Sorting system and sorting method

Abstract

The invention belongs to the technical field of flexible material sorting, and discloses a sorting system and a sorting method. The sorting system comprises a first clamping assembly, a second clamping assembly, a first conveying assembly, a visual detection assembly, a second conveying assembly and an automatic collecting assembly, the first clamping assembly clamps flexible materials, and the second clamping assembly clamps the flexible materials from the first clamping assembly and places the flexible materials on the first conveying assembly; the visual detection assembly is installed on the first conveying assembly, and when the flexible materials on the first conveying assembly pass through the lower portion of the visual detection assembly, the visual detection assembly conducts visual detection on the flexible materials so as to recognize the materials, textures, colors and the like of the flexible materials. The second conveying assembly can receive the flexible materials output from the discharging position of the first conveying assembly, and the automatic collecting assemblies are arranged on the two sides of the second conveying assembly and can store the flexible materials on the second conveying assembly. The sorting system is accurate in detection and high in automation degree, and ensures the sorting efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible material sorting, and particularly to a sorting system and a sorting method. Background Art

[0002] When processing fabrics, fabrics of different materials, textures, and colors are usually mixed together. Due to the soft nature of the fabrics themselves and the difficulty of gripping them, the separation of flexible materials such as stacked fabrics or cloth is basically carried out manually. With the development of the times and the shortage of human resources, this type of position will inevitably be replaced by automated equipment.

[0003] However, the existing automated sorting devices usually only have one gripping component. When gripping flexible materials such as fabrics, it is inevitable that two or more fabrics will be grabbed simultaneously, which will lead to incorrect judgment results during the subsequent visual inspection by the visual inspection component, and then lead to incorrect fabric sorting and affect production efficiency.

[0004] Therefore, a sorting system and a sorting method are needed to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a sorting system and a sorting method, which can avoid the situation of multiple flexible materials being visually inspected simultaneously, ensure that there is always only one flexible material being visually inspected, thereby ensuring the accuracy of the visual inspection and further ensuring the reliability of the flexible material sorting.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] A sorting system, the sorting system includes:

[0008] A first gripping component, which is used to grip flexible materials;

[0009] A second gripping component, which is arranged downstream of the first gripping component and is used to grip the flexible material gripped by the first gripping component;

[0010] A first conveying component, the second gripping component is movably arranged on the conveying component and is used to place the gripped flexible material on the first conveying component, and the first conveying component is used to convey the flexible material;

[0011] A visual inspection component, which is arranged on the first conveying component and is used to perform visual inspection on the flexible material conveyed by the first conveying component;

[0012] A second transmission component, which is arranged downstream of the first transmission component and is used to receive the flexible material conveyed by the first transmission component;

[0013] An automatic collection component, which is arranged on both sides of the second transmission component and is used to store the flexible material on the second transmission component.

[0014] As an optional technical solution, the first transmission component includes a first frame and a first conveyor belt. The first conveyor belt is arranged on the first frame and is used to convey the flexible material. The second clamping component is arranged on the first frame.

[0015] As an optional technical solution, the vision detection component includes a detection support, a vision detection unit and an illumination structure. The detection support is arranged on the first frame. The vision detection unit and the illumination structure are both arranged on the top of the detection support, and both the vision detection unit and the illumination structure are arranged facing the first conveyor belt.

[0016] As an optional technical solution, the first conveyor belt is arranged obliquely, and the second transmission component includes a second frame and a second conveyor belt. The second conveyor belt is arranged horizontally, and the discharge end of the first conveyor belt is directly above the feed end of the second conveyor belt.

[0017] As an optional technical solution, the first clamping component includes a first support frame, a first moving mechanism and a first jaw unit. The first support frame is fixedly arranged. The first moving mechanism is arranged on the first support frame. The first jaw unit is arranged at the output end of the first moving mechanism and is used to clamp the flexible material. The second clamping component includes a second support frame, a second moving mechanism and a second jaw unit. The second support frame is fixedly arranged on the first frame. The second moving mechanism is arranged on the second support frame. The second jaw unit is arranged at the output end of the second moving mechanism and is used to clamp the flexible material.

[0018] As an alternative technical solution, the automatic collection component includes a collection structure group and a moving structure group. There are two sets of the collection structure group and the moving structure group respectively. Each collection structure group includes a plurality of collection structures, and each moving structure group includes a plurality of moving structures. The two collection structure groups are respectively arranged on both sides of the second conveyor belt, and the two collection structure groups are arranged in a staggered manner along the transmission direction of the second transmission component. The two moving structure groups are respectively arranged on both sides of the second conveyor belt, and the two moving structure groups are arranged in a staggered manner along the transmission direction of the second transmission component. The plurality of collection structures and the plurality of moving structures located on the same side of the second conveyor belt are arranged in a crosswise manner, and the plurality of moving structures located on one side of the second conveyor belt are arranged in one-to-one correspondence with the plurality of collection structures located on the other side of the second conveyor belt, so that the moving structure located on one side of the second conveyor belt can collect the flexible material on the second conveyor belt into the corresponding collection structure located on the other side of the second conveyor belt.

