Automatic sorting equipment for ship steel plate parts and operation method

Abstract

The invention discloses automatic sorting equipment for ship steel plate parts and an operation method, the system comprises a cache unit, a sorting unit, a conveying unit, a small piece stacking unit and a transportation unit, and the cache unit is used for storing and transferring the parts after ship steel plates are cut; the sorting unit is used for sorting the steel plate parts of the temporary storage unit, dividing the steel plate parts into small parts and large parts based on a threshold value, distributing the small parts to the conveying unit and distributing the large parts to the bracket; the conveying unit conveys the small parts to the grinding area and the beveling area, and after the small parts pass through the working procedures of the grinding area and the beveling area, the conveying unit conveys the small parts to the small part stacking unit; the small part stacking unit stacks small parts to a plurality of trays; and the transportation unit is used for transporting the trays filled with the small parts to a next procedure preparation area and transporting new empty trays back to the small part stacking unit. The system solves the problems that due to the fact that parts are sorted and cached too much, inventory waste is caused, the parts are short of records and cannot be checked and distributed on time, meanwhile, the labor intensity of workers is large, and the construction period is seriously affected by frequent material losing, finding and supplementing.

Description

Technical Field

[0001] The present invention relates to the field of automation and ship steel plate sorting, and in particular to automatic sorting equipment and an operation method for ship steel plate parts. Background Art

[0002] In the process of hull parts processing, all parts need to be sorted after cutting. The parts have complex structures, large quantities, and large workloads. Special material sorting places are required to maintain production and management is complex. The work efficiency and accuracy will have a great impact on the efficiency and production capacity of the entire hull construction. At present, the traditional parts sorting in shipyards is mainly carried out manually, and there are the following problems: small parts are handled manually, and large parts rely on semi-gantry cranes for transportation. The efficiency of a single person is about 1 piece / minute, which is not efficient. With the increase in production capacity requirements, the production capacity gap is getting bigger and bigger. The current manual sorting method relies on visual inspection, sorting and manually recording the flow code information handwritten on the plate parts. Sorting errors often occur, resulting in a large amount of material spreading, searching, and even loss and replenishment in subsequent processes, which seriously affects production efficiency, making it difficult to control subsequent production plans, and even delaying ship delivery. Due to the different sizes and large weight differences of ship parts, they often fall off during manual driving. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic sorting equipment and operation method for ship steel plate parts, so as to solve the problems existing in manual sorting operations, such as high labor intensity, high error rate, difficulty in querying records, and long time for finding and spreading materials. It can also achieve full process traceability of part status, convenient maintenance and simple operation.

[0004] The technical solution to achieve the purpose of the present invention is:

[0005] An automatic sorting equipment for ship steel plate parts, comprising a buffer unit, a sorting unit, a conveying unit, a small piece stacking unit and a transport unit, wherein:

[0006] The cache unit is used for storing and circulating parts after cutting of ship steel plates

[0007] The sorting unit is used to sort the steel plate parts in the buffer unit, and divide the steel plate parts into small parts and large parts based on the threshold value, and sort the small parts to the conveying unit and the large parts to the bracket;

[0008] The conveying unit conveys the small parts to the grinding area and the bevel area. After the small parts have passed the processes in the grinding area and the bevel area, the conveying unit conveys the small parts to the small parts stacking unit.

[0009] The small parts palletizing unit palletizes the small parts onto a plurality of pallets;

[0010] The transport unit transports the pallet filled with small parts to the preparation area for the next process and transports the new empty pallet back to the small parts palletizing unit.

[0011] Furthermore, the cache unit includes a conveyor roller bed and an RFID device. The conveyor roller bed is provided with a steel plate parts pallet, one end of which is close to a shelf where steel plate parts are placed. The steel plate parts are placed on the steel plate parts pallet and transmitted through the conveyor roller bed to the sorting area for sorting by the sorting unit. The RFID device is installed on the conveyor roller bed and is used to read the steel plate parts information and send the information to the sorting unit.

[0012] Furthermore, a sensor is installed on the conveyor roller bed for obtaining position information of the steel plate parts pallet.

