Material sorting device, sorting method and logistics sorting operation production line

Abstract

The invention relates to the field of engineering machinery production and manufacturing, and discloses a material sorting device, a sorting method and a logistics sorting operation production line. The material sorting device comprises an incoming material station, a target station, a projection module, a suspended load sorting module, an image acquisition module and a control module. The incoming material station is used for placing an incoming material tray; the target station is used for placing a target tray; the projection module is used for acquiring a tray distribution diagram and projecting contours and positions of corresponding materials on corresponding target trays according to the tray distribution diagram; the hoisting and sorting module can hoist and load materials between the incoming material station and the target station, and the hoisting and sorting module has freedom degrees in the X-axis direction, the Y-axis direction and the Z-axis direction; the image acquisition module is used for photographing materials on the target tray, and the control module is used for comparison detection. According to the plate sorting device disclosed by the invention, the step of adjusting the direction of the material in the subsequent assembling and material taking process is omitted, material taking is more convenient, the material taking difficulty is reduced, and the production efficiency can be improved.

Description

Technical Field

[0001] The present application belongs to the field of engineering machinery manufacturing, and specifically relates to a material sorting device, a sorting method and a logistics sorting operation production line. Background Art

[0002] The structure of construction machinery is usually welded together by multiple steel plates and shaft sleeves and other components or parts. Since the steel plates and shaft sleeves required in the same construction machinery have different sizes and models, it is necessary to sort and distribute the materials required for welding in the production workshop to improve production efficiency.

[0003] In traditional production methods, materials of the same specifications and models are usually sorted into the same tray for transportation. When the equipment requires a large number of material models, a large number of trays and conveying devices need to be configured, which increases costs. In order to solve this problem, in the prior art, different materials required for the assembly of the same equipment are sorted into the same tray for centralized transportation to save costs. However, the shapes and specifications of materials are different. The existing sorting method can only ensure that each material is placed in a designated area on the tray, but cannot ensure that the current placement of the material matches the requirements of the subsequent assembly and material collection process. For this reason, the subsequent material collection process also needs to identify, screen and adjust the material according to the material collection requirements. In the face of large-sized material adjustments, sufficient adjustment space is required, and equipment is configured to assist in the adjustment, which makes the adjustment more difficult and reduces production efficiency. Summary of the invention

[0004] The purpose of this application is to provide a material sorting device, a sorting method and a logistics sorting production line, which are used to solve the problem that the existing sorting method cannot reasonably match the subsequent assembly and material collection process, and has the problems of great adjustment difficulty and low production efficiency.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a material sorting device, comprising:

[0006] An incoming material station, used to place at least one incoming material pallet loaded with incoming materials;

[0007] a target station for placing at least one empty target pallet;

[0008] A projection module is arranged above the target station, and is used to obtain a pallet map and project the outline and position of the corresponding material on the corresponding target pallet according to the pallet map;

[0009] A lifting and sorting module is arranged above the incoming material station and the target station, and can lift materials between the incoming material station and the target station. The lifting and sorting module has degrees of freedom in the X-axis direction, the Y-axis direction and the Z-axis direction;

[0010] An image acquisition module is arranged above the target station and is used to take pictures of the materials on the target tray;

[0011] The control module is configured to extract the material contour and position information in the collected image and compare it with the said plate map, and trigger an alarm signal when the consistency is not met; when the consistency is met, it can be transferred to the next process.

[0012] As a further improvement of the above technical solution:

[0013] In some embodiments, the ratio of the projected contour and the position of the projection to the corresponding material is 1:1.

[0014] The projection module includes a projector, each of the target trays corresponds to one projector, and the projector is fixedly arranged above the corresponding target tray;

[0015] Alternatively, each of the target trays corresponds to one of the projectors, and the projector is arranged above the corresponding target tray and is movably disposed along the length direction of the target tray.

[0016] In some embodiments, the control module has a built-in image fusion server and software, the projection module includes a projector, and each target tray is provided with a plurality of projectors;

[0017] The control module is configured to decompose the tray map into a preset number of tiles through the image fusion server, and assign all the tiles to the corresponding projectors so as to splice and project each tile on the same target tray.