[0019] As an alternative technical solution, the collection structure includes a support frame and a collection bag. The collection bag and the support frame are detachably connected, and the support frame is connected to the second machine frame. The moving structure includes a gas device and a jetting member. The jetting member is arranged opposite to the collection structure. The gas device is used to provide gas to the jetting member, and the jetting member is used to jet gas to blow the flexible material on the second conveyor belt into the collection bag.

[0020] As an alternative technical solution, the automatic collection component further includes a material changing mechanism. The material changing mechanism includes a guide rail, a driving member and a moving block. The guide rail is installed on the second machine frame. The moving block is slidably arranged on the guide rail. The support frame is carried on the moving block. The moving block can move along the guide rail under the drive of the driving member.

[0021] As an alternative technical solution, the sorting system further includes a receiving structure. The receiving structure is arranged at the discharge end of the second transmission component and is used to receive the flexible materials that fail the detection.

[0022] The present invention also adopts the following technical solutions:

[0023] Sorting method, the sorting method is applicable to the sorting system as described above. The sorting method includes the following steps:

[0024] S10. The first clamping component clamps the flexible material;

[0025] S20. The second clamping component clamps the flexible material from the first clamping component and places the flexible material on the first transmission component;

[0026] S30. During the process that the first transfer component conveys the flexible material to the discharge port of the first transfer component, the vision detection component performs vision detection on the flexible material passing below the vision detection component.

[0027] S40. The feeding end of the second transfer component receives the flexible material and conveys it, and the automatic collection component stores the flexible material.

[0028] Advantages of the present invention:

[0029] The present invention discloses a sorting system, which includes a first clamping component, a second clamping component, a first transfer component, a vision detection component, a second transfer component, and an automatic collection component. The first clamping component is used to directly clamp the flexible material from the stack of flexible materials. The second clamping component is used to clamp the flexible material from the first clamping component and place it on the first transfer component. The vision detection component is installed on the first transfer component. When the flexible material on the first transfer component passes below the vision detection component, the vision detection component performs vision detection on it to identify the material, texture, color, etc. of the flexible material. The second transfer component can receive the flexible material output from the discharge of the first transfer component, and the automatic collection component is arranged on both sides of the second transfer component and can store the flexible material on the second transfer component. This sorting system is provided with a first clamping component and a second clamping component, and the second clamping component is used to clamp the flexible material clamped by the first clamping component, thereby avoiding more than one flexible material being placed on the first transfer component, ensuring the accuracy of the detection of the flexible material, ensuring the effectiveness of sorting, and the automatic collection component can store the flexible material after vision detection, thereby improving the automation effect and ensuring the sorting efficiency.

[0030] The present invention also discloses a sorting method, which includes the following steps: the first clamping component clamps the flexible material; the second clamping component clamps the flexible material from the first clamping component and places the flexible material on the first transfer component; during the process that the first transfer component conveys the flexible material to the discharge port of the first transfer component, the vision detection component performs vision detection on the flexible material passing below the vision detection component; the feeding end of the second transfer component receives the flexible material and conveys it, and the automatic collection component stores the flexible material. This sorting method effectively avoids the second clamping component clamping more than one material through two grabs of the flexible material, thereby improving the effectiveness of the grab of the flexible material, improving the accuracy of the detection result of the subsequent vision detection, and ensuring the sorting effect. Description of the Drawings

[0031] Figure 1 is a schematic structural diagram of the sorting system according to the embodiment of the present invention;

[0032] Figure 2 is Figure 1 A partial enlarged view of A in

[0033] Figure 3 is a schematic structural diagram of the vision detection component according to an embodiment of the present invention;

[0034] Figure 4 is a schematic structural diagram of the first clamping component according to an embodiment of the present invention;

[0035] Figure 5 is a first schematic structural diagram of the first jaw unit according to an embodiment of the present invention;

[0036] Figure 6 is a second schematic structural diagram of the first jaw unit according to an embodiment of the present invention;

[0037] Figure 7 is a schematic structural diagram of the second clamping component according to an embodiment of the present invention;

[0038] Figure 8 is a schematic diagram of the layout position of the collection structure and the moving structure according to an embodiment of the present invention;

[0039] Figure 9 is a schematic structural diagram of the collection structure according to an embodiment of the present invention;

[0040] Figure 10 is a schematic diagram of the connection between the collection structure and the material changing mechanism according to an embodiment of the present invention;

[0041] Figure 11 is a flowchart of the sorting method according to an embodiment of the present invention.