[0013] Furthermore, the shelf is a double-layer shelf, and the conveyor roller bed is provided with two layers of driving rollers moving in opposite directions. Electric scissor-type lifting platforms are provided at both ends of the conveyor roller bed. The area of ​​the conveyor roller bed corresponding to the sorting unit is installed with a jacking device. The steel plate parts pallet on the upper layer of the double-layer shelf is transported to the upper layer of the conveyor roller bed by the electric scissor-type lifting platform close to the shelf. When sorting, the steel plate parts pallet is lifted to the designated position by the jacking device. After the sorting is completed, the steel plate parts pallet is transported to the lower layer of the conveyor roller bed by the electric scissor-type lifting platform at the other end, and then flows to the lower layer of the shelf.

[0014] Furthermore, the sorting unit uses a six-axis sorting robot for sorting.

[0015] Furthermore, the sorting unit also includes a gantry rail, a first electromagnetic end pick-up, a first D camera, a D line scan camera, a visual industrial computer and a camera bracket. The gantry rail is installed on both sides of the conveyor roller bed. The six-axis sorting robot and the camera bracket are mounted on the gantry rail and span across the conveyor roller bed. The six-axis sorting robot moves through the gantry rail. The first electromagnetic end pick-up is installed at the end of the six-axis sorting robot for grabbing and transporting workpieces; the D line scan camera and the visual industrial computer are installed on the camera bracket. The D line scan camera is used to scan the images of all steel plate parts on the pallet. The first D camera is installed at the end of the six-axis sorting robot for collecting images of the steel plate parts grabbed by the robot. The visual industrial computer is connected to the first D camera and the D line scan camera for controlling the six-axis sorting robot and the first electromagnetic end pick-up.

[0016] Furthermore, the conveying unit includes a conveying robot, a small-span gantry rail, a second 3D camera, a visual darkroom, a belt conveyor line and a second electromagnetic end picker. The belt conveyor line is used to place and convey the small parts sorted out by the sorting unit. The conveying robot is installed on the small-span gantry rail and spans above the belt conveyor line. The second electromagnetic end picker is installed at the end of the conveying robot for grabbing parts. The second 3D camera is placed in the visual darkroom for identifying the part QR code and part edge information. The visual darkroom is installed above the belt conveyor line. After the parts pass through the visual darkroom, the conveying robot moves through the small-span gantry rail to transport the small parts to the grinding area and the groove area according to the process. After the process is completed, the small parts are placed on the belt conveyor line, and the small parts are transported by the conveying unit to the small parts stacking unit.

[0017] Furthermore, the small parts palletizing unit includes a truss robot, a second electromagnetic end picker and a D camera, the second electromagnetic end picker and the D camera are installed on the truss robot through a rotating axis, the truss robot places the parts on a matching pallet through the second electromagnetic end picker, and the D camera is used to take images of the parts.

[0018] Furthermore, the transport unit includes a jack-up AGV and a charging station.

[0019] An automatic sorting method for ship steel plate parts, comprising:

[0020] Step 1: After the cutting process, the marine steel plates are hoisted to the sorting and placement area, and the steel plates are placed on the cache unit.

[0021] Step 2, the RFID device of the cache unit identifies the steel plate part number, the steel plate part pallet is transported by the conveyor roller bed, and the steel plate part pallet stops when it moves to the sorting unit;

[0022] Step 3: The sorting unit sorts the parts by a six-axis sorting robot, and sorts the small parts that meet the threshold to the conveying unit;

[0023] Step 4: After the parts are placed on the belt conveyor line, they pass through the visual darkroom, and the D camera takes pictures of the parts information, and sends the collected information to the conveying robot. The conveying robot moves through the small-span gantry rail and conveys the small parts to the grinding area and groove area according to the process. After the process is completed, the small parts are placed on the belt conveyor line, and the small parts are conveyed to the small parts stacking unit through the belt conveyor line;

[0024] Step 5: The small parts palletizing unit palletizes the small parts onto multiple pallets, transports the pallets filled with small parts to the preparation area for the next process via the transport unit, and transports the new empty pallets back to the small parts palletizing unit.

