Drill bit box sorting method and drill bit box sorting device

Abstract

The invention relates to a drill bit box sorting method and a drill bit box sorting device. The method comprises the steps that according to the arrangement number of drill bits of a material box, the conveying speed of a sorting mechanical arm and the number of clamping jaws, a sorting threshold value is obtained, and the required drill bit model and the required drill bit number of a sorting task are obtained; under the conditions that the number of the required drill bits is not smaller than a sorting threshold value, target material boxes with the same model as the required drill bits exist in the cache material boxes, and the model of the incoming drill bits of the to-be-sorted material boxes is the same as the model of the required drill bits, the number of the cache drill bits in the target material boxes and the number of the incoming drill bits in the to-be-sorted material boxes are obtained; and according to the number of the required drill bits, the number of the cached drill bits and the number of the incoming drill bits, a sorting manipulator is controlled to execute sorting operation corresponding to the sorting task. By adopting the method, the sorting efficiency can be improved.

Description

Technical Field

[0001] This application relates to the technical field of mechanical drilling, and particularly to a method and device for sorting drill bit boxes. Background Art

[0002] In the PCB mechanical drilling industry, the demand for drill bits can be divided into multiple specifications with small batches (for example, only 1-2 pieces of drill bits of multiple models are required per single axis), and few specifications with large batches (for example, a single specification of server PCB boards is almost used up to fill a box). Among them, the sorting of drill bit boxes is a key link affecting production efficiency.

[0003] In traditional methods, a needle dispensing machine is usually used to handle the box sorting task. However, the needle dispensing machine is mainly used for needle dispensing with multiple specifications and small batches. If it is used for sorting with a single specification and large batches, the needle dispensing work order cannot be completed in time due to excessive task volume. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a method and device for sorting drill bit boxes that can improve the sorting efficiency.

[0005] In a first aspect, this application provides a method for sorting drill bit boxes, including:

[0006] Obtaining a sorting threshold according to the number of drill bits arranged in the material box, the transportation speed of the sorting manipulator, and the number of grippers;

[0007] Obtaining a sorting task; the sorting task includes the required drill bit model and the required number of drill bits;

[0008] When the required number of drill bits is not less than the sorting threshold, there is a target material box in the buffer material box with the same model as the required drill bit model, and the model of the incoming drill bits in the material box to be sorted transmitted by the first transmission component is the same as the required drill bit model, obtaining the number of cached drill bits in the target material box and the number of incoming drill bits in the material box to be sorted;

[0009] Controlling the sorting manipulator to perform a sorting operation corresponding to the sorting task according to the required number of drill bits, the number of cached drill bits, and the number of incoming drill bits.

[0010] In one embodiment, the number of cached drill bits is not less than the required number of drill bits, and the number of incoming drill bits is less than the required number of drill bits; the step of controlling the sorting manipulator to perform a sorting operation corresponding to the sorting task according to the required number of drill bits, the number of cached drill bits, and the number of incoming drill bits includes:

[0011] Obtaining a first difference between the number of cached drill bits and the required number of drill bits;

[0012] Controlling the sorting manipulator to pull out a first drill bit corresponding to the first difference from the target material box;

[0013] Control the sorting manipulator to grasp and pull out the target cartridge after the first drill bit is removed, and place the target cartridge after the first drill bit is removed on the discharging mechanism;

[0014] Control the sorting manipulator to grasp the spare cartridge transported by the second transmission component, place the spare cartridge on the buffer component, and insert the first drill bit into the spare cartridge.

[0015] In one embodiment, the number of cached drill bits is less than the number of required drill bits, and the number of incoming drill bits is not less than the number of required drill bits; according to the number of required drill bits, the number of cached drill bits, and the number of incoming drill bits, the steps of controlling the sorting manipulator to perform the sorting operations corresponding to the sorting task include:

[0016] Obtain a second difference between the number of incoming drill bits and the number of required drill bits;

[0017] Control the sorting manipulator to pull out a second drill bit corresponding to the second difference from the cartridge to be sorted, and insert the second drill bit into the target cartridge;

[0018] Control the sorting manipulator to grasp the cartridge to be sorted after the second drill bit is pulled out, and place the cartridge to be sorted after the second drill bit is pulled out on the discharging mechanism.