[0042] In the figure:

[0043] 10. First clamping component; 11. First moving mechanism; 12. First jaw unit; 121. Fixed plate; 122. First driving motor; 123. Clamping member; 124. First connecting rod; 125. Second connecting rod; 126. Third connecting rod; 127. Fourth connecting rod; 131. Second driving motor; 132. First gear; 133. Second gear; 134. Third gear; 135. Conveyor belt;

[0044] 20. Second clamping component; 21. Support plate; 22. Second moving mechanism; 221. Slide rail; 222. Slide block; 23. Second jaw unit;

[0045] 31. First conveyor belt;

[0046] 40. Vision detection component; 41. Detection bracket; 42. Vision detection unit; 43. Lighting structure;

[0047] 51. Second conveyor belt

[0048] 60. Automatic collection assembly; 61. Collection structure; 611. Support frame; 612. Collection bag; 621. Jet component; 6211. Jet hole; 63. Limiting component

[0049] 71. First guide rail; 72. First driving component; 73. Second guide rail; 74. Second driving component; 75. Third guide rail; 76. Moving block

[0050] 80. Receiving structure Detailed implementation manner

[0051] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the convenience of description, only parts related to the present invention are shown in the drawings, rather than all the structures

[0052] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations

[0053] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature

[0054] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning

[0055] Such asFigures 1 to 10 As shown, in this embodiment, a sorting system is provided. The sorting system includes a first clamping component 10, a second clamping component 20, a first conveying component, a vision detection component 40, a second conveying component, and an automatic collection component 60. The first clamping component 10 is used to clamp flexible materials. The second clamping component 20 is arranged downstream of the first clamping component 10. The second clamping component 20 is used to clamp the flexible materials clamped by the first clamping component 10. The second clamping component 20 is movably arranged on the first conveying component and is used to place the clamped flexible materials on the first conveying component. The first conveying component is used to convey flexible materials. The vision detection component 40 is arranged on the first conveying component, and the vision detection component 40 is used to perform vision detection on the flexible materials conveyed by the first conveying component. The second conveying component is arranged downstream of the first conveying component and is used to receive the flexible materials conveyed by the first conveying component. The automatic collection component 60 is arranged on both sides of the second conveying component and is used to collect the flexible materials on the second conveying component.

[0056] Specifically, in this embodiment, please refer to Figure 1 , the first clamping component 10, the first conveying component, and the second conveying component are arranged in sequence. The second clamping component 20 and the vision detection component 40 are arranged on the first conveying component in sequence along the conveying direction of the flexible materials. The first clamping component 10 is used to directly clamp flexible materials from the flexible material stack. The second clamping component 20 is used to clamp flexible materials from the first clamping component 10 and place them on the first conveying component. When the flexible materials on the first conveying component pass under the vision detection component 40, the vision detection component 40 performs vision detection on them to identify the material, texture, color, etc. of the flexible materials. The second conveying component can receive the flexible materials output from the discharge port of the first conveying component, and the automatic collection component 60 is arranged on both sides of the second conveying component and can collect the flexible materials on the second conveying component. By setting the first clamping component 10 and the second clamping component 20, and the second clamping component 20 is used to clamp the flexible materials clamped by the first clamping component 10, this sorting system can avoid having more than one flexible material placed on the first conveying component, thereby ensuring the accuracy of the vision detection results of the flexible materials and the effectiveness of sorting. Moreover, the automatic collection component 60 can collect the flexible materials after vision detection, thereby improving the automation effect and ensuring the sorting efficiency.

[0057] Furthermore, please refer to Figure 1, the first transmission component includes a first frame (not shown in the figure) and a first conveyor belt 31. The first conveyor belt 31 is disposed on the first frame and is used for conveying flexible materials. The second clamping component 20 is disposed on the first frame. Specifically, in this embodiment, the first frame is placed on the ground, and the first conveyor belt 31 is rotatably disposed on the first frame. The first frame can ensure that the first conveyor belt 31 has sufficient stability to support the second clamping component 20 and the vision detection component 40, ensuring stability during use.

[0058] Specifically, in this embodiment, the first transmission component further includes a first driving component for driving the first conveyor belt 31 to rotate relative to the first frame to ensure the conveyance of flexible materials. The first driving component can adopt the structure of a motor, a chain, and a sprocket in the prior art, or can be specifically set according to actual use, and is not limited herein.