[0025] Compared with the prior art, the present invention has the following significant advantages:

[0026] (1) The sorting equipment and method of the present invention are suitable for sorting ship steel plates. A large-scale whole-plate scan is performed in advance, and no scanning is performed one by one when grabbing. A fixed line scanning camera is used, and the steel plates move stably, that is, the fixed camera has the advantage of short scanning time, and the steel plates can move stably;

[0027] (2) The present invention is different from other methods. When the QR code cannot be recognized, the information such as the flow direction of the parts is matched according to the shape and the position of the parts. The manual processing can also be notified to reprint the QR code.

[0028] (3) The pallet of the present invention adopts a three-station double-layer rotation mode, which can buffer a certain amount of parts and is suitable for multi-variety, small-batch, multi-segment mixed nesting parts of ships;

[0029] (4) Based on the characteristics of ship steel plates, the present invention first distinguishes large and small pieces according to shape and thickness to improve the sorting efficiency, stability and sorting accuracy of the decomposition equipment;

[0030] (5) This equipment realizes data traceability of parts information and pallet information, solving problems such as missing parts information, wrong picking, missed inspection, and need for refilling;

[0031] (6) This equipment uses transmission solutions such as pallet plate chain lines and belt conveyor lines to solve problems such as easy falling of parts, unstable grasping, and low efficiency during long-distance transportation;

[0032] (7) This equipment uses a truss robot for loading, which has a large coverage area and is suitable for the current situation of mixed nesting parts in shipyards with multiple flow directions;

[0033] (8) This equipment uses AGV transportation during jacking, which can quickly replace pallets to meet the shipyard's production capacity requirements.

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 The present invention is a block diagram of the automatic sorting equipment for ship steel plate parts.

[0036] Figure 2 This is a diagram showing an embodiment of a cache unit for automatic sorting equipment for ship steel plate parts according to the present invention.

[0037] Figure 3 This is a diagram showing an embodiment of a conveying roller bed for ship steel plate parts according to the present invention.

[0038] Figure 4 This is a diagram showing an embodiment of a sorting unit of the automatic sorting equipment for ship steel plate parts of the present invention.

[0039] Figure 5This is a diagram showing an embodiment of the automatic sorting equipment and conveying unit for ship steel plate parts of the present invention.

[0040] Figure 6 This is a diagram showing an embodiment of the automatic sorting equipment for stacking small pieces of ship steel plate parts according to the present invention.

[0041] Figure 7 The present invention is a flow chart of the method for sorting marine steel plate parts. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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.

[0043] like Figure 1 As shown, according to a preferred embodiment of the present invention, an automatic sorting equipment for ship steel plate parts includes a cache unit 1, a sorting unit 2, a conveying unit 3, a small-part stacking unit 4 and a transport unit 5. The cache unit 1 is used for storing, transporting and sorting the parts after the ship steel plate is cut; the sorting unit 2 is used for sorting large and small parts of the steel plate, and in conjunction with the visual system, the nesting diagram and the part library part model and drawings, the small parts of the cache unit 1 are grabbed to the conveying unit 3 according to the sorting rules, and the large parts are sorted to the large-part bracket; the conveying unit 3 conveys the small parts to the grinding area and the groove area; after the grinding and groove are completed, the conveying unit 3 grabs the small parts from the grinding area and the groove area and conveys them to the small-part stacking unit 4; the small-part stacking unit 4 stacks the small parts on multiple pallets, and the number is determined by the flow direction of the parts in the nesting combination and the number of the next operation area; the transport unit 5 transports the pallet material frame filled with parts to the preparation area for the next process, and transports the empty pallet back to the stacking area.

