Automatic sorting equipment and operation method for ship steel plate parts

Abstract

The application discloses an automatic sorting equipment and operation method for ship steel plate parts, which comprises a buffer unit, a sorting unit, a conveying unit, a small part stacking unit and a transportation unit. The buffer unit is used for storing and circulating the parts after the ship steel plate is cut. The sorting unit is used for sorting the steel plate parts of the buffer unit. The steel plate parts are divided into small parts and large parts based on a threshold value. The small parts are divided into the conveying unit, and the large parts are divided into a bracket. The conveying unit conveys the small parts to a polishing area and a bevel area. After the small parts pass through the processes of the polishing area and the bevel area, the conveying unit conveys the small parts to the small part stacking unit. The small part stacking unit stacks the small parts into a plurality of pallets. The transportation unit transports the pallets full of small parts to a next process preparation area and transports new empty pallets back to the small part stacking unit. The application solves the problems of excessive part sorting buffer, inventory waste, lack of part record, inability to conduct complete set inspection and on-time distribution, high labor intensity, frequent material loss, material searching and material supplement, and serious influence on construction period.

Description

Technical Field

[0001] This invention relates to the fields of automation and marine steel plate sorting, and particularly to an automatic sorting equipment and method for marine steel plate parts. Background Technology

[0002] During the fabrication of ship hull parts, all parts must be sorted after cutting. The complex structure and large quantity of parts necessitate a dedicated sorting area to maintain production, making management complex. The efficiency and accuracy of this sorting significantly impact the overall shipbuilding efficiency and production capacity. Currently, traditional parts sorting in shipyards is primarily done manually, which presents the following problems: small parts are handled manually, while large parts rely on semi-gantry cranes for transport. The efficiency per person is approximately 1 piece / minute, which is low, and the capacity gap is widening as production demands increase. Current manual sorting relies on visual inspection, sorting based on handwritten flow codes on sheet metal parts and recording the information manually. Sorting errors occur frequently, leading to significant material spreading, searching, and even loss or replenishment in subsequent processes, severely impacting production efficiency, making subsequent production plans difficult to control, and even causing delays in ship delivery. The varying sizes and weights of ship parts also cause them to frequently fall off during manual handling by cranes. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic sorting equipment and operation method for ship steel plate parts, which solves the problems of high labor intensity, high error rate, difficulty in querying records, and long time for material finding and spreading in manual sorting operations. It can also achieve full-process traceability of part status, and is convenient to maintain and simple to operate.

[0004] The technical solution to achieve the purpose of this invention is as follows:

[0005] An automated sorting equipment for ship steel plate parts includes a buffer unit, a sorting unit, a conveying unit, a small parts palletizing unit, and a transport unit, wherein:

[0006] The buffer unit is used for storing and transferring parts after the ship's steel plates have been cut.

[0007] The sorting unit is used to sort the steel plate parts of the buffer unit, and divides the steel plate parts into small parts and large parts based on a threshold. The small parts are sorted to the conveying unit and the large parts are sorted to the tray.

[0008] The conveying unit transports small parts to the grinding area and the beveling area. After the small parts have passed through the grinding area and the beveling area, the conveying unit transports the small parts to the small parts stacking unit.

[0009] The small parts palletizing unit stacks small parts onto multiple pallets;

[0010] The transport unit transports pallets filled with small parts to the next process preparation area and returns new empty pallets to the small parts stacking unit.

[0011] Furthermore, the buffer unit includes a conveyor roller bed and an RFID device. The conveyor roller bed has a steel plate part tray, one end of which is close to the shelf where the steel plate parts are placed. The steel plate parts are placed on the steel plate part tray and are driven by the conveyor roller bed to the sorting area for sorting by the sorting unit. The RFID device is installed on the conveyor roller bed to read the information of the steel plate parts and send the information to the sorting unit.

[0012] Furthermore, sensors are installed on the conveyor roller bed to acquire the position information of the steel plate parts pallet.