[0018] In some embodiments, the incoming material station and / or the target station are each provided with at least two supporting brackets, and a transport channel for the AGV to pass through is formed between two adjacent supporting brackets.

[0019] In some embodiments, the hoisting and sorting module includes at least one hoist, and the hoist is provided with at least one electromagnetic suction head along its length direction, and the electromagnetic suction head can adaptively extend and retract along the vertical direction.

[0020] In some embodiments, the image acquisition module includes a camera and an auxiliary light source;

[0021] Among them, one camera is arranged corresponding to each target pallet, and the camera is used to take pictures of the materials on the target pallet. The auxiliary light source provides light for the camera, and the control module is configured to compare and detect the collected image with the pallet diagram.

[0022] In some embodiments, the image acquisition module includes a camera;

[0023] The control module is equipped with an image fusion server and software. A plurality of cameras are arranged corresponding to each target pallet. Each camera is used to collect an image block. The control module is configured to perform deduplication, splicing and contour recognition on all the image blocks through the image fusion server. The control module is configured to compare and detect the spliced ​​image with the pallet diagram.

[0024] In a second aspect, the present application further provides a material sorting method, which is applied to the material sorting device provided according to the first aspect above, and the sheet material sorting method comprises:

[0025] Placing the incoming material pallet and the target pallet at the incoming material station and the target station respectively;

[0026] Projecting the outline and position of the corresponding material on the corresponding target tray through the projection module;

[0027] Control the lifting and sorting module to lift the materials on the incoming material tray to transfer to the target tray, and control the materials to be placed according to the projected contour and position;

[0028] After the sorting is completed, the materials placed on the target pallet are photographed for image acquisition, and the material contour and position information in the acquired image are extracted for comparison with the pallet map;

[0029] When the contour information of the material placed on the target pallet is consistent with the pallet diagram, the material can be transferred to the next process; and when the contour information of the material placed on the target pallet is inconsistent with the pallet diagram, an alarm signal is triggered to prompt and guide sorting rework.

[0030] As a further improvement of the above technical solution:

[0031] In some embodiments, projecting the outline and position of the corresponding material on the corresponding target tray by the projection module includes:

[0032] Screen projection preparation: fix the projection distance, prepare the tray diagram, fix the resolution, configure the projection ratio and inspection parameters of the projection module according to the length and width of the target tray;

[0033] Obtaining a task: Obtaining a projection task through the system interface or front-end input of the projection module, and determining the position of the target tray for projection and the length and width of the target tray;

[0034] Screen projection is achieved by calling the corresponding panel diagram for screen projection, performing feature recognition and enhancement on the outline and position of the graphics in the panel diagram, and then performing screen projection.

[0035] In a third aspect, the present application also provides a logistics sorting production line, comprising an AGV trolley, an incoming material pallet, a target pallet and a material sorting device provided according to the first aspect above, wherein the AGV trolley is used for transporting the incoming material pallet and the target pallet.

[0036] The present application provides a material sorting device, a sorting method and a logistics sorting production line, wherein the material sorting device can obtain a pallet diagram and project the outline and position of the corresponding material on the corresponding target pallet according to the pallet diagram, and then transfer the material on the incoming material pallet of the incoming material station to the target pallet through the hoisting sorting module, and control the material to be placed according to the projected outline and position. After the material is placed on the target pallet, the image acquisition module is used to take a photo of the material placed on the target pallet, and the control module extracts the material outline and position information in the photo and compares it with the pallet diagram to ensure that the orientation of the placed material is consistent with the projected outline and position. In this way, when the material outline and position information of the material do not meet the consistency with the pallet diagram, an alarm signal is triggered to prompt and guide the sorting rework. Only when the material outline and position information meet the consistency with the pallet diagram can the target pallet be transferred to the next process. In this way, it is ensured that when the target pallet is transported to the material picking process, the materials placed according to the contour and position can meet the material picking needs of the subsequent material picking process, saving the steps of adjusting the orientation of the materials in the subsequent material picking process, making material picking more convenient, reducing the difficulty of material picking and improving production efficiency.