[0044] Combination Figure 2 and Figure 3 , the cache unit 1 includes a conveying roller bed 11, a lifting device 12, a limit sensor 13, an RFID device 14, a bracket 15, etc.;

[0045] Bracket 15 is an iron double-layer shelf, located on the far right of the conveyor roller bed 11. The conveyor roller bed 11 is provided with two layers of driving rollers for transporting in opposite directions, which are used for conveying and transporting the steel plates after cutting and waiting for sorting. Each section of the station set therein can be driven independently, and the conveyor line speed is variable frequency adjustable; the station on the left side of bracket 15 is a liftable station 112, which is an electric scissor-type lifting platform, which transports the steel plate parts pallet on the second layer of bracket 15 to the driving roller on the second layer of station 113. Stations 113 and 114 on the left side of the liftable station 112 are three-layer stations, which are sorting areas, corresponding to At the position of the sorting unit, a lifting device 12 is provided at the 3rd floor station. During sorting, the lifting device lifts the steel plate part pallet to the third floor, and waits for the sorting unit to sort the parts. After sorting, the lifting device lowers the steel plate part pallet to the second floor, to the station 115 on the left side of the station 114. The station 115 is a liftable station like the station 112. The electric scissor-type lifting platform lowers the steel plate part pallet to the first floor, and transfers it to the first floor of the station 114, and finally flows to the first floor of the bracket 15. The rollers are driven by motors to rotate between the stations to realize the circulation of the steel plate part pallet.

[0046] In the conveying roller bed 11, the driving motor, roller wheel and sprocket wheel are driven by chains, and a chain tension adjustment mechanism is actively arranged. The conveying roller bed 11 is a synchronous rotation speed of the driving wheels on both sides, so that the conveying process does not deviate.

[0047] The lifting device 12 is installed on both sides of the conveying roller bed 11, and is composed of a hydraulic cylinder, a connecting piece and a guide device to realize the lifting and lowering action of the steel plate part tray.

[0048] The limit sensor 13 includes an incoming material sensor, a deceleration sensor, and an in-place sensor, which can realize accurate positioning of the pallet for transporting steel plates. The limit sensor is installed at the starting position on the right side of workstations 113 and 114, specifically on the support beams on both sides.

[0049] The RFID device 14 is installed at the end of the conveyor roller bed, including a tag, a reader / writer, and an antenna, which can read the steel plate information.

[0050] Combination Figure 4 , the sorting unit 2 includes a gantry ground rail 21, a six-axis sorting robot 22, a first electromagnetic end picker 23, a first 2D camera 24, a 2D line scan camera 25, a visual industrial computer 26, a camera bracket 27, etc.;

[0051] The gantry rail 21 is installed on both sides of the conveying roller bed 11, and the six-axis sorting robot 22 and the camera bracket 27 are installed on the gantry rail 21 and straddle the conveying roller bed 11. The six-axis sorting robot 22 moves along the conveying direction of the roller bed through the gantry rail 21. The first electromagnetic end picker 23 is installed at the end of the six-axis sorting robot 22 for grabbing and transporting workpieces, and the on and off of each point can be flexibly controlled by the visual industrial computer 26; the 2D line scan camera 25 and the visual industrial computer 26 are installed on the camera bracket 27, the 2D line scan camera 25 is used to scan the images of all steel plate parts on the pallet, and the first 2D camera 24 is installed at the end of the six-axis sorting robot 22 for collecting images of steel plate parts grabbed by the robot, performing data preprocessing through the visual system, and performing rough positioning through the nesting map and the actual template; the visual industrial computer 26 is connected to the first 2D camera 24 and the 2D line scan camera 25, and is used to control the six-axis sorting robot 22 and the first electromagnetic end picker 23.

[0052] The gantry ground rail 21 includes a gantry support steel structure, a servo drive mechanism, a running track, etc. The running track is laid on both sides of the cache unit 1, and the gantry support steel structure is erected on the running track;

[0053] The first electromagnetic end pick-up 23 includes an electric permanent magnet servo motor, a ball screw, a linear guide rail, a torque sensor, and a temperature sensor;