[0059] Further, as Figure 3 shown, the vision detection component 40 includes a detection bracket 41, a vision detection unit 42, and an illumination structure 43. The detection bracket 41 is disposed on the first frame, and both the vision detection unit 42 and the illumination structure 43 are disposed on the top of the detection bracket 41, and both the detection unit and the illumination structure 43 are oriented towards the first conveyor belt 31. Specifically, in this embodiment, the detection bracket 41 spans across the first conveyor belt 31 and is connected to the first frames on both sides of the first conveyor belt 31. The top of the detection bracket 41 includes a support frame, and a support beam is disposed in the middle of the support frame. The vision detection unit 42 is disposed in the middle of the support beam, and there are four illumination structures 43. The four illumination structures 43 are respectively disposed around the vision detection unit 42. This setting of the detection bracket 41 can improve the installation stability of the vision detection unit 42 and the illumination structure 43, and further ensure the accuracy of the detection results of the vision detection unit 42. The illumination structure 43 is disposed around the vision detection unit 42, which can illuminate the flexible materials located on the first conveyor belt 31, ensuring that the flexible materials have sufficient brightness, and further ensuring the accuracy of vision detection.

[0060] Specifically, in this embodiment, the vision detection unit 42 includes a CCD industrial camera, a data processing unit, and a storage unit in the prior art. The CCD industrial camera is electrically connected to the data processing unit. The CCD industrial camera can take clear photos of the flexible materials and transmit them to the data processing unit. The data processing unit can compare the photos with the relevant information stored in the storage unit, and then obtain the information of the flexible materials in the photos.

[0061] In another embodiment, the CCD industrial camera can also adopt other components capable of data acquisition, such as vision sensors, etc., which will not be elaborated herein.

[0062] Further, please refer toFigure 1 , the first conveyor belt 31 is inclined, and the second conveying assembly includes a second frame (not shown in the figure) and a second conveyor belt 51. The second conveyor belt 51 is horizontally arranged, and the discharge end of the first conveyor belt 31 is directly above the feed end of the second conveyor belt 51. Specifically, in this embodiment, the first conveyor belt 31 is inclined, and the discharge end of the first conveyor belt 31 is directly above the feed end of the second conveyor belt 51, which can enable the flexible material output from the discharge end of the first conveyor belt 31 to have a certain fold at the feed end of the second conveyor belt 51 under the action of gravity, thereby reducing the area occupied by the flexible material on the second conveyor belt 51, and thus facilitating the automatic collection assembly 60 to collect the flexible material.

[0063] Further, as Figures 4 to 6 shown, the first clamping assembly 10 includes a first support frame (not shown in the figure), a first moving mechanism 11 and a first jaw unit 12. The first support frame is fixedly arranged, the first moving mechanism 11 is arranged on the first support frame, and the first jaw unit 12 is arranged at the output end of the first moving mechanism 11. The first jaw unit 12 is used for clamping the flexible material; the second clamping assembly 20 includes a second support frame, a second moving mechanism 22 and a second jaw unit 23. The second support frame is fixedly arranged on the first frame, the second moving mechanism 22 is arranged on the second support frame, and the second jaw unit 23 is arranged at the output end of the second moving mechanism 22. The second jaw unit 23 is used for clamping the flexible material.

[0064] Specifically, in this embodiment, the first support frame is a common support structure in the prior art, which can ensure good stability of the first moving mechanism 11, and thus is beneficial to stably gripping the flexible material. The first moving mechanism 11 is a multi-axis robotic arm, which can drive the first jaw unit 12 to move in multiple directions and at multiple angles, so as to ensure a large gripping range of the first jaw unit 12, and thus ensure the versatility of the first gripping assembly 10. The second support frame is fixedly arranged on the first frame. The second support frame includes a support plate 21, and the support plate 21 is arranged parallel to the first conveyor belt 31, which can ensure the stability of the second jaw unit 23 when gripping the flexible material. The second moving mechanism 22 is arranged on the support plate 21, and the second jaw unit 23 is arranged on the second moving mechanism 22. The second moving mechanism 22 can drive the second jaw unit 23 to reciprocate along the extending direction of the first conveyor belt 31. When the second jaw unit 23 is located at a position close to the first jaw unit 12, the second jaw unit 23 that was originally in an open state switches to a closed state, and thus grips the flexible material on the first jaw unit 12. After that, the second moving mechanism 22 drives the second jaw unit 23 to move along the extending direction of the first conveyor belt 31 to a position away from the first jaw unit 12. At the same time, the flexible material is gradually placed on the first conveyor belt 31 under the drag of the second jaw unit 23. When the second jaw unit 23 is located at a position away from the first jaw unit 12, the second jaw unit 23 switches from the closed state to the open state, and the second jaw unit 23 releases the flexible material. Then, the second moving mechanism 22 drives the second jaw unit 23 to return to a position close to the first jaw unit 12 for the next gripping, so as to ensure the continuity of the feeding of the flexible material.