[0037] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0039] Figure 1 A schematic diagram of the three-dimensional structure of a material sorting device provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of a many-to-many arrangement of incoming material stations and target stations of a material sorting device provided in an embodiment of the present application;

[0041] Figure 3for Figure 1 A local enlarged schematic diagram of the middle A;

[0042] Figure 4 This is a schematic diagram of the structure of the hanging sorting module in the material sorting device provided in this application;

[0043] Figure 5 A schematic diagram of a single projector projecting onto a target pallet in a material sorting device provided in this application;

[0044] Figure 6 A schematic diagram of two projectors projecting onto a target pallet in a material sorting device provided in this application;

[0045] Figure 7 This is a schematic diagram of the structure of the incoming material tray or target tray and the supporting bracket in the material sorting device provided in this application.

[0046] Description of Reference Numerals

[0047] 100. Incoming material station;

[0048] 200, target station;

[0049] 300, projection module;

[0050] 400, hoisting and sorting module; 410, rack; 420, hoist; 421, KBK hoist; 422, chain; 423, hoist beam; 424, electromagnetic suction head;

[0051] 500, image acquisition module; 510, camera; 520, auxiliary light source; 530, detection alarm;

[0052] 600, incoming material pallet;

[0053] 700, target pallet;

[0054] 800. Support bracket; 810. Transport channel. DETAILED DESCRIPTION

[0055] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0056] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0057] Example

[0058] See also Figure 1 , Figure 2 and Figure 3This embodiment provides a material sorting device. In particular, it provides a sheet material sorting device for engineering machinery production, which can be applied to production systems such as pump truck booms, crane booms, and excavator booms.

[0059] In this embodiment, the material sorting device includes an incoming material station 100, a target station 200, a projection module 300, a hanging sorting module 400, an image acquisition module 500 and a control module (not shown). The incoming material station 100 is used to place at least one incoming material tray 600 loaded with incoming materials; the target station 200 is used to place at least one empty target tray 700.

[0060] The incoming material tray 600 and the target tray 700 are both transported by an AGV (not shown). Thus, in order to facilitate the planning of the transport route of the AGV, in this embodiment, the target station 200 and the incoming material station 100 are arranged along the X-axis direction.

[0061] Specifically, in this embodiment, at least two support brackets 800 are provided at both the incoming station 100 and the target station 200, and a transport channel 810 for the AGV trolley to pass through is formed between two adjacent support brackets 800. The transport channel 810 is defined to be arranged along the X-axis direction. It can be understood that, considering that the size of the assembled materials (steel plate size) varies, the length of the incoming material pallet 600 configured for this purpose is also different, so at least two support brackets 800 need to be arranged at the incoming station 100 to support the incoming material pallet 600. Similarly, at least two support brackets 800 are configured at the target station 200 to support target pallets 700 of different sizes.

[0062] In some embodiments, Figure 2 As shown, the incoming station 100 and the target station 200 can be designed in a many-to-many form in the N:M manner to meet the multi-task parallelization, and the position of the target station 200 should be relatively fixed and arranged within the field of view of the projection module 300. In the line setting, it is necessary to avoid interference in the entry and exit directions of the AGV.

[0063] The projection module 300 is arranged above the target station 200. The projection module 300 is used to obtain the tray map and project the outline and position of the corresponding material on the corresponding target tray 700 according to the tray map. The tray map is designed and laid out according to the requirements of the subsequent assembly and material collection process, wherein the tray map includes the placement and orientation of each material on the corresponding target tray 700 and the distance between two adjacent materials on the same tray.

[0064] The hoisting and sorting module 400 is arranged above the incoming material station 100 and the target station 200, and can hoist materials between the incoming material station 100 and the target station 200. The hoisting and sorting module 400 has freedom in the X-axis direction, the Y-axis direction and the Z-axis direction.

[0065] Since the hoisted materials are large-sized steel plates with heavy weight, in this embodiment, the hoisting and sorting module 400 can be operated manually, and automatic control can be selected for some small-sized and light-weight steel plates.

