A lifting cross sorting device and control method thereof

Abstract

The present invention provides a lifting cross sorting device and a control method thereof. The device comprises a support seat, an X-axis conveying track, a Y-axis conveying track, a lifting mechanism, a weight sensor, and a control system; the weight sensor detects the weight of the material; when F>F th When F≤F th When the material is transported in the direction of the Y axis, the control system drives the lifting mechanism to lower the X-axis conveying track to below the Y-axis conveying track, and the material is transported along the Y axis. The present invention can automatically switch the material transportation direction according to the weight of the material through the cross arrangement of the X-axis and Y-axis conveying tracks and the control of the lifting mechanism, thereby reducing manual intervention and solving technical problems such as uneven sorting results and inability to adapt to dynamically changing cargo distribution in traditional sorting systems.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment, and in particular to a lifting cross sorting device and a control method thereof. Background Art

[0002] In the field of modern industrial manufacturing, the application of automated production lines has gradually become the mainstream, especially in large-scale production, high-precision manufacturing and complex processing processes. Automation equipment can not only greatly improve production efficiency, but also effectively reduce production costs and reduce human errors. These advantages have made automation systems widely used in many industries such as electronic processing, machinery manufacturing, chemical manufacturing, food processing, etc.

[0003] In order to improve the flexibility and balance of the sorting system, existing technologies attempt to introduce dynamic adjustment mechanisms. For example, dynamic sorting based on cargo weight can detect cargo weight in real time and determine the cargo transmission path based on a set threshold. Although this method can solve the problem of unbalanced sorting to a certain extent, it still has the following technical problems in practical applications: Unbalanced sorting caused by fixed thresholds:

[0004] In traditional weight threshold-based sorting systems, the threshold is usually fixed and cannot be adjusted according to the real-time weight distribution of the goods. In actual operation, this approach may cause goods to frequently favor a certain transmission path (such as the X-axis or the Y-axis), while the other path is idle. For example, if the threshold set by the system is too high, most lightweight goods will be assigned to the X-axis, while the Y-axis will be idle, and vice versa. This unbalanced sorting will lead to a waste of equipment resources and reduced system efficiency.

[0005] Unable to adapt to dynamically changing cargo distribution:

[0006] The weight distribution of goods may change significantly in different time periods or batches. If the distribution of goods is heavy or light, the fixed weight threshold cannot adapt to this change, causing the sorting results to be biased in one direction, further exacerbating the problem of unbalanced sorting. Therefore, the system needs a method that can dynamically adjust the threshold based on historical sorting data to ensure that the use of the transmission path tends to be balanced.

[0007] Lack of adaptive adjustment mechanism:

[0008] The existing technology lacks an effective adaptive adjustment mechanism and cannot optimize the sorting strategy by learning from historical data. Simple fixed thresholds or fixed rules cannot flexibly respond to complex changes in cargo flow, resulting in low sorting efficiency of the system. Therefore, it is necessary to design a lifting cross sorting device and its control method to solve the above technical problems. Summary of the invention

[0009] The present invention provides a lifting cross sorting device, aiming to solve the technical problems mentioned in the background technology.

[0010] In order to solve the above problems, the present invention provides the following technical solution: a lifting cross sorting device, comprising:

[0011] A support base is used to provide a stable supporting platform;

[0012] The X-axis conveying track is installed on the support seat and is a transmission line composed of a number of rollers arranged at a certain distance from each other, which is used to realize material conveying in the X-axis direction;

[0013] The Y-axis conveyor track is composed of a plurality of belt transmission lines, which are respectively interspersed between the rollers of the X-axis conveyor track, so that the X-axis conveyor track and the Y-axis conveyor track are arranged alternately with each other on the same plane, and the Y-axis conveyor track is used to realize material transportation in the Y-axis direction;

[0014] A lifting mechanism is arranged below the X-axis conveying track, and the lifting mechanism is used to control the height of the X-axis conveying track to be higher than the Y-axis conveying track or lower than the Y-axis conveying track, so that the equipment can switch the material transmission direction as needed;

[0015] Weight sensors are installed on the X-axis and Y-axis conveyor tracks to detect the weight information of materials in real time;

[0016] A control system is electrically connected to the weight sensor, the lifting mechanism, the X-axis conveying track and the Y-axis conveying track. The control system automatically controls the lifting mechanism to switch the conveying direction based on the weight information of the material.