[0054] Combination Figure 5 The conveying unit 3 includes a conveying robot 31, a small-span gantry rail 32, a second 2D camera 33, a visual darkroom 34, a belt conveyor line 35, and a second electromagnetic end picker 36. The belt conveyor line 35 is used to place and convey the small parts sorted out by the sorting unit. The conveying robot 31 is installed on the small-span gantry rail 32 and spans over the belt conveyor line 35. The second electromagnetic end picker 36 is installed at the end of the conveying robot 31 for grabbing parts. The second 2D camera 33 is placed in the visual darkroom 34 for identifying the part QR code and part edge information; the visual darkroom 34 is installed above the belt conveyor line 35. After the parts pass through the visual darkroom 34, the conveying robot 31 moves through the small-span gantry rail 32 to transport the small parts to the grinding area and the groove area according to the process. After the process is completed, the small parts are placed on the belt conveyor line 35, and the small parts are transported by the conveying unit to the small parts stacking unit.

[0055] The visual darkroom 34 recognizes the part QR code and part edge information through the 2D visual camera 33 and sends them to the conveying robot 31. The conveying robot 31 adjusts the posture, speed, and center of gravity to grab the workpiece.

[0056] Combination Figure 6The small-part palletizing unit 4 includes a truss robot 41, a second electromagnetic end pick-up 42, and a 3D camera 43. The second electromagnetic end pick-up 42 is installed on the Z-axis at the end of the truss robot 41. The second electromagnetic end pick-up 42 can rotate to adjust the direction of grabbing the workpiece; the 3D camera 43 is installed on the rotating axis at the end of the truss robot 41. The truss robot 41 places the parts on a matching pallet through the second electromagnetic end pick-up 42, and the 3D camera 43 is used to take pictures of the parts and send them to the truss robot 41.

[0057] The transport unit 5 also includes a jack-up AGV, a charging station, etc. The jack-up AGV is used to transport the pallet filled with small parts to the preparation area for the next process, and the empty pallet is transported back to the original position.

[0058] Combination Figure 7 , a sorting method suitable for ship steel plate parts includes:

[0059] Step 1: After the cutting process, the marine steel plates are hoisted to the sorting and placement area, and the steel plates are placed on the cache unit 1.

[0060] Step 2, RFID equipment 14 identifies the steel plate part number, the pallet is transported by the conveyor roller bed 11, the upper roller bed realizes the sorting operation through the jacking device 12, the lower layer can realize pallet caching and reflux, roller conveying is adopted, chain transmission is used, and the conveying part uses a variable frequency motor. When the pallet moves to the sorting area at a uniform speed, it cooperates with the limit sensor 13 to achieve precise stopping.

[0061] Step 3, the limit sensor 13 triggers the 2D line scan camera 25 to scan. Since the width of the marine steel plate is large, the parts of the entire pallet are scanned in advance, and the initial positioning of the parts is completed based on the nesting diagram issued by the upstream system.

[0062] Step 4: Calibrate the 2D line scan image with the first 2D camera 24 at the end of the six-axis robot 22. After taking pictures multiple times, use visual monitoring to accurately locate the shape and size of the part, and then identify the shape and size of the part to calculate the weight of the part. Weight = thickness (mm) (read the steel plate part number) × width (m) × length (m) × density (g / cm 3 )÷1000, the density is 7.85g / cm 3 .

[0063] Step 5. Since the ship steel plates are large in size, large in quantity, and complex and non-uniform in shape, the sorting rules for ship steel plate parts are determined. The sorting rules are as shown in Table 3. Determine whether they are small parts. The small parts that occupy most of the nesting combination are sorted by sorting unit 2. Large parts are sorted by manual lifting. Very small parts are sorted manually because they are lighter.

[0064] Table 3 Sorting rules for 30mm thick marine steel plates

[0065] Width\Length 0～100 100～1500 1500～8000 8000 and above 0～100 Very small items Very small items Very small items Very small items 100～700 Very small items Small items Large items Large items 700～2500 Very small items Large items Large items Large items 2500 and above Very small items Large items Large items Large items

[0066] Packages weighing more than 5kg and less than 120kg are considered small items, while packages weighing more than 120kg are considered large items.

[0067] Step 6: After the first 2D camera 24 completes the local part positioning, it identifies the part QR code and performs a secondary matching of the part information. If the QR code cannot be recognized within the specified time, the part information in the nesting diagram is matched according to the shape and position of the part.

