stacking, and the wire boxes with even numbers are clamped first, and then the clamping device's gripper is reversed 180°, and finally the wire boxes are clamped to the stacking platform for stacking until all the wire boxes on the No. 2 conveyor belt are stacked; If the currently stacked wire box is one with its opening facing downwards, and this wire box is the last one on the No. 2 conveyor belt; Obtain the number of remaining wire boxes on conveyor belt No. 1, and sort and mark them in order from near to far according to the distance between the wire boxes and the reversing gripping device; When clamping the remaining wire boxes on conveyor belt No. 1, the wire boxes with odd numbers are directly clamped to the stacking platform for stacking, and the wire boxes with even numbers are clamped first, and then the clamping device's gripper is reversed 180°, and finally the wire boxes are clamped to the stacking platform for stacking until all the wire boxes on conveyor belt No. 1 are stacked.

6. A system using the plastic parts detection and sorting method according to claim 1, characterized in that: include: Module for changing the placement posture of the wire box: placing the demoulding wire boxes in batches on the vibration platform, starting the vibration platform to change the placement posture of the wire box, and changing the surface of the wire box in contact with the vibration platform to the opening surface of the wire box or a surface parallel to the opening surface; Sorting module: Use the classification clamping device to clamp the wire boxes to the No. 1 conveyor belt and the No. 2 conveyor belt respectively; Stacking module: Determine whether the number of wire boxes on the two conveyor belts meets the cross strategy. If so, use the reverse clamping device to adopt strategy one to clamp the wire boxes on the two conveyor belts to the wire box stacking platform. If not, use the reverse clamping device to adopt strategy two to clamp the wire boxes on the two conveyor belts to the wire box stacking platform.

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