[0065] Specifically, in this embodiment, the second moving mechanism 22 is a slide rail 221 - slider 222 structure in the prior art. The slide rail 221 is arranged on the support plate 21, and the slider 222 slides along the slide rail 221. The second jaw unit 23 is installed on the slider 222.

[0066] Specifically, in this embodiment, please refer to Figure 4, the structures of the first jaw unit 12 and the second jaw unit 23 are the same, and both include a fixing plate 121, a first driving motor 122, two gripping members 123 and a linkage mechanism. The linkage mechanism includes a first link 124, a second link 125, a third link 126 and a fourth link 127. The first driving motor 122 is fixedly arranged on the fixing plate 121, and the output shaft of the driving motor is fixedly connected to the first end of the first link 124. The first end of the second link 125 is hinged to the second end of the first link 124. The second end of the second link 125, the first end of the third link 126 and the first end of the fourth link 127 are hinged together, and the hinge shaft is slidably arranged on the fixing plate 121. The second end of the third link 126 is connected to one of the gripping members 123, and the second end of the fourth link 127 is connected to the other gripping member 123.

[0067] To avoid unstable gripping of the flexible material by the first jaw unit 12 and the second jaw unit 23, please refer to Figure 5 , the first jaw unit 12 and the second jaw unit 23 in this embodiment further include a clamping mechanism. The clamping mechanism includes a second driving motor 131, a first gear 132, a second gear 133, a third gear 134 and two conveyor belts 135. The two conveyor belts 135 are respectively arranged on the two gripping members 123 and are oppositely arranged. The second gear 133 is fixedly connected to the rotating shaft of one of the conveyor belts 135, and the third gear 134 is fixedly connected to the rotating shaft of the other conveyor belt 135, and the second gear 133 and the third gear 134 are meshed. The first gear 132 is meshed with one of the second gear 133 and the third gear 134. The first gear 132 is fixedly arranged on the output shaft of the second driving motor 131. When the first jaw unit 12 and the second jaw unit 23 grip the flexible material, the second driving motor 131 rotates, driving the first gear 132 to rotate. The first gear 132 drives one of the second gear 133 and the third gear 134 to rotate, so that the rotation directions of the second gear 133 and the third gear 134 are opposite, and further the transmission directions of the two conveyor belts 135 are opposite. By adjusting the rotation direction of the second driving motor 131, the gripping area of the flexible material clamped between the two gripping members 123 can be gradually increased, thereby effectively avoiding the shedding of the flexible material.

[0068] In another embodiment, the first jaw unit 12 and the second jaw unit 23 can adopt any kind of jaw in the prior art, which is not limited herein.

[0069] Furthermore, as Figures 8 to 10As shown, the automatic collection component 60 includes a collection structure group 61 and a moving structure group. There are two sets of both the collection structure group 61 and the moving structure group. Each collection structure group 61 includes a plurality of collection structures 61, and each moving structure group includes a plurality of moving structures. The two collection structure groups 61 are respectively arranged on both sides of the second conveyor belt 51, and the two collection structure groups 61 are arranged in a staggered manner along the transmission direction of the second transmission component. The two moving structure groups are respectively arranged on both sides of the second conveyor belt 51, and the two moving structure groups are arranged in a staggered manner along the transmission direction of the second transmission component. The multiple collection structures 61 and the multiple moving structures on the same side of the second conveyor belt 51 are arranged in a crossed manner, and the multiple moving structures on one side of the second conveyor belt 51 are arranged in one-to-one correspondence with the multiple collection structures 61 on the other side of the second conveyor belt 51, so that the moving structures on one side of the second conveyor belt 51 can collect the flexible materials on the second conveyor belt 51 into the corresponding collection structures 61 on the other side of the second conveyor belt 51.

[0070] Specifically, in this embodiment, please refer to Figure 8 , the two collection structure groups 61 are respectively arranged on both sides of the second conveyor belt 51. Each collection structure group 61 includes three collection structures 61, and each moving structure group includes three moving structures. The three collection structures 61 on one side of the second conveyor belt 51 and the three collection structures 61 on the other side of the second conveyor belt 51 are arranged in a staggered manner. The two moving structure groups are respectively arranged on both sides of the second conveyor belt 51. Each moving structure group includes three moving structures. The three moving structures on one side of the second conveyor belt 51 and the three moving structures on the other side of the second conveyor belt 51 are arranged in a staggered manner, and the three collection structures 61 and the three moving structures on the same side of the second conveyor belt 51 are arranged in a crossed manner. The three moving structures on one side of the second conveyor belt 51 are arranged in one-to-one correspondence with the three collection structures 61 on the other side of the second conveyor belt 51, so that the moving structures on one side of the second conveyor belt 51 can collect the flexible materials on the second conveyor belt 51 into the corresponding collection structures 61 on the other side of the second conveyor belt 51. This setting method can effectively improve the space utilization rate on both sides of the second conveyor belt 51, arrange as many collection structures 61 and moving structures as possible in a limited space, meet the classification needs of various flexible materials, and meet the use requirements.