[0017] The control system determines the weight of the cargo measured by the weight sensor and the preset weight threshold F th Make a comparison and control the height of the X-axis conveyor track according to the comparison result;

[0018]

[0019] Among them, F i is the weight information recorded in the historical sorting process, n is the number of sorting batches, and δ is the adjustable increment used to fine-tune the current weight threshold F th ;

[0020] Because F th It is calculated based on the average weight information of historical sorting. When the historical sorting material is large, F th The value is dynamically increased, and vice versa, it is dynamically decreased, so that the result of goods sorting on the X-axis or Y-axis conveyor track tends to 1 / 2.

[0021] Furthermore, the adjustable increment δ is calculated in the following manner:

[0022]

[0023] in is the updated adjustable increment, is the current adjustable increment, is the adjustment coefficient, the error rate is the current sorting error rate, and the expected error rate is the expected sorting error rate preset by the system. F can be dynamically optimized based on the feedback of the sorting results. th The value of .

[0024] Furthermore, the value of δ is 1-10N.

[0025] Furthermore, two X-axis conveying tracks are provided, and the two X-axis conveying tracks are arranged in parallel.

[0026] Furthermore, each of the X-axis conveying tracks is provided with a Y-axis conveying track.

[0027] Furthermore, the rollers of the X-axis conveying track are fixed by a support plate installed on a support seat, and mounting holes at different positions are provided on the support plate. The spacing between the rollers can be adjusted by selecting the mounting holes at different positions.

[0028] Furthermore, the belt transmission line of the Y-axis conveyor track is controlled by a synchronous transmission mechanism to ensure that multiple belt transmission lines move synchronously to prevent the material from shifting during the transmission process.

[0029] The present invention also provides a control method for a lifting cross sorting device, which is applied to the lifting cross sorting device as described above, and comprises the following steps:

[0030] S1, the weight sensor detects the weight m of the material and calculates the gravity of the material through F=mg;

[0031] S2, when F>F th When the control system drives the lifting mechanism to raise the X-axis conveying track to a position higher than the Y-axis conveying track, the material is transported along the X-axis direction;

[0032] When F≤F th When the material is transported along the Y axis, the control system drives the lifting mechanism to lower the X-axis conveying track to below the Y-axis conveying track.

[0033] Furthermore, the control system sets multiple weight thresholds F th1 , F th2 , ... F thn , sort materials of different weight ranges and switch the material transmission direction according to the sorting requirements, including:

[0034] When F thX1 <F≤F thX2 When , the material is transported along the X-axis direction;

[0035] When F thY1 <F≤F thY2 When the material is transported along the Y-axis.

[0036] Furthermore, the control system has a learning function, which can analyze the weight data in the sorting process through a machine learning algorithm and automatically optimize the transmission direction control and sorting strategy. Compared with the prior art, the present invention has at least the following beneficial effects:

[0037] This technical solution can dynamically adjust the weight threshold according to the weight data of the historical sorting of goods, so that the sorting results of the goods tend to 1 / 2 in the X-axis and Y-axis directions, solving the problem of unbalanced sorting results in traditional sorting systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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.

[0039] Figure 1 is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0040] Figure 2 is a schematic diagram of the X-axis conveying track in Example 1 of the present invention;

[0041] Figure 3 is a schematic diagram of the Y-axis conveying track in Example 1 of the present invention;

[0042] Figure 4 It is a partial structural diagram of Embodiment 1 of the present invention;

[0043] Figure 5 It is a step flow chart of embodiment 2 of the present invention. DETAILED DESCRIPTION

[0044] 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 belong to the protection scope of the present invention. It is understood that the drawings are only provided for reference and explanation, and are not used to limit the present invention.

[0045] Embodiment 1:

[0046] See also Figures 1 to 4 ,

[0047] The present invention relates to a lifting cross sorting device, which can automatically control the material transmission direction according to the weight information of the material, and is suitable for sorting needs in the fields of logistics, warehousing and production lines. The device realizes efficient transmission and sorting of materials in different directions through the combination of X-axis and Y-axis conveying tracks and the control of the lifting mechanism, and is particularly suitable for dynamic sorting of materials of different weights 500.