[0068] Step 7, the six-axis sorting robot 22 realizes precise control and uses visual guidance to pick up parts from the steel plate. If the grab is empty, the first electromagnetic end picker 23 has no output information, and then feedback is given to the control to grab again. If it is not empty, the first electromagnetic end picker 23 outputs a signal, and the control directly grabs after the magnet is turned on.

[0069] Step 8: After the six-axis sorting robot 22 moves to the set position, it is demagnetized and placed on the belt conveyor line 35 of the conveying unit 3 to complete the preliminary sorting of parts.

[0070] Step 9, after the parts are placed on the belt conveyor line 35, they pass through the visual darkroom 34, and the 2D camera 33 takes pictures of the parts information. Based on the combination of functional algorithms, the planning and control of the parts posture, grasping posture, grasping control, grasping strategy, post-grasping processing, and related abnormalities are realized.

[0071] Step 10: The belt conveyor line 35 transports the small parts to the small parts palletizing unit 4.

[0072] Step 11. According to multi-segment mixed nesting, the number of part flows is 64, so 64 pallets are needed. The truss robot 41 can cover a larger range. The truss robot 41 is used to place the parts on their respective pallets. The QR code on the part records the match between the parts and the pallets during the sorting process, automatically judges the integrity of the pallet and the processing accuracy of the parts, and realizes the placement function.

[0073] Step 12, after the parts on the pallet are stacked to 80% of the pallet height, the sorting line control sends a completion instruction to the superior system, and the command is transmitted to the AGV. After receiving the instruction, the AGV automatically generates a logistics transfer work order, transports it under the pallet, automatically transfers it to different workstations, and replaces the new pallet to the original position.

[0074] It should be pointed out that the known components involved in the present invention are not elaborated in detail here, such as roller beds, jacking devices, electric scissor-type lifting platforms, electromagnetic end pickers and other equipment.

[0075] The above embodiments are merely illustrative of the present invention and do not limit its protection scope. Those skilled in the art may also make partial changes thereto, and as long as they do not exceed the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. An automatic sorting equipment for ship steel plate parts, characterized in that: It includes a buffer unit, a sorting unit, a conveying unit, a small piece stacking unit and a transport unit, wherein: The cache unit is used for storing and circulating parts after cutting of ship steel plates The sorting unit is used to sort the steel plate parts in the buffer unit, and divide the steel plate parts into small parts and large parts based on the threshold value, and sort the small parts to the conveying unit and the large parts to the bracket; The conveying unit conveys the small parts to the grinding area and the bevel area. After the small parts have passed the processes in the grinding area and the bevel area, the conveying unit conveys the small parts to the small parts stacking unit. The small parts palletizing unit palletizes the small parts onto a plurality of pallets; The transport unit transports the pallet filled with small parts to the preparation area for the next process and transports the new empty pallet back to the small parts palletizing unit.

2. The automatic sorting equipment for ship steel plate parts according to claim 1 is characterized in that: The cache unit includes a conveyor roller bed and an RFID device. The conveyor roller bed is provided with a steel plate parts pallet, one end of which is close to a shelf where steel plate parts are placed. The steel plate parts are placed on the steel plate parts pallet and transmitted through the conveyor roller bed. When they reach the sorting area, they are sorted by the sorting unit. The RFID device is installed on the conveyor roller bed and is used to read the steel plate parts information and send the information to the sorting unit.

3. The automatic sorting equipment for ship steel plate parts according to claim 2 is characterized in that: The conveying roller bed is equipped with a sensor for obtaining the position information of the steel plate parts tray.