[0019] In one embodiment, the number of cached drill bits is less than the number of required drill bits, the number of incoming drill bits is less than the number of required drill bits, and the sum of the number of cached drill bits and the number of incoming drill bits is not less than the number of required drill bits; according to the number of required drill bits, the number of cached drill bits, and the number of incoming drill bits, the steps of controlling the sorting manipulator to perform the sorting operations corresponding to the sorting task include:

[0020] When the number of cached drill bits is not less than the number of incoming drill bits, obtain a third difference between the number of required drill bits and the number of cached drill bits;

[0021] Control the sorting manipulator to pull out a third drill bit corresponding to the third difference from the cartridge to be sorted, and insert the third drill bit into the target cartridge;

[0022] Control the sorting manipulator to grasp the target cartridge after the third drill bit is inserted, and place the target cartridge after the third drill bit is inserted on the discharging mechanism;

[0023] Control the sorting manipulator to grasp the cartridge to be sorted after the third drill bit is pulled out, and place the cartridge to be sorted after the third drill bit is pulled out on the buffer component;

[0024] When the number of cached drill bits is less than the number of incoming drill bits, obtain a fourth difference between the number of required drill bits and the number of incoming drill bits;

[0025] Control the sorting manipulator to pull out a fourth drill bit corresponding to the fourth difference from the target cartridge, and insert the fourth drill bit into the cartridge to be sorted;

[0026] Control the sorting manipulator to grasp and insert the sorting box to be sorted after the fourth drill bit, and place the sorting box to be sorted after inserting the fourth drill bit on the discharging mechanism.

[0027] In one embodiment, the method further includes:

[0028] In the case that there is no target box in the buffer box with the same drill bit model as the required drill bit, control the sorting manipulator to grasp the spare box transmitted by the second transmission component, and place the spare box on the buffer component, so as to use the spare box as the target box with the same drill bit model as the required drill bit.

[0029] In one embodiment, the method further includes:

[0030] In the case that the buffer component does not meet the buffer condition, control the sorting manipulator to grasp the return box with a drill bit model different from the required drill bit from the buffer box, and place the return box on the return mechanism.

[0031] In one embodiment, the method further includes:

[0032] In the case that the sorting box to be sorted transmitted by the first transmission component or the spare box transmitted by the second transmission component does not meet the recognition condition, control the sorting manipulator to grasp the sorting box to be sorted or the spare box, and place the sorting box to be sorted or the spare box on the abnormal handling mechanism.

[0033] In a second aspect, the present application further provides a drill bit box sorting device, including:

[0034] A transmission mechanism, including a first transmission component and a second transmission component, where the first transmission component is used to transmit the sorting box to be sorted, and the second transmission component is used to transmit the spare box;

[0035] A sorting mechanism, including a sorting manipulator and a buffer component, where the buffer component is used to carry the buffer box placed by the sorting manipulator;

[0036] Among them, the sorting manipulator is configured with a plurality of jaws, and the jaws are used to grasp the box corresponding to the sorting task during the sorting operation corresponding to the sorting task; the jaws are also used to pull out the corresponding drill bit from the box corresponding to the sorting task; the jaws are also used to insert the drill bit corresponding to the sorting task into the corresponding box.

[0037] In one embodiment, the device further includes:

[0038] A discharging mechanism, which is used to carry the sorted box; the sorting manipulator is also used to grasp the sorted box and place the sorted box on the discharging mechanism.

[0039] In one embodiment, the device further includes:

[0040] A return bin mechanism for transporting the return bins placed by the sorting manipulator.

[0041] An exception handling mechanism for transporting the exception bins placed by the sorting manipulator.

[0042] Among them, the sorting manipulator is also used to grab the return bins from the buffer bins and place the return bins on the return bin mechanism; the sorting manipulator is also used to grab the exception bins from the bins to be sorted and the spare bins and place the exception bins on the exception handling mechanism.

[0043] In a third aspect, the present application further provides a drill bit bin sorting device, including:

[0044] A threshold acquisition module for acquiring a sorting threshold according to the number of drill bit arrangements in the bin, the transportation speed of the sorting manipulator, and the number of grippers.

[0045] A task acquisition module for acquiring a sorting task; the sorting task includes the required drill bit model and the required number of drill bits.

[0046] A drill bit acquisition module for acquiring the number of cached drill bits in the target bin and the number of incoming drill bits in the bin to be sorted when the required number of drill bits is not less than the sorting threshold, there is a target bin with the same required drill bit model in the buffer bin, and the incoming drill bit model of the bin to be sorted transported by the first transmission component is the same as the required drill bit model.