[0013] Furthermore, the rack is a double-layer rack, and the conveyor roller bed is equipped with two layers of drive rollers that move in opposite directions. Both ends of the conveyor roller bed are equipped with electric scissor lift platforms. The area of ​​the conveyor roller bed corresponding to the sorting unit is equipped with a lifting device. The steel plate parts pallet on the upper layer of the double-layer rack is transported to the upper layer of the conveyor roller bed through the electric scissor lift platform close to the rack. When sorting, the steel plate parts pallet is lifted to the designated position by the lifting device. After sorting, the steel plate parts pallet is transported to the lower layer of the conveyor roller bed through the electric scissor lift platform at the other end, and then transferred to the lower layer of the rack.

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

[0015] Furthermore, the sorting unit also includes a gantry rail, a first electromagnetic end effector, a first D-camera, a D-line scanning camera, a vision control 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 via the gantry rail. The first electromagnetic end effector is installed at the end of the six-axis sorting robot for gripping and transporting workpieces. The D-line scanning camera and the vision control computer are installed on the camera bracket. The D-line scanning camera is used to scan 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 acquiring images of the steel plate parts gripped by the robot. The vision control computer is connected to the first D-camera and the D-line scanning camera for controlling the six-axis sorting robot and the first electromagnetic end effector.

[0016] Furthermore, the conveying unit includes a conveying robot, a small-span gantry rail, a second 3D camera, a vision darkroom, a belt conveyor line, and a second electromagnetic end effector. The belt conveyor line is used to place and convey small parts sorted 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 effector is installed at the end of the conveying robot for gripping parts. The second 3D camera is placed in the vision darkroom for identifying the part's QR code and edge information. The vision darkroom is installed above the belt conveyor line. After the part passes through the vision darkroom, the conveying robot moves along the small-span gantry rail, conveying the small part to the grinding area and beveling area according to the process. After the process is completed, the small part is placed on the belt conveyor line and then conveyed by the conveying unit to the small part palletizing unit.

[0017] Furthermore, the small part palletizing unit includes a gantry robot, a second electromagnetic end effector, and a D-camera. The second electromagnetic end effector and the D-camera are mounted on the gantry robot via a rotating shaft. The gantry robot places parts on matching pallets using the second electromagnetic end effector, and the D-camera is used to capture images of the parts.

[0018] Furthermore, the transport unit includes a lifting AGV and a charging station.

[0019] An automated sorting method for ship steel plate parts includes:

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

[0021] Step 2: The RFID device in the buffer unit identifies the steel plate part number, and the steel plate part pallet is transported by the conveyor roller bed. The steel plate part pallet stops when it moves to the sorting unit.

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

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

[0024] Step 5: The small parts palletizing unit stacks small parts onto multiple pallets, and the pallets filled with small parts are transported to the next process preparation area by the transport unit, and new empty pallets are transported 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 applicable to the sorting of marine steel plates. A large-format whole plate is scanned in advance. When grabbing, individual scanning is not performed. A fixed line scanning camera is used, and the steel plate moves stably. It has the advantages of short scanning time of a fixed camera and the steel plate can move stably.

[0027] (2) Unlike other methods, when the QR code cannot be recognized, the invention prioritizes matching the part flow information based on the shape and the location of the part, and can also notify manual processing 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 mixed nesting of multiple types, small batches and multiple sections of ship parts;

[0029] (4) Based on the characteristics of marine steel plates, the present invention first distinguishes large and small parts according to their shape and thickness in order to improve the sorting efficiency, stability and sorting accuracy of the disassembly equipment;

[0030] (5) This equipment enables data traceability of part information and pallet information, solving problems such as missing part information, incorrect picking, missed inspection, and need for replenishment.

[0031] (6) This equipment uses pallet chain and belt conveyor to solve problems such as easy parts falling off, unstable gripping and low efficiency during long-distance handling.

[0032] (7) This equipment uses a gantry robot for loading, which has a large coverage area and is suitable for the current situation of mixed kitting parts flow in shipyards.

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

[0034] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

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

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

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

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

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

[0040] Figure 6 This is an embodiment diagram of the automatic sorting equipment for ship steel plate parts of the present invention, which is used for small-part palletizing.