[0048] The core control principle of the equipment is to detect the weight of the material 500 through the weight sensor, and determine the material transmission direction according to the set weight threshold through the control system. The equipment can sort materials of different weights and dynamically adjust the weight threshold according to actual sorting needs, which improves the flexibility and accuracy of sorting.

[0049] The main structure of the equipment includes a support base 100, an X-axis conveying track 200, a Y-axis conveying track 300, a lifting mechanism 400, a weight sensor (not shown in the figure) and a control system (not shown in the figure). Its specific structure and functions are as follows:

[0050] Support seat 100:

[0051] The support base 100 is the basic structure of the equipment, which is used to provide a stable support platform and can carry the X-axis conveyor track and the Y-axis conveyor track. The material of the support base is usually high-strength steel or aluminum alloy, which has good load-bearing capacity and anti-deformation ability. The design of the support base takes into account the overall stability of the equipment, and the installation position of the roller and the belt is set on it.

[0052] X-axis conveyor track 200:

[0053] The X-axis conveying track 200 is composed of a plurality of rollers 201, each of which is fixed to the support plate 101 of the support seat 100 by bolts. The support plate is provided with a plurality of mounting holes, and the spacing between the rollers can be adjusted by selecting different mounting hole positions. This design can adapt to materials of different sizes and ensure smooth transmission of materials in the X-axis direction.

[0054] The spacing between the rollers is usually adjusted between 50 mm and 150 mm, and the specific value can be set according to the size of the material. For example, for smaller materials, the roller spacing can be set to 50 mm, while for larger materials, the spacing can be adjusted to 100 mm or 150 mm.

[0055] The X-axis conveying track 200 is used for conveying materials in the horizontal direction. When the lifting mechanism 400 raises the X-axis conveying track 200 to a height higher than the Y-axis conveying track 300, the materials move along the X-axis direction. The material of the roller is usually wear-resistant steel or composite material to ensure good conveying performance during long-term use.

[0056] Y-axis conveyor track 300:

[0057] The Y-axis conveyor track 300 is composed of a plurality of belt transmission lines 301, which are interlaced between the rollers 201 of the X-axis conveyor track, so that the X-axis conveyor track and the Y-axis conveyor track are arranged alternately on the same plane. The Y-axis conveyor track is controlled by a synchronous transmission mechanism 302 to ensure that the plurality of belt transmission lines move synchronously to avoid material deviation due to belt asynchronism.

[0058] The material of the belt conveyor line is usually high temperature resistant and wear resistant rubber or PVC material, which can meet the material transmission requirements in different environments and working conditions. The width of the belt is designed according to the size and weight of the material. The common width range is between 50 mm and 300 mm to ensure the stable transportation of the material. The transmission speed of the Y-axis conveyor track can be flexibly set according to the specific sorting requirements, usually set between 0.5 m / s and 2 m / s to achieve efficient sorting and transmission of materials. By adjusting the transmission speed, the system can adapt to a variety of different sorting accuracies and production rhythms, improving the overall efficiency and work reliability of the production line.

[0059] Lifting mechanism 400:

[0060] The lifting mechanism 400 is installed below the X-axis conveying track 200, and is mainly used to control the height of the X-axis conveying track 200 to be higher or lower than the Y-axis conveying track 300, so as to switch the material transmission direction. The lifting mechanism is usually driven by electric hydraulic or electric screw, and has the ability of fast lifting and precise positioning.

[0061] The lifting speed of the lifting mechanism 400 is adjusted according to the size and weight of the material, usually between 50 mm / s and 200 mm / s. The control system can automatically adjust the action of the lifting mechanism according to the weight information of the material to ensure that the material will not be stuck or tilted during the conveying process.

[0062] like Figure 4 As shown, there are two X-axis conveying tracks arranged in parallel, and a Y-axis conveying track is provided on each X-axis track. When the material first passes through the Y-axis conveying track to switch to the X-axis track, since the switching takes a certain time, when passing through the first X-axis conveying track, if there is no time to switch from the Y-axis conveying track to the X-axis conveying track, the material will be switched to the second X-axis conveying track.