[0071] Specifically, in this embodiment, the collection structure 61 further includes a limiting member 63. The limiting member 63 is arranged on the second rack and is used to guide the flexible material. The limiting member 63 is specifically in a C shape, the opening of the C shape faces the corresponding moving structure, and the support frame 611 is located in the concave part of the C shape, which can effectively prevent the flexible material from entering the collection bag 612 of the adjacent collection structure 61.

[0072] Furthermore, as shown in Figure 9As shown in the figure, the collection structure 61 includes a support frame 611 and a collection bag 612. The collection bag 612 is detachably connected to the support frame 611, and the support frame 611 is connected to the second rack. The moving structure includes a gas device and a jetting member 621. The jetting member 621 is disposed opposite to the collection structure 61. The gas device is used to supply gas to the jetting member 621, and the jetting member 621 is used to jet gas to blow the flexible material located on the second conveyor belt 51 into the collection bag 612. Specifically, in this embodiment, the support frame 611 is connected to the second rack, and the second rack can ensure the stability of the support frame 611. The collection bag 612 is supported on the support frame 611 and is convenient for disassembly. The gas device is used to supply gas to the jetting member 621. The jetting member 621 is provided with jet holes 6211. The data processing unit mentioned above is electrically connected to the gas device and can transmit the classification information of the flexible material to the gas device. When the classification attribute of the flexible material detected by the data processing unit is consistent with the collection structure 61 corresponding to the gas device, the gas device works to jet gas and blow the flexible material into the corresponding collection bag 612. In this embodiment, the jetting method is adopted to move the flexible material, which not only has a simple structure and saves energy, but more importantly, the jetting method has a fast response speed and a fast moving speed, which can effectively improve the sorting efficiency of the flexible material.

[0073] Specifically, in this embodiment, the collection bag 612 is sleeved on the support frame 611, and the clamping strip is clamped on the outer wall of the support frame 611, so as to detachably connect the collection bag 612 to the support frame 611. The structure is simple, the disassembly and assembly are convenient, and the opening of the collection bag 612 will not be blocked.

[0074] Specifically, in this embodiment, the gas device includes a gas supply structure and a trachea. The two ends of the trachea are respectively communicated with the gas supply structure and the jetting member 621. The trachea is provided with a solenoid valve. The data processing unit can output an instruction to the solenoid valve to control the opening of the solenoid valve, so as to supply gas to the jetting member 621.

[0075] Further, please refer to Figure 1 and Figure 10 , the automatic collection assembly 60 further includes a material changing mechanism. The material changing mechanism includes a guide rail, a driving member and a moving block. The guide rail is installed on the second rack. The moving block 76 is slidably disposed on the guide rail. The support frame 611 is carried on the moving block 76, and the moving block 76 can move along the guide rail under the drive of the driving member.

[0076] Specifically, in this embodiment, the guide rail is the first guide rail 71, which is installed on the second rack and extends along the horizontal direction. The driving member is the first driving member 72. There are two moving blocks 76. The support frame 611 is carried between the two moving blocks 76. The first driving member 72 is used to drive the two moving blocks 76 to move simultaneously along the first guide rail 71, so as to move the collection bag 612 on the first guide rail 71. The automatic collection assembly 60 further includes a second material changing mechanism, which includes a second guide rail 73, a second driving member 74 and a switching seat. The second guide rail 73 is arranged at an interval from the first guide rail 71 and extends along the vertical direction. The switching seat is slidably arranged on the second guide rail 73. When the collection structure 61 carried on the moving block 76 moves to the end of the first guide rail 71, the switching seat is located at the bottom of the support frame 611. When the second driving member 74 drives the switching seat to slide along the second guide rail 73, the switching seat synchronously drives the collection structure 61 to move along the second guide rail 73, so as to move the collection bag 612 on the second guide rail 73. In actual use, the flexible material warehouse can extend a third guide rail 75, and a claw is arranged on the third guide rail 75. When the second driving member 74 drives the switching seat to slide to the end of the second guide rail 73 along the second guide rail 73, the claw can be clamped with the support frame 611. Correspondingly, a third driving member is arranged on the third guide rail 75, and the third driving member can drive the claw to move along the third guide rail 75, so as to move the collection bag 612 between the flexible material warehouse and the second guide rail 73, and complete the automatic recycling and arrangement of the collection bag 612.

[0077] Specifically, the above specific method is a commonly used suspension conveyor line in the prior art, and will not be elaborated here.