[0066] The image acquisition module 500 is arranged above the target workstation 200 , and the image acquisition module 500 is used to take pictures of the materials on the target tray 700 to acquire the image corresponding to the target tray 700 .

[0067] The control module is configured as:

[0068] The material contour and position information in the collected image are extracted and compared with the pallet diagram (whether the material contour and position information are consistent with the corresponding contour and position information on the pallet diagram). If the consistency is not met, an alarm signal is triggered; if the consistency is met, no alarm signal is triggered, and the next process can be transferred. Specifically, the target pallet 700 can be transferred to the next process by controlling the AGV trolley.

[0069] Compared with the prior art, the material sorting device provided in this embodiment obtains the pallet map and projects the outline and position of the corresponding material on the corresponding target pallet 700 according to the pallet map, and then transfers the material on the incoming material pallet 600 of the incoming material station 100 to the target pallet 700 through the hoisting sorting module 400, and controls the material to be placed according to the projected outline and position. After the material is placed on the target pallet 700, the image acquisition module 500 takes a photo of the material placed on the target pallet 700, and the control module extracts the material outline and position information in the photo and compares it with the pallet map to ensure that the orientation of the placed material is consistent with the projected outline and position. In this way, when the material outline and position information of the material do not meet the consistency with the pallet map, an alarm signal is triggered to prompt and guide the sorting rework. Only when the material outline and position information meet the consistency with the pallet map can the target pallet be transferred to the next process. In this way, it is ensured that when the target pallet 700 is transported to the assembly and material picking process, the materials placed according to the contour and position can meet the assembly requirements of the subsequent assembly and material picking process, saving the steps of adjusting the orientation of the materials in the subsequent assembly and material picking process, making material picking more convenient, reducing the difficulty of material picking and improving production efficiency.

[0070] In order to more clearly describe the technical solution of the present application, the material sorting device provided in this embodiment is described in detail as follows:

[0071] See also Figure 1 and Figure 4The above-mentioned lifting and sorting module 400 includes at least one lifting device 420, and the lifting device 420 is provided with an electromagnetic suction head 424. The lifting device 420 can be a gantry lifting device 420.

[0072] In some embodiments, each hanger 420 may be provided with a plurality of electromagnetic suction heads 424 , and the plurality of electromagnetic suction heads 424 are arranged at intervals along the length direction of the hanger 420 itself.

[0073] Optionally, each electromagnetic suction head 424 can be adaptively extended and retracted in the vertical direction to adapt to uneven plates, thereby improving safety during lifting.

[0074] In this embodiment, the hanging and sorting module 400 further includes a frame 410, and the hanging device 420 is movably disposed on the frame 410. At the same time, the projection module 300 and the image acquisition module 500 can also be disposed on the frame 410.

[0075] Furthermore, the sling 420 can be configured as a single-head sling 420, a double-head sling 420, a triple-head sling 420, etc., so as to adapt to the hoisting of materials (steel plates) of different sizes and weights, and realize flexible adaptation.

[0076] Specifically, in this embodiment, the hoist 420 includes a KBK hoist 421, a chain 422, a hoist beam 423 and an electromagnetic suction head 424. The support beam and guide rail of the KBK hoist 421 are mounted on the frame 410, driven by a travel motor and a lifting motor, and can meet six-directional driving such as front, back, left, right, up and down.

[0077] Among them, the multi-head hoist 420 includes at least two electromagnetic suction heads 424, and its hoist beam 423 is designed to be retractable. The position of the electromagnetic suction head 424 in the length direction can be adjusted by adjusting the hoist beam 423 to adapt to the hoisting of objects of different models and sizes.

[0078] The electromagnetic suction head 424 converts electricity into magnetic force through electromagnetic conversion, controls the charging (de-)magnetization of the permanent magnetic suction cup, and thus realizes the suction and unloading of the steel plate material. The electromagnetic suction head 424 is equipped with a controller, which can set different electromagnetic gears according to the actual thickness and weight of the steel plate to achieve the best charging (de-)magnetization effect.