[0063] Weight sensor:

[0064] The weight sensor is used to detect the weight information of the material and transmit the detection results to the control system in real time. The accuracy of the weight sensor is usually 0.1 kg, and the maximum load range can reach 500 kg, which can adapt to the sorting needs of materials of different types and weights. Its wide load capacity enables it to meet the sorting needs in most industrial scenarios, whether it is light materials or heavy goods.

[0065] The weight sensor is installed at the bottom of the X-axis or Y-axis conveyor track, and determines the weight of the material by detecting the change in gravity. The sensor has an extremely fast response time (usually within 50 ms), ensuring that weight information can be collected in real time during material transportation, thereby ensuring the efficiency and accuracy of the sorting system. The combination of fast response and high precision makes it a key component in automated production lines, ensuring the accuracy and timeliness of weight data during material transmission, greatly improving production efficiency and sorting accuracy.

[0066] Control system:

[0067] The control system is the core component of the equipment, responsible for electrical connection and coordinated control with the weight sensor, X-axis conveyor track, Y-axis conveyor track and lifting mechanism. Through real-time interaction with the weight sensor, the control system can accurately determine whether it is necessary to enable the lifting mechanism to switch the material's transmission direction based on the material's weight information, ensuring smooth conversion of the material between the X-axis and Y-axis tracks. In addition, the control system also has intelligent functions, which can adjust the weight threshold in real time and optimize the sorting strategy to meet the needs of different batches and types of materials, thereby improving sorting efficiency and reducing misoperation.

[0068] The core hardware of the control system usually uses PLC (Programmable Logic Controller) or industrial control computer. This type of hardware has powerful data processing capabilities and efficient control performance, and can maintain stable operation in complex industrial environments. PLC and industrial control computers can quickly respond to sensor inputs, control the operation of conveyor tracks and lifting mechanisms in real time, and ensure efficient coordination of the entire system. The software part of the system interacts with operators through the human-machine interface (HMI). Operators can intuitively set and monitor the operating parameters of the equipment through the HMI, such as weight threshold, transmission speed, and lifting action. HMI makes operation easier and more flexible. Users can adjust the system according to actual production needs to ensure the best operating state of the equipment in different working scenarios.

[0069] Example 2

[0070] See also Figure 5

[0071] The control method of the lifting cross sorting equipment includes: the equipment detects the weight information of the material in real time through the weight sensor, and the sensor transmits the data to the control system. The control system automatically adjusts the height of the lifting mechanism according to the preset weight threshold and controls the working state of the conveyor track. When the detected weight reaches or exceeds the set value, the control system triggers the lifting mechanism to perform the corresponding lifting operation, and at the same time determines the direction of material transmission according to the weight, automatically switches the running path of the conveyor track, and realizes efficient and accurate transmission of materials. This automated control method can improve the working efficiency and transmission accuracy of the system.

[0072] Single threshold control method:

[0073] Step S1, the control system sets a weight threshold Fth. When the weight m of the material is detected by the weight sensor and the gravity F = mg is calculated, where g is the acceleration of gravity, which is 9.8 m / s², the control system determines the material transmission direction according to the following conditions:

[0074] Step S2, when F > Fth, the control system drives the lifting mechanism to lift the X-axis conveying track, and the material is transported along the X-axis direction.

[0075] When F ≤ Fth, the control system drives the lifting mechanism to lower the X-axis conveying track, and the material is transported along the Y-axis direction.

[0076] For example, if the weight threshold Fth is set to 100 N and the weight of the material is 15 kg, then its gravity is:

[0077] F=15×9.8=147 N. Since 147 N > 100 N, the control system will drive the lifting mechanism to raise the X-axis conveyor track to a level higher than the Y-axis conveyor track, and the material will be transported along the X-axis direction. If the weight of the material is 8 kg, its gravity is:

[0078] F=8×9.8=78.4 N. Since 78.4 N ≤ 100 N, the control system will drive the lifting mechanism to lower the X-axis conveyor track, and the material will be transported along the Y-axis direction.