[0078] Further, please refer to Figure 1 , the sorting system further includes a receiving structure 80, which is arranged at the discharge end of the second transmission assembly for receiving the flexible materials that fail the detection. Specifically, in this embodiment, after being detected by the vision detection assembly 40, those that cannot be classified are received by the receiving structure 80, and then used as updated samples for subsequent recognition data, so that the recognition accuracy is higher.

[0079] As Figure 11 shown, in this embodiment, a sorting method is also provided. The sorting method is applicable to the sorting system as described above, and the sorting method includes the following steps.

[0080] S10. The first clamping assembly 10 clamps the flexible material.

[0081] Specifically, in this embodiment, when the first clamping component 10 clamps the flexible material, first, the first moving mechanism 11 drives the first jaw unit 12 in the open state to move to the position of the flexible material. The first driving motor 122 drives the two clamping members 123 to approach each other, so that the first jaw unit 12 is in the closed state, and then clamps the flexible material. Then, the first moving mechanism 11 drives the first jaw unit 12 in the closed state to reach the preset position.

[0082] S20. The second clamping component 20 clamps the flexible material from the first clamping component 10 and places the flexible material on the first conveying component.

[0083] Specifically, in this embodiment, the second moving mechanism 22 drives the second jaw unit 23 in the open state to move to the corresponding position of the preset position where the first jaw unit 12 clamping the flexible material is located (the same position as the position close to the first jaw unit 12 mentioned above). The first driving motor 122 drives the two clamping members 123 to approach each other, so that the second jaw unit 23 is in the closed state to clamp the flexible material on the first jaw unit 12. Then, the first driving motor 122 drives the two clamping members 123 of the first jaw unit 12 to move away from each other, so that the first jaw unit 12 is in the open state, and the first jaw unit 12 releases the flexible material. Then, the second moving mechanism 22 drives the second jaw unit 23 and the flexible material it clamps to move along the support plate 21 in a direction away from the first jaw unit 12, and then drives the flexible material to be laid on the top of the first conveyor belt 31.

[0084] S30. During the process of the first conveying component conveying the flexible material to the discharge port of the first conveying component, the vision detection component 40 performs vision detection on the flexible material passing below the vision detection component 40.

[0085] Specifically, in this embodiment, the first conveyor belt 31 rotates to drive the flexible material to gradually move from the feed end of the first conveyor belt 31 to the discharge end of the first conveyor belt 31. When the flexible material passes below the vision detection component 40, the CCD industrial camera takes a picture of the flexible material and transmits the picture to the data processing unit. The data processing unit compares the picture with the pictures in the database of the flexible material stored in the storage unit, and then obtains the classification information of the flexible material corresponding to the picture, and transmits the classification information to the automatic collection component 60.

[0086] S40. The feed end of the second conveying component receives and conveys the flexible material, and the automatic collection component 60 stores the flexible material.

[0087] Specifically, in this embodiment, the discharge end of the first conveyor belt 31 is located at the top of the feed end of the second conveyor belt 51. The flexible material output by the first conveyor belt 31 will stack on the second conveyor belt 51 due to the action of gravity. The second conveyor belt 51 rotates to drive the flexible material to move. The data processing unit can transmit the classification information of the flexible parts to the solenoid valves of the corresponding gas devices. When the solenoid valves are opened, the gas ejected by the jet parts 621 can blow the flexible material into the corresponding collection bags 612, completing the sorting of the flexible material.

[0088] Specifically, after enough flexible material is collected in the corresponding collection bag 612, the first driving part 72 drives the collection bag 612 to slide along the first guide rail 71. After sliding to the end of the first guide rail 71, the second driving part 74 can drive the collection bag 612 to move along the second guide rail 73 to convey the collection bag 612 to the third guide rail 75. The third driving part can drive the collection bag 612 to move along the third guide rail 75 to the flexible material warehouse for storage. Similarly, the flexible material warehouse can successively provide new collection bags 612 to the sorting system through the third guide rail 75, the second guide rail 73, and the first guide rail 71 for the next collection, ensuring the automatic sorting of the flexible material.

[0089] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments, and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A sorting system, characterized in that: The sorting system comprises: A first clamping component (10), the first clamping component (10) is used to clamp the flexible material; a second clamping assembly (20), the second clamping assembly (20) being arranged downstream of the first clamping assembly (10), the second clamping assembly (20) being used for clamping the flexible material clamped by the first clamping assembly (10); A first transmission component, wherein the second gripping component (20) is movably arranged on the transmission component and is used to place the clamped flexible material on the first transmission component, and the first transmission component is used to transport the flexible material; A visual inspection component (40), the visual inspection component (40) being arranged on the first transmission component, and the visual inspection component (40) being used for visually inspecting the flexible material transported by the first transmission component; A second transmission component, the second transmission component is disposed downstream of the first transmission component and is used to receive the flexible material transmitted by the first transmission component; An automatic collecting component (60) is arranged on both sides of the second transmission component and is used to collect the flexible material on the second transmission component.