[0079] In this embodiment, the outline and position include the placement orientation and the distance between two adjacent graphics; the placement orientation mainly includes the position, direction and angle. And the ratio of the graphic outline in the projected outline and position (one graphic outline for each material) to the corresponding material is 1:1. In this way, the position and placement orientation of the material on the target tray 700 can be confirmed more intuitively to avoid placement errors.

[0080] See also Figure 1 and Figure 3, the projection module 300 includes at least one projector, and the target tray 700 corresponds to at least one projector. It can be understood that Figure 5 As shown in FIG. 1 , when the size of the target tray 700 is small, the projection of one projector can cover the entire target tray 700, so that one projector can be configured for one target tray 700 to project the entire tray map. Figure 6 As shown, when the projection of a single projector cannot fully cover the entire target tray 700, the projections of at least two projectors may be spliced ​​to project the outline and position on the entire target tray 700.

[0081] In some embodiments, the control module is built with an image fusion server and software. When multiple projectors are required for combined projection, the image fusion server and the image analysis technology of the software are combined to split the tray map into a preset number of tiles in proportion, and then each tile is assigned to a corresponding projector, and the number of assigned projectors is consistent with the number of disassembled tiles. In this way, the projectors to which the tiles are assigned perform splicing projection on the same target tray 700 to ensure that the entire tray map can be fully presented on the same target tray 700.

[0082] In other embodiments, the projection module 300 includes at least one projector, which is movably arranged along the length direction of the target tray 700 (a linear motor or a motor screw structure can be used to realize the movement drive). In this way, the problem of incomplete projection due to the large length of the target tray 700 can be compensated by the movable projection of the projector.

[0083] See also Figure 1 and Figure 3 The image acquisition module 500 includes a camera 510 and an auxiliary light source 520. The camera 510 is used to take pictures of the materials on the target tray 700, and the auxiliary light source 520 provides light for the camera 510 to ensure that the contours in the captured images are clearer. The control module is configured to compare and detect the acquired images with the tray diagram to determine the consistency of the material contour and position information with the graphic contour in the tray diagram.

[0084] In some embodiments, when the size of the target pallet 700 is large and a single camera 510 cannot capture the complete image, multiple cameras 510 may be selected for combined shooting, and the image fusion server and software in the control module are also used to perform deduplication splicing and contour recognition on the image blocks captured by the multiple cameras 510 to achieve image fusion splicing, and then the control module compares the spliced ​​image with the pallet diagram to determine the consistency of the material contour and position information with the graphic contour in the pallet diagram.

[0085] In other embodiments, when the target tray 700 is large in size and a single camera 510 cannot capture a complete image, the camera 510 and the auxiliary light source 520 can also be movably disposed on the frame 410 to ensure that the image of the materials placed on the target tray 700 captured by the camera 510 is more complete. Image fusion technology can also be used for splicing.

[0086] Further, such as Figure 3 As shown, the image acquisition module 500 also includes a detection alarm 530. When the material placement on the detection target tray 700 is inconsistent with the matching tray diagram, the detection alarm 530 can be used to send out a sound and / or light alarm signal to remind the operator to sort and rework, thereby ensuring consistency. Figure 1 When the test result is satisfactory, the detection alarm 530 can also be used to send out a sound and / or light alarm signal to distinguish it from a failure.

[0087] Optionally, the detection alarm 530 can be an audible and visual alarm. Of course, a separate audible alarm or a separate visual alarm can also be used.

[0088] See also Figures 1 to 6 Furthermore, this embodiment also provides a material sorting method, which is applied to the material sorting device provided in the above embodiment. In this embodiment, the material sorting method includes the following steps:

[0089] S100: placing an incoming material tray 600 and a target tray 700 at the incoming material station 100 and the target station 200 respectively.

[0090] Specifically, the feed tray 600 and the target tray 700 can be transported to the support bracket of the corresponding station by the AGV trolley. The feed tray 600 and the target tray 700 can also be transported away from the support bracket of the corresponding station by the AGV trolley.

[0091] S200: Projecting the outline and position of the corresponding material on the corresponding target tray 700 through the projection module 300.