[0079] Multi-threshold sorting method

[0080] In order to sort materials of different weights more accurately, the control system can set multiple weight thresholds FthX1, FthX2, FthY1, FthY2 to sort materials of different weight ranges. This multi-threshold sorting method can adapt to more complex sorting requirements.

[0081] Specifically, when the weight of the material is within different threshold ranges, the material will be transported in different directions. For example, the following weight thresholds are set:

[0082] F thX1 = 80 N, F thX2 = 150 N;

[0083] F thY1 = 50 N, F thY2 =100N.

[0084] The sorting rules are as follows:

[0085] When F thX1 < F ≤ F thX2 When , the material is transported along the X-axis direction;

[0086] When F thY1 < F ≤ F thY2 When the material is transported along the Y-axis.

[0087] When data overlaps, the original transmission direction is kept unchanged to reduce the loss caused by frequent movement of equipment and improve sorting efficiency.

[0088] For example, if the gravity of the material is 90 N, its weight meets the threshold judgment of the transmission in the above two directions, and the material will be transported in the original transmission direction; if the gravity of the material is 70 N, its weight is between FthY1 and FthY2, and the material will be transported along the Y axis.

[0089] Adjust weight threshold in real time:

[0090] The control system can adjust the weight threshold in real time according to the actual sorting requirements to adapt to different batches or different types of materials. The control system collects historical sorting data and dynamically adjusts the weight threshold to optimize the sorting strategy in combination with the current sorting requirements.

[0091] The control system calculates the current weight threshold Fth based on the historical weight data. The calculation formula is:

[0092]

[0093] Among them, F i is the material weight recorded in the historical sorting process; n is the number of sorting batches; δ is the adjustable increment. To obtain the value of δ, it is necessary to consider the actual operating environment of the equipment, the characteristics of the materials, and the requirements for sorting accuracy. When the proportion of goods less than the preset threshold is larger, the threshold is lowered according to the formula, and vice versa.

[0094] The value of δ can be determined by the following methods:

[0095] 1. Analysis based on experimental data and historical data

[0096] By running the equipment in the actual operating environment, recording the weight data Fi (i.e. the weight of materials in different batches) during the sorting process, and observing the sorting effect of the system under different δ values, the range of δ can be determined by analyzing these experimental data to ensure the accuracy and efficiency of sorting.

[0097] For example, assuming that in some batches, the device finds that the sorting results have large deviations (such as a high misclassification rate), it may be necessary to increase the value of δ to expand the threshold range of sorting. Conversely, δ can be reduced to improve the sorting accuracy.

[0098] 2. Through simulation and emulation

[0099] The transmission and sorting process under different δ values ​​can be simulated in the simulation environment, the weight distribution of various materials can be analyzed, and their impact on sorting efficiency and accuracy can be evaluated. Through simulation, a reasonable δ value range can be obtained.

[0100] For example, in the simulation, we can try different values ​​of δ from 1N to 10N, observe the changes in the sorting results, and find an optimal δ value that can ensure the sorting accuracy without affecting the transmission efficiency.

[0101] 3. Determined by error tolerance

[0102] The value of δ is directly related to the system's tolerance for sorting errors. If the system requires extremely high sorting accuracy, δ needs to be smaller in order to fine-tune the sorting threshold; if the system has a higher tolerance for errors, δ can be larger to reduce unnecessary frequent adjustments.

[0103] In this embodiment:

[0104]

[0105] in is the updated adjustable increment, is the current adjustable increment, is the adjustment coefficient. The error rate is the current sorting error rate, and the expected error rate is the expected sorting error rate preset by the system. It can dynamically optimize F according to the feedback of the sorting results. th Value

[0106] For example, assuming that the system requires the sorting error to be within ±2N, δ can be set to about 2N to ensure that the fine-tuned sorting threshold can cover the error range.

[0107] 4. Based on material characteristics

[0108] Different types of materials may have significant differences in weight and volume, so the value of δ is also closely related to the characteristics of the material. If the weight of the material fluctuates greatly, a larger δ value may be required; if the weight of the material fluctuates slightly, a smaller δ value can be selected.

[0109] For example, for light materials, a δ value of 1-3N may be sufficient, while for heavier materials, δ may need to be 5-10N.