[0041] Figure 7 This is a flowchart of the sorting method for marine steel plate parts according to the present invention. Detailed Implementation

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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 buffer unit 1, a sorting unit 2, a conveying unit 3, a small parts palletizing unit 4, and a transport unit 5. The buffer unit 1 is used for storing, transporting, and sorting parts after the ship steel plates have been cut; the sorting unit 2 is used for sorting steel plate parts of different sizes, and, in conjunction with a vision system, nesting diagrams, and parts models and drawings from a parts library, uses sorting rules to pick up small parts from the buffer unit 1 and transfer them to the conveying unit 3, while large parts are sorted to large parts trays; the conveying unit 3 transports the small parts to the grinding area and beveling area; after grinding and beveling are completed, the conveying unit 3 picks up the small parts from the grinding area and beveling area and transports them to the small parts palletizing unit 4; the small parts palletizing unit 4 stacks the small parts onto multiple pallets, the quantity of which is determined by the flow direction of the parts in the nesting combination and the quantity in the next processing area; the transport unit 5 transports the pallet frames filled with parts to the next process preparation area and returns the empty pallets to the palletizing area.

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

[0045] The bracket 15 is a double-layer iron rack located on the far right of the conveyor roller bed 11. The conveyor roller bed 11 has two layers of drive rollers for reverse transport, used for conveying and transporting cut steel plates for sorting. Each section of the workstation can be driven independently, and the conveyor speed is frequency-adjustable. To the left of the bracket 15 is the liftable workstation 112, an electric scissor lift platform that transports the steel plate parts pallets from the second layer of the bracket 15 to the drive rollers on the second layer of workstation 113. Workstations 113 and 114 to the left of the liftable workstation 112 are three-layer workstations, serving as the sorting area. The sorting unit is located at the third workstation, where a lifting device 12 is installed. During sorting, the lifting device lifts the steel plate parts pallet to the third level for the sorting unit to sort the parts. After sorting, the lifting device lowers the steel plate parts pallet to the second level, to workstation 115 to the left of workstation 114. Workstation 115, like workstation 112, is a liftable workstation. An electric scissor lift platform lowers the steel plate parts pallet to the first level and transfers it to the first level of workstation 114, and finally to the first level of the bracket 15. The steel plate parts pallet is transferred between workstations by a motor-driven roller rotation.

[0046] In the conveyor roller bed 11, the drive motor, rollers, and sprockets are connected by chain transmission, and an active chain tension adjustment mechanism is set. The conveyor roller bed 11 has synchronous rotation of the drive wheels on both sides, so as to prevent deviation during the conveying process.

[0047] The lifting device 12 is installed on both sides of the conveyor roller bed 11 and consists of a hydraulic cylinder, connecting parts and a guide device to realize the lifting action of the steel plate parts pallet.

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

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

[0050] Combination Figure 4 The sorting unit 2 includes a gantry rail 21, a six-axis sorting robot 22, a first electromagnetic end effector 23, a first 2D camera 24, a 2D line scan camera 25, a vision control computer 26, a camera bracket 27, etc.

[0051] The gantry rail 21 is installed on both sides of the conveyor roller bed 11. The six-axis sorting robot 22 and camera bracket 27 are mounted on the gantry rail 21 and span across the conveyor roller bed 11. The six-axis sorting robot 22 moves along the conveying direction of the roller bed via the gantry rail 21. The first electromagnetic end effector 23 is installed at the end of the six-axis sorting robot 22 for gripping and transporting workpieces. The on / off state of each point can be flexibly controlled by the vision control computer 26. The 2D line scan camera 25 and the vision control 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. The first 2D camera 24 is installed at the end of the six-axis sorting robot 22 for acquiring the images of the steel plate parts gripped by the robot. Data preprocessing is performed by the vision system, and coarse positioning is performed by comparing the nesting diagram with the actual template. The vision control 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 effector 23.

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

[0053] The first electromagnetic end effector 23 includes an electro-permanent magnet servo motor, a ball screw, a linear guide, 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 vision darkroom 34, a belt conveyor line 35, and a second electromagnetic end effector 36. The belt conveyor line 35 is used to place and convey small parts sorted by the sorting unit. The conveying robot 31 is installed on the small-span gantry rail 32 and spans across the belt conveyor line 35. The second electromagnetic end effector 36 is installed at the end of the conveying robot 31 and is used to grasp parts. The second 2D camera 33 is placed in the vision darkroom 34 and is used to identify the QR code and edge information of the parts. The vision darkroom 34 is installed above the belt conveyor line 35. After the parts pass through the vision darkroom 34, the conveying robot 31 moves along the small-span gantry rail 32 to convey the small parts to the grinding area and beveling area according to the process. After the process is completed, the small parts are placed on the belt conveyor line 35 and conveyed by the conveying unit to the small parts palletizing unit.