2. The sorting system according to claim 1, characterized in that: The first transmission component comprises a first frame and a first conveyor belt (31), wherein the first conveyor belt (31) is arranged on the first frame, and the first conveyor belt (31) is used to transport the flexible material, and the second clamping component (20) is arranged on the first frame.

3. The sorting system according to claim 2, characterized in that: The visual detection component (40) comprises a detection bracket (41), a visual detection unit (42) and an illumination structure (43); the detection bracket (41) is arranged on the first frame; the visual detection unit (42) and the illumination structure (43) are both arranged on the top of the detection bracket (41); and the visual detection unit (42) and the illumination structure (43) are both arranged toward the first conveyor belt (31).

4. The sorting system according to claim 2, characterized in that: The first conveyor belt (31) is arranged at an angle, and the second transmission component comprises a second frame and a second conveyor belt (51), the second conveyor belt (51) is arranged horizontally, and the discharge end of the first conveyor belt (31) is located directly above the feed end of the second conveyor belt (51).

5. The sorting system according to claim 2, characterized in that: The first clamping assembly (10) comprises a first support frame, a first moving mechanism (11) and a first clamping jaw unit (12); the first support frame is fixedly arranged, the first moving mechanism (11) is arranged on the first support frame, the first clamping jaw unit (12) is arranged at the output end of the first moving mechanism (11), and the first clamping jaw unit (12) is used to clamp the flexible material; the second clamping assembly (20) comprises a second support frame, a second moving mechanism (22) and a second clamping jaw unit (23); the second support frame is fixedly arranged on the first frame, the second moving mechanism (22) is arranged on the second support frame, the second clamping jaw unit (23) is arranged at the output end of the second moving mechanism (22), and the second clamping jaw unit (23) is used to clamp the flexible material.

6. The sorting system according to claim 4, characterized in that: The automatic collection component (60) comprises a collection structure (61) group and a moving structure group. Two of the collection structure (61) groups and two of the moving structure groups are provided. Each of the collection structure (61) groups comprises a plurality of collection structures (61). Each of the moving structure groups comprises a plurality of moving structures. The two collection structure (61) groups are respectively arranged on both sides of the second conveyor belt (51). The two collection structure (61) groups are staggered along the transmission direction of the second transmission component. The two moving structure groups are respectively arranged on both sides of the second conveyor belt (51). The two moving structure groups are staggered along the transmission direction of the second transmission component. The second transmission component is staggered in the transmission direction, and the multiple collecting structures (61) and the multiple moving structures located on the same side of the second conveyor belt (51) are cross-arranged, and the multiple moving structures located on one side of the second conveyor belt (51) are arranged one-to-one with the multiple collecting structures (61) located on the other side of the second conveyor belt (51), so that the moving structure located on one side of the second conveyor belt (51) can collect the flexible material located on the second conveyor belt (51) into the corresponding collecting structure (61) located on the other side of the second conveyor belt (51).

7. The sorting system according to claim 6, characterized in that: The collecting structure (61) comprises a supporting frame (611) and a collecting bag (612), wherein the collecting bag (612) and the supporting frame (611) are detachably connected, and the supporting frame (611) is connected to the second frame; the moving structure comprises a gas device and a jet component (621), wherein the jet component (621) and the collecting structure (61) are arranged opposite to each other, wherein the gas device is used to provide gas to the jet component (621), and the jet component (621) is used to jet so as to blow the flexible material on the second conveyor belt (51) into the collecting bag (612).

8. The sorting system according to claim 7, characterized in that: The automatic collection component (60) also includes a material changing mechanism, which includes a guide rail, a driving member and a moving block (76), wherein the guide rail is installed on the second frame, the moving block (76) is slidably arranged on the guide rail, the support frame (611) is carried by the moving block (76), and the moving block (76) can move along the guide rail under the drive of the driving member.

9. The sorting system according to any one of claims 1 to 8, characterized in that: The sorting system further comprises a receiving structure (80), which is arranged at the discharge end of the second transmission component and is used to receive the flexible material that has failed the inspection.

10. A sorting method, characterized in that: The sorting method is applicable to the sorting system according to any one of claims 1 to 9, and the sorting method comprises the following steps: S10, the first clamping component (10) clamps the flexible material; S20, the second clamping component (20) clamps the flexible material from the first clamping component (10), and places the flexible material on the first transmission component; S30, during the process of the first transmission component transporting the flexible material to the discharge port of the first transmission component, the visual inspection component (40) performs visual inspection on the flexible material passing under the visual inspection component (40); S40, the feeding end of the second transmission component receives and transports the flexible material, and the automatic collection component (60) collects the flexible material.

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