[0110] 5. Optimization through machine learning

[0111] The control system has a learning function and can analyze the weight data during the sorting process through machine learning algorithms. The most appropriate delta value can be predicted using a regression model by analyzing past sorting data to optimize the sorting strategy.

[0112] In summary, the value of δ is usually set to 5 N to fine-tune the current weight threshold Fth.

[0113] For example, in the sorting records of the first five batches, the weights of the materials are 90 N, 100 N, 110 N, 105 N, and 95 N respectively. The current weight threshold is calculated as:

[0114] Fth=1 / 5*(90+100+110+105+95)+5=100+5=105N

[0115] At this time, the sorting system will automatically adjust the threshold to 105 N and perform subsequent material sorting based on this threshold.

[0116] Assume that in another batch of material sorting, the weights of the materials are 50N, 55N, 40N, 45N, and 50N respectively. The current weight threshold is calculated as:

[0117] Fth=1 / 5*(50+55+45+40+60)+5=50+5=55N

[0118] At this point, the sorting system will automatically lower the threshold to 55 N and perform subsequent material sorting based on this threshold.

[0119] From the above two examples, we can see that the value of Fth fluctuates with the historical weight of the material, so that in the final sorting result, the quantity of the material in both the X-axis and Y-axis directions tends to be one-half.

[0120] In order to further improve the intelligent level of sorting, the control system has a machine learning function, which can automatically optimize the sorting strategy by collecting and analyzing weight data during the sorting process. The control system uses machine learning algorithms such as linear regression and neural networks to continuously learn historical sorting data to improve the accuracy and efficiency of future material sorting, including:

[0121] Data collection: The control system continuously records the real-time weight data Fi during the sorting process, including the weight distribution of the materials, the sorting results, and the threshold data used in the sorting process.

[0122] Data analysis: The system analyzes historical data through machine learning algorithms (such as decision trees, support vector machines or neural networks) to identify factors that affect sorting accuracy. By analyzing large batches of historical data, the system can identify weight distribution patterns and automatically adjust the weight threshold Fth and fine-tune the increment δ to optimize the sorting strategy.

[0123] Model training: The system trains machine learning models based on historical data. As the sorting data continues to increase, the system can continuously optimize the sorting parameters and improve the sorting accuracy. For example, the system can predict the weight distribution of future batches of materials through regression models, so as to adjust the transmission direction switching strategy in advance.

[0124] Automatic optimization: Through continuous learning and optimization, the system can automatically adjust the transmission direction control and sorting strategy to avoid human intervention and improve the sorting efficiency and accuracy of the system.

[0125] Through the above implementation, the present invention has the following beneficial effects:

[0126] Efficient material sorting: The present invention can automatically switch the material transmission direction according to the material weight through the cross arrangement of the X-axis and Y-axis conveying tracks and the control of the lifting mechanism, thereby reducing manual intervention and improving the efficiency of material sorting.

[0127] Strong adaptability: By dynamically adjusting the weight threshold and roller spacing adjustment structure, the equipment can adapt to the transmission needs of materials of different sizes and weights and has strong versatility.

[0128] Improved accuracy: Through real-time adjustment of the control system and the introduction of machine learning algorithms, the system can automatically optimize the sorting strategy based on historical data and real-time data to ensure sorting accuracy. The introduction of fine-tuning increments δ further improves the accuracy of classification and ensures that materials of different weights can be accurately sorted.

[0129] Intelligent control: The control system of the present invention has a learning function. By continuously analyzing the data in the sorting process, it automatically optimizes the sorting strategy, improves the intelligence level of the equipment, and reduces the risk of errors caused by changes in material weight during the sorting process.

[0130] Safety and reliability: The real-time monitoring of the weight sensor and the automatic adjustment function of the control system ensure the safe and reliable operation of the equipment under different materials and working conditions.

[0131] In the specification and claims of the present application, the words "include / comprise" and the words "have / include" and their variations are used to specify the existence of stated features, values, steps or components, but do not exclude the existence or addition of one or more other features, values, steps, components or combinations thereof.