[0092] First, the materials required for the subsequent assembly and material collection of the current product are drawn on the pallet diagram. The pallet diagram needs to consider the placement and orientation of each material on the corresponding target pallet 700 and the distance between two adjacent materials on the same pallet, so that the arrangement of the materials in the pallet diagram meets the subsequent assembly and material collection requirements. Then the pallet diagram is imported into the system of the projection module 300 so that it can be called when the projection module 300 is projected.

[0093] S300: Control the lifting and sorting module 400 to lift the materials on the incoming material tray 600 and transfer them to the target tray 700, and control the materials to be placed according to the projected contour and position.

[0094] Specifically, one or more spreaders 420 can be manually controlled to work, and the electromagnetic suction head 424 can absorb the material (steel plate), and then move in the X-axis, Y-axis and Z-axis directions to accurately place the material at the corresponding position on the target pallet 700, and ensure that the placement direction, contour and position of the material are consistent with the projected tray. Figure 1 When transporting materials, the corresponding sling 420 can be selected according to the size and weight of the materials to improve the safety of the lifting and realize flexible sorting.

[0095] In this way, the hoisting and sorting module 400 is both flexible and labor-saving. There is no need to use manpower to lift materials, nor is there any need to set up complex path planning for automatic grabbing. The hoist 420 and magnetic gear can be selected according to different materials, and the electromagnetic suction head 424 can be integrated with control devices such as KBK hoist 421 to achieve remote control, and multiple hoists 420 can operate in parallel at the same time, making the sorting process labor-saving and safe.

[0096] S400: After the sorting is completed, the materials placed on the target tray 700 are photographed for image acquisition, and the material contour and position information in the acquired image are extracted for comparison with the pallet map.

[0097] Specifically, after the sorting of a target pallet 700 is completed, the camera 510 of the image acquisition module 500 is started to take pictures and perform image acquisition. The acquired images are integrated through the control module (image integration is required when multiple cameras 510 take pictures of the same target pallet 700, such as deduplication and splicing. Image integration is not required when a single camera 510 is used), and then compared with the matching tray map corresponding to the target pallet 700 to automatically determine the sorting result: if qualified, step S500 is executed to enter the next process link (the AGV trolley transports the qualified target pallet 700 to the next process); if unqualified, the alarm 530 is detected and sorting rework is performed.

[0098] S500: If the contour and position information of the material placed on the target tray 700 are consistent with the pallet map, the material can be transferred to the next process. If the contour and position information of the material placed on the target tray 700 are not consistent with the pallet map, an alarm signal is triggered to prompt and guide sorting rework.

[0099] After the consistency judgment in the above step S500, the actions that meet the consistency and those that do not meet the consistency can be performed selectively or simultaneously.

[0100] After the material sorting in the above step S300 is completed, the incoming material tray 600 of the incoming material station 100 and the target tray 700 of the target station 200 are emptied, and then the next sorting operation can be carried out. Repeat the above steps S100 to S500.

[0101] The above step S200 also includes the following steps:

[0102] S210: Screen projection preparation: fix the projection distance, prepare the tray map, fix the resolution, configure the projection ratio of the projection module 300 and check the parameters according to the length and width of the target tray 700;

[0103] S220: Obtaining a task: Obtaining a projection task through the system interface or front-end input of the projection module 300, and determining the position of the projected target tray 700 and the length and width of the target tray 700;

[0104] S230: Screen projection implementation: call the matching plate diagram corresponding to the screen projection, perform feature recognition and enhancement on the outline and position of the graphics in the matching plate diagram, and then perform screen projection.

[0105] See also Figure 5 and Figure 6 It should be noted that, due to the existence of multiple sets of target trays 700 with length and width L×W dimensions, when the L×W dimensions are too large to cover the target area with one set of projectors, multiple sets of projectors can be started to project the same target tray 700. When multiple sets of projectors are used for projection, the graphics in the tray diagram need to be disassembled in proportion and distributed to each projector to achieve disassembly projection and graphic splicing, that is, to achieve graphic disassembly fusion projection technology.