4. The automatic sorting equipment for ship steel plate parts according to claim 3 is characterized in that: The shelf is a double-layer shelf, and the conveyor roller bed is provided with two layers of driving rollers moving in opposite directions. Electric scissor-type lifting platforms are provided at both ends of the conveyor roller bed. The area of ​​the conveyor roller bed corresponding to the sorting unit is installed with a jacking device. The steel plate part pallet on the upper layer of the double-layer shelf is transported to the upper layer of the conveyor roller bed by the electric scissor-type lifting platform close to the shelf. When sorting, the steel plate part pallet is lifted to the designated position by the jacking device. After the sorting is completed, the steel plate part pallet is transported to the lower layer of the conveyor roller bed by the electric scissor-type lifting platform at the other end, and then flows to the lower layer of the shelf.

5. The automatic sorting equipment for ship steel plate parts according to claim 2 is characterized in that: The sorting unit uses a six-axis sorting robot for sorting.

6. The automatic sorting equipment for ship steel plate parts according to claim 5, characterized in that: The sorting unit also includes a gantry rail, a first electromagnetic end picker, a first D camera, a D line scan camera, a visual industrial computer and a camera bracket. The gantry rail is installed on both sides of the conveyor roller bed. The six-axis sorting robot and the camera bracket are mounted on the gantry rail and span across the conveyor roller bed. The six-axis sorting robot moves through the gantry rail. The first electromagnetic end picker is installed at the end of the six-axis sorting robot for grabbing and transporting workpieces; the D line scan camera and the visual industrial computer are installed on the camera bracket. The D line scan camera is used to scan the images of all steel plate parts on the pallet. The first D camera is installed at the end of the six-axis sorting robot for collecting images of the steel plate parts grabbed by the robot. The visual industrial computer is connected to the first D camera and the D line scan camera to control the six-axis sorting robot and the first electromagnetic end picker.

7. The automatic sorting equipment for ship steel plate parts according to claim 1 is characterized in that: The conveying unit includes a conveying robot, a small-span gantry rail, a second 3D camera, a visual darkroom, a belt conveyor line and a second electromagnetic end picker. The belt conveyor line is used to place and convey the small parts sorted out by the sorting unit. The conveying robot is installed on the small-span gantry rail and spans over the belt conveyor line. The second electromagnetic end picker is installed at the end of the conveying robot for grabbing parts. The second 3D camera is placed in the visual darkroom for identifying the part QR code and part edge information. The visual darkroom is installed above the belt conveyor line. After the parts pass through the visual darkroom, the conveying robot moves through the small-span gantry rail to transport the small parts to the grinding area and the groove area according to the process. After the process is completed, the small parts are placed on the belt conveyor line, and the small parts are transported by the conveying unit to the small parts stacking unit.

8. The automatic sorting equipment for ship steel plate parts according to claim 1 is characterized in that: The small parts palletizing unit includes a truss robot, a second electromagnetic end picker and a D camera. The second electromagnetic end picker and the D camera are installed on the truss robot through a rotating axis. The truss robot places the parts on a matching pallet through the second electromagnetic end picker, and the D camera is used to take images of the parts.

9. The automatic sorting equipment for ship steel plate parts according to claim 1, characterized in that: The transport unit includes a jack-up AGV and a charging station.

10. An automatic sorting method for ship steel plate parts based on the equipment described in any one of claims 1 to 9, characterized in that: include: Step 1: After the cutting process, the marine steel plates are hoisted to the sorting and placement area, and the steel plates are placed on the cache unit. Step 2, the RFID device of the cache unit identifies the steel plate part number, the steel plate part pallet is transported by the conveyor roller bed, and the steel plate part pallet stops when it moves to the sorting unit; Step 3: The sorting unit sorts the parts by a six-axis sorting robot, and sorts the small parts that meet the threshold to the conveying unit; Step 4: After the parts are placed on the belt conveyor line, they pass through the visual darkroom, and the D camera takes pictures of the parts information, and sends the collected information to the conveying robot. The conveying robot moves through the small-span gantry rail and conveys the small parts to the grinding area and groove area according to the process. After the process is completed, the small parts are placed on the belt conveyor line, and the small parts are conveyed to the small parts stacking unit through the belt conveyor line; Step 5: The small parts palletizing unit palletizes the small parts onto multiple pallets, transports the pallets filled with small parts to the preparation area for the next process via the transport unit, and transports the new empty pallets back to the small parts palletizing unit.

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