[0132] Some features of the present invention are described in different embodiments for clarity of description, however, these features may also be described in combination in a single embodiment. Conversely, some features of the present invention are described in only a single embodiment for brevity, however, these features may also be described in different embodiments alone or in any suitable combination.

[0133] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A lifting cross sorting device, characterized in that: include: A support base is used to provide a stable supporting platform; The X-axis conveying track is installed on the support seat and is a transmission line composed of a number of rollers arranged at a certain distance from each other, which is used to realize material conveying in the X-axis direction; The Y-axis conveyor track is composed of a plurality of belt transmission lines, which are respectively interspersed between the rollers of the X-axis conveyor track, so that the X-axis conveyor track and the Y-axis conveyor track are arranged alternately with each other on the same plane, and the Y-axis conveyor track is used to realize material transportation in the Y-axis direction; A lifting mechanism is arranged below the X-axis conveying track, and the lifting mechanism is used to control the height of the X-axis conveying track to be higher than the Y-axis conveying track or lower than the Y-axis conveying track, so that the equipment can switch the material transmission direction as needed; Weight sensors are installed on the X-axis and Y-axis conveyor tracks to detect the weight information of materials in real time; A control system is electrically connected to the weight sensor, the lifting mechanism, the X-axis conveying track and the Y-axis conveying track. The control system automatically controls the lifting mechanism to switch the conveying direction based on the weight information of the material. The control system determines the weight of the cargo measured by the weight sensor and the preset weight threshold F th Make a comparison and control the height of the X-axis conveyor track according to the comparison result; ； Among them, F i is the weight information recorded in the historical sorting process, n is the number of sorting batches, and δ is the adjustable increment used to fine-tune the current weight threshold F th ; Because F th It is calculated based on the average weight information of historical sorting. When the weight of historical sorted materials increases, F th The value is dynamically increased, and vice versa, it is dynamically decreased, so that the result of goods sorting on the X-axis or Y-axis conveyor track tends to 1 / 2; The adjustable increment δ is calculated in the following way: ； in is the updated adjustable increment, is the current adjustable increment, is the adjustment coefficient, the error rate is the current sorting error rate, and the expected error rate is the expected sorting error rate preset by the system. It can dynamically optimize F according to the feedback of the sorting results. th The value of .

2. The lifting cross sorting device according to claim 1, characterized in that: The value of δ is 1-10N.

3. The lifting cross sorting device according to claim 1, characterized in that: The X-axis conveying tracks are provided with two, and the two X-axis conveying tracks are arranged in parallel.

4. The lifting cross sorting device according to claim 3, characterized in that: Each of the X-axis conveying tracks is provided with a Y-axis conveying track.

5. The lifting cross sorting device according to claim 1, characterized in that: The rollers of the X-axis conveying track are fixed by a support plate installed on a support seat, and mounting holes at different positions are arranged on the support plate. The spacing between the rollers can be adjusted by selecting the mounting holes at different positions.

6. The lifting cross sorting device according to claim 1, characterized in that: The belt transmission lines of the Y-axis conveyor track are controlled in linkage through a synchronous transmission mechanism to ensure that multiple belt transmission lines move synchronously and prevent the material from shifting during the transmission process.

7. A control method for a lifting cross sorting device, applied to the lifting cross sorting device according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1, the weight sensor detects the weight m of the material and calculates the gravity of the material through F=mg; S2, when F>F th When the control system drives the lifting mechanism to raise the X-axis conveying track to a position higher than the Y-axis conveying track, the material is transported along the X-axis direction; When F≤F th When the material is transported along the Y axis, the control system drives the lifting mechanism to lower the X-axis conveying track to below the Y-axis conveying track.

8. The control method of the lifting cross sorting device according to claim 7, characterized in that: The control system sets a plurality of weight thresholds F th1 , F th2 , ... F thn , sort materials of different weight ranges and switch the material transmission direction according to the sorting requirements, including: When F thX1 <F≤F thX2 When , the material is transported along the X-axis direction; When F thY1 <F≤F thY2 When the material is transported along the Y-axis.

9. The control method of the lifting cross sorting device according to claim 8, characterized in that: The control system has a learning function, and can analyze the weight data during the sorting process through a machine learning algorithm, and automatically optimize the transmission direction control and sorting strategy.

Images