[0106] In the above step S400, the object is photographed and the contour is extracted: the camera 510 is used to photograph the target tray 700 and the contour of the upper object is extracted; if multiple cameras 510 are required for image acquisition, the image recognition and fusion functions are enabled to remove duplicates and merge the images. Result comparison: the image acquired by the camera 510 is fused and scaled, and then the contour and position in the image are compared and measured with the contour and position of the corresponding graphics in the tray diagram to confirm whether it meets the preset inspection parameter standards.

[0107] Optionally, the projection mode of the projector can be selected as DLP laser projector, LED projector, LED & laser hybrid projector, ultra-high pressure mercury lamp projector, etc. The selection of the projection mode needs to be able to accurately display the material contour and position information on the target pallet 700.

[0108] See also Figures 1 to 7Furthermore, this embodiment also provides a logistics sorting production line. The logistics sorting production line includes an AGV trolley, an incoming material tray 600, a target tray 700, and a material sorting device according to the above embodiment, and the AGV trolley is used for transporting the incoming material tray 600 and the target tray 700.

[0109] like Figure 7 As shown, both the incoming material pallet 600 and the target pallet 700 can be flexible pallets. Specifically, the length and width of the pallet can be modularly set according to the size of the stored materials, and dense holes are arranged at equal intervals on the upper end surface, and the southwest corner of the pallet is used as the origin to compile coordinates for each hole position for easy positioning. Each pallet is equipped with multiple positioning pins for physically limiting the parts.

[0110] The logistics sorting production line provided in this embodiment uses a material sorting device, which has the following advantages:

[0111] 1) The device provided in this embodiment can realize accurate sorting and distribution of steel plate materials, which can meet the accurate grasping of intelligent equipment such as robot arms in the subsequent process;

[0112] 2) The many-to-many layout of the target station 200 and the incoming material station 100 and the diversity of the spreader 420 can realize many-to-many flexible sorting, and is compatible with equipment such as intelligent AGV carts to improve production automation;

[0113] 3) The design of the flexible pallet can be precisely positioned, which simplifies the design of the pallet that originally needed to be customized with mechanical limits according to the material characteristics, realizes the standardization of tooling and saves costs;

[0114] 4) The design of the hoisting and sorting module 400 is flexible and labor-saving. It does not require manual labor to carry materials, nor does it require complex automatic grabbing path planning. The hoist 420 and magnetic gear can be selected according to different material forms, and the electromagnetic suction head 424 can be integrated with the KBK hoist 421 and other control devices to achieve remote control. Multiple sorting mechanisms can operate in parallel at the same time, making the sorting process labor-saving and safe.

[0115] 5) Sorting guidance is achieved through the projection module 300, and combined with the inspection module for photo detection, the plane graphic outline of the material can be accurately projected, thereby guiding the picking and automatically detecting the sorting results, greatly reducing the sorting difficulty and inspection workload, and avoiding secondary rework. Traditional light guidance can only simply indicate the approximate placement position, and cannot accurately guide the placement direction and placement spacing, etc.

[0116] It should be noted that in the present application, unless otherwise specified, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like used to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0117] The above-mentioned AGV trolley and KBK hoist 421 are well known to those skilled in the art, and do not belong to the core improvement part of the present application, so they will not be described here in detail.

[0118] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0119] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0120] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0121] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A material sorting device, characterized in that: include: An incoming material station (100) for placing at least one incoming material tray (600) loaded with incoming materials; A target station (200) for placing at least one empty target tray (700); A projection module (300) is arranged above the target workstation (200) and is used to obtain a pallet map and project the outline and position of a corresponding material on the corresponding target pallet (700) according to the pallet map; A lifting and sorting module (400) is arranged above the incoming material station (100) and the target station (200), and is capable of lifting materials between the incoming material station (100) and the target station (200), wherein the lifting and sorting module (400) has degrees of freedom in the X-axis direction, the Y-axis direction and the Z-axis direction; An image acquisition module (500) is arranged above the target workstation (200) and is used to take a picture of the material on the target tray (700); The control module is configured to extract the material contour and position information in the collected image and compare it with the distribution diagram, and trigger an alarm signal if the consistency is not met; if the consistency is met, it can be transferred to the next process.