[0055] The visual darkroom 34 uses a 2D vision camera 33 to identify the QR code and edge information of the parts and sends them to the conveying robot 31. The conveying robot 31 adjusts its posture, speed, and center of gravity to grasp the workpiece.

[0056] Combination Figure 6The small parts palletizing unit 4 includes a gantry robot 41, a second electromagnetic end effector 42, and a 3D camera 43. The second electromagnetic end effector 42 is mounted on the Z-axis of the end of the gantry robot 41 and can rotate to adjust the direction of gripping the workpiece. The 3D camera 43 is mounted on the rotation axis of the end of the gantry robot 41. The gantry robot 41 places the parts on a matching pallet through the second electromagnetic end effector 42, and the 3D camera 43 is used to capture images of the parts and send them to the gantry robot 41.

[0057] The transport unit 5 also includes a lifting AGV, a charging station, etc. The lifting AGV transports the pallet full of small parts to the preparation area of ​​the next process and returns the empty pallet to its original position.

[0058] Combination Figure 7 A sorting method for marine steel plate parts includes:

[0059] Step 1: After the cutting process, the marine steel plate is hoisted to the sorting and placement area and placed on the buffer unit 1.

[0060] Step 2: The RFID device 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 lifting device 12. The lower layer can realize pallet buffering and return. The roller conveyor is used and the chain drive is used. The conveying part uses a variable frequency motor. When the pallet moves to the sorting area at a constant speed, it is precisely stopped with the help of the limit sensor 13.

[0061] Step 3: The limit sensor 13 triggers the 2D line scan camera 25 to scan. Since 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: The 2D line scan image is calibrated with the first 2D camera 24 at the end of the six-axis robot 22. After multiple images are taken, the shape and size of the part are accurately located using visual monitoring. The shape and size of the part are then identified, and the weight of the part is calculated. Weight = thickness (mm) × width (m) × length (m) × density (g / cm³) 3 )÷1000, density is taken as 7.85g / cm³ 3 .

[0063] Step 5: Due to the large size, large quantity, and complex and inconsistent shape of marine steel plates, the sorting rules for marine steel plate parts are determined. The sorting rules are shown in Table 3 below. It is determined whether they are small parts. Small parts that occupy the majority of the kit are sorted by sorting unit 2. Large parts are sorted by manual hoisting. Very small parts are sorted manually because they are light.

[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 Miniature items Miniature items Miniature items Miniature items 100～700 Miniature items Small items Large items Large items 700～2500 Miniature items Large items Large items Large items 2500 and above Miniature items Large items Large items Large items

[0066] Items weighing more than 5kg but less than 120kg are considered small items, and items 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's QR code and performs a secondary matching of the part information. If the QR code cannot be identified 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 achieves precise control, using vision guidance to pick up parts from the steel plate. If it grabs empty, the first electromagnetic end effector 23 will not output any information, and will send feedback to the control to grab again. If it does not grab empty, the first electromagnetic end effector 23 will output a signal to control the grabbing to start the grabbing process.

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

[0070] Step 9: After the part is placed on the belt conveyor 35, the 2D camera 33 takes pictures of the part information after the part passes through the visual darkroom 34. Based on the functional algorithm combination, the part pose, grasping posture, grasping control, grasping strategy, grasping post-processing, and related anomalies are planned and controlled.

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

[0072] Step 11: Based on the multi-segment mixed nesting, the number of parts flow directions is 64, so 64 pallets are required. The gantry robot 41 can cover a larger area. The gantry robot 41 places the parts onto their respective pallets. The matching between the parts and the pallets during the sorting process is recorded by the QR code on the parts. The integrity of the pallets and the processing accuracy of the parts are automatically judged, and the placement function is realized.

[0073] Step 12: After the pallet parts are stacked to 80% of the pallet height, the sorting line control sends an inbound completion instruction to the upper-level system. The command is transmitted to the AGV. After receiving the instruction, the AGV automatically generates a logistics transfer work order, transports the parts under the pallet, automatically transfers them to different workstations, and replaces the pallet with a new one in the original position.

[0074] It should be noted that the known components involved in this invention will not be described in detail here, such as roller beds, lifting devices, electric scissor lift platforms, electromagnetic end effectors, and other equipment.

[0075] The above embodiments are merely illustrative examples of this patent and do not limit its scope of protection. Those skilled in the art can make partial changes to them, as long as they do not exceed the spirit and essence of this patent, they are all within the scope of protection of this patent.

Claims

1. An automated sorting equipment for ship steel plate parts, characterized in that, It includes a buffer unit, a sorting unit, a conveying unit, a small-item palletizing unit, and a transport unit, wherein: The buffer unit is used for the storage and transfer of parts after the ship's steel plates have been cut; The sorting unit is used to sort the steel plate parts of the buffer unit. Based on a threshold, the steel plate parts are divided into small parts and large parts. The small parts are sent to the conveying unit and the large parts are sent to the tray. The conveying unit conveys the small parts to the grinding area and the beveling area. After the small parts have passed through the grinding area and the beveling area, the conveying unit conveys the small parts to the small parts stacking unit. The small parts palletizing unit stacks small parts onto multiple pallets; The transport unit transports pallets filled with small parts to the next process preparation area and returns new empty pallets to the small parts stacking unit. The buffer unit includes a conveyor roller bed and an RFID device. The conveyor roller bed has a steel plate parts tray, one end of which is close to the shelf where the steel plate parts are placed. The steel plate parts are placed on the steel plate parts tray and are driven by the conveyor roller bed to the sorting area for sorting by the sorting unit. The RFID device is installed on the conveyor roller bed to read the information of the steel plate parts and send the information to the sorting unit. The sorting unit also includes a gantry rail, a first electromagnetic end effector, a first D-camera, a D-line scanning camera, a vision control 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 along the gantry rail. The first electromagnetic end effector is installed at the end of the six-axis sorting robot for gripping and transporting workpieces. The D-line scanning camera and the vision control computer are installed on the camera bracket. The D-line scanning camera is used to scan 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 acquiring images of the steel plate parts gripped by the robot. The vision control computer is connected to the first D-camera and the D-line scanning camera for controlling the six-axis sorting robot and the first electromagnetic end effector. The conveying unit includes a conveying robot, a small-span gantry rail, a second 3D camera, a vision darkroom, a belt conveyor line, and a second electromagnetic end effector. The belt conveyor line is used to place and transport small parts sorted 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 effector is installed at the end of the conveying robot for gripping parts. The second 3D camera is placed in the vision darkroom for identifying the part's QR code and edge information. The vision darkroom is installed above the belt conveyor line. After the part passes through the vision darkroom, the conveying robot moves along the small-span gantry rail, transporting the small part to the grinding area and beveling area according to the process. After the process is completed, the small part is placed on the belt conveyor line and then transported by the conveying unit to the small parts palletizing unit. The small parts palletizing unit includes a gantry robot, a second electromagnetic end effector, and a D-camera. The second electromagnetic end effector and the D-camera are mounted on the gantry robot via a rotating shaft. The gantry robot places parts on matching pallets using the second electromagnetic end effector, and the D-camera is used to capture images of the parts.

2. The automatic sorting equipment for ship steel plate parts according to claim 1, characterized in that, Sensors are installed on the conveyor roller bed to obtain the position information of the steel plate parts pallet.

3. An automatic sorting equipment for ship steel plate parts according to claim 2, characterized in that, The rack is a double-layer rack, and the conveyor roller bed has two layers of drive rollers that move in opposite directions. Both ends of the conveyor roller bed are equipped with electric scissor lift platforms. The area of ​​the conveyor roller bed corresponding to the sorting unit is equipped with a lifting device. The steel plate parts pallet on the upper layer of the double-layer rack is transported to the upper layer of the conveyor roller bed through the electric scissor lift platform close to the rack. When sorting, the steel plate parts pallet is lifted to the designated position by the lifting device. After sorting, the steel plate parts pallet is transported to the lower layer of the conveyor roller bed through the electric scissor lift platform at the other end, and then transferred to the lower layer of the rack.

4. An automatic sorting equipment for ship steel plate parts according to claim 1, characterized in that, The sorting unit uses a six-axis sorting robot for sorting.

5. An automatic sorting equipment for ship steel plate parts according to claim 1, characterized in that, The transport unit includes a lifting AGV and a charging station.

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

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