2. The material sorting device according to claim 1, characterized in that: The ratio of the projected contour and the corresponding material in the projected contour and position is 1:

1.

3. The material sorting device according to claim 1, characterized in that: The projection module (300) comprises a projector, each of the target trays (700) corresponds to one of the projectors, and the projector is fixedly arranged above the corresponding target tray (700); Alternatively, each of the target trays (700) corresponds to one of the projectors, and the projector is arranged above the corresponding target tray (700) and is movably disposed along the length direction of the target tray (700).

4. The material sorting device according to claim 1, characterized in that: The control module has an image fusion server and software built in, the projection module (300) comprises a projector, and each target tray (700) is provided with a plurality of the projectors; The control module is configured to decompose the tray map into a preset number of tiles through the image fusion server, and allocate all the tiles to the corresponding projectors, so as to splice and project each tile on the same target tray (700).

5. The material sorting device according to claim 1, characterized in that: The incoming material station (100) and / or the target station (200) are each provided with at least two supporting brackets (800), and a transport channel (810) for the AGV trolley to pass through is formed between two adjacent supporting brackets (800).

6. The material sorting device according to claim 1, characterized in that: The lifting and sorting module (400) comprises at least one lifting device (420), wherein the lifting device (420) is provided with at least one electromagnetic suction head (424) along its length direction, and the electromagnetic suction head (424) can be adaptively extended and retracted in the vertical direction.

7. The material sorting device according to any one of claims 1 to 6, characterized in that: The image acquisition module (500) comprises a camera (510) and an auxiliary light source (520); Wherein, one camera (510) is arranged corresponding to each target pallet (700), the camera (510) is used to take pictures of the materials on the target pallet (700), the auxiliary light source (520) provides light for the camera (510), and the control module is configured to compare and detect the collected image with the pallet diagram.

8. The material sorting device according to any one of claims 1-3 or 5-6, characterized in that: The image acquisition module (500) comprises a camera (510); The control module is equipped with an image fusion server and software. A plurality of cameras (510) are arranged corresponding to each target pallet (700). Each camera (510) is used to collect an image block. The control module is configured to perform deduplication, splicing and contour recognition on all the image blocks through the image fusion server. The control module is configured to compare and detect the spliced ​​image with the pallet diagram.

9. A material sorting method, characterized in that: Applied to the material sorting device according to any one of claims 1 to 8, the material sorting method comprises: Placing the incoming material tray (600) and the target tray (700) at the incoming material station (100) and the target station (200) respectively; Projecting the outline and position of the corresponding material on the corresponding target tray (700) through the projection module (300); Controlling the lifting and sorting module (400) to lift the materials on the incoming material tray (600) and transfer them to the target tray (700), and controlling the materials to be placed according to the projected contour and position; After the sorting is completed, the materials placed on the target tray (700) are photographed for image acquisition, and the material contour and position information in the acquired image are extracted for comparison with the tray map; When the profile information of the material placed on the target tray (700) is consistent with the tray diagram, the material can be transferred to the next process; and when the profile information of the material placed on the target tray (700) is inconsistent with the tray diagram, an alarm signal is triggered to prompt and guide sorting rework.

10. The material sorting method according to claim 9, characterized in that: The projecting of the outline and position of the corresponding material on the corresponding target tray (700) by the projection module (300) comprises: Screen projection preparation: fixing the projection distance, preparing a tray map, fixing the resolution, configuring the projection ratio of the projection module (300) and checking parameters according to the length and width of the target tray (700); Obtaining a task: obtaining a projection task through a system interface or front-end input of the projection module (300), and determining the position of the projected target tray (700) and the length and width of the target tray (700); Screen projection is achieved by calling the corresponding panel diagram for screen projection, performing feature recognition and enhancement on the outline and position of the graphics in the panel diagram, and then performing screen projection.

11. A logistics sorting production line, characterized in that: It comprises an AGV trolley, an incoming material pallet (600), a target pallet (700) and a material sorting device according to any one of claims 1 to 8, wherein the AGV trolley is used for transporting the incoming material pallet (600) and the target pallet (700).

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