[0047] A drill bit bin sorting module for controlling the sorting manipulator to perform the sorting operation corresponding to the sorting task according to the required number of drill bits, the number of cached drill bits, and the number of incoming drill bits.

[0048] In a fourth aspect, the present application further provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the method steps in any one of the second aspect are implemented.

[0049] In a fifth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method steps in any one of the second aspect are implemented.

[0050] In a sixth aspect, the present application further provides a computer program product, including a computer program. When the computer program is executed by a processor, the method steps in any one of the second aspect are implemented.

[0051] The above drill bit box sorting method and drill bit box sorting device, when the required number of drill bits in the sorting task is not less than the sorting threshold, control the sorting manipulator to perform the corresponding sorting operation according to the required number of drill bits, the number of cached drill bits in the buffer cartridge, and the number of incoming drill bits in the cartridge to be sorted, pull out or insert drill bits from the cartridge to be sorted, the spare cartridge, or the buffer cartridge carried by the buffer component, and grab the cartridge and place it on the buffer component, which can reduce the waiting time of a single cartridge, and can achieve accurate positioning and grasping of drill bits of different specifications, thereby improving the sorting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for the description in the embodiments of the present application or related technologies. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0053] Figure 1 It is a layout schematic diagram of a drill bit box sorting device in an embodiment;

[0054] Figure 2 It is a flowchart of a drill bit box sorting method in an embodiment;

[0055] Figure 3 It is a flowchart of a drill bit box sorting method in another embodiment;

[0056] Figure 4 It is a structural block diagram of a drill bit box sorting device in an embodiment;

[0057] Figure 5 It is an internal structure diagram of a computer device in an embodiment.

[0058] DESCRIPTION OF THE REFERENCE NUMERALS:

[0059] 100 - Drill bit box sorting device; 110 - Transmission mechanism; 111 - First transmission component; 112 - Second transmission component; 113 - Return to warehouse mechanism; 114 - Abnormal handling mechanism; 120 - Sorting mechanism; 121 - Sorting manipulator; 122 - Buffer component; 130 - Discharge mechanism; 200 - Vertical warehouse. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0060] In order to make the purpose, technical solutions and advantages of the present application clearer, the following will further describe the present application in detail with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] In the description of the present application, it should be understood that if there are terms such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present application.

[0062] In addition, if there are terms such as "first" and "second", these terms are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if there is a term "plurality", the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0063] In the present application, unless otherwise clearly specified and limited, if there are terms such as "mounted", "connected", "coupled", "fixed", etc., these terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0064] In the present application, unless otherwise clearly specified and limited, if there is a description such as a first feature being "on" or "under" a second feature, the meaning may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0065] When a multi-axis drill is operating, there are a large number of drill bit specifications with relatively high usage. Depending on different board and drill bit management requirements, the usage will vary. For example, in server PCB boards, there will be a large number of single specifications with the usage approaching a full box. Drill bits are stored in full boxes, and before being loaded onto the drill, a certain number of drill bits will be pulled out from the full box until the remaining quantity exactly meets the single-axis usage. This process is called drill bit box sorting. Currently, in the PCB mechanical drilling industry, automatic drill bit box sorting has not been achieved, and drill bit box sorting mainly relies on highly skilled operators for manual sorting. Since the cutting edges and tips of drill bits are sharp, and most of the drill bits for box sorting are small drills, it is extremely easy to break the needles and cause injuries. Employees are very likely to have safety accidents during the sorting operation, and the safety risk is high. Moreover, there are a large number of drill bit specifications and a huge quantity in PCB factories. Manual sorting is prone to situations such as material mixing and incorrect drill bit quantities, and it also cannot meet the current automation requirements.

[0066] In PCB drilling, the needle allocation process has been automated. Different from box sorting, the needle allocation process is to allocate drill bits of multiple specifications into the cartridge of the same drill. In theory, the box sorting process can also be achieved by a needle allocator, but the needle allocator is for the situation of multiple specifications and small batches. If the needle allocator is used for box sorting, it will greatly occupy the running time of the needle allocator, resulting in a waste of efficiency. Currently, the efficiency of the needle allocator is usually 3,000 - 4,500 pieces per hour. According to the statistics of the PCB drilling industry, the ratio of the demand for multiple specifications and small batches to the demand for few specifications and large batches of drill bit usage is 3:7. Assuming the daily drill bit usage is 100,000, if all drill bits are allocated by the needle allocator, at least one needle allocator needs to run for 22 hours to complete the task, and at least two needle allocators need 11 hours to complete the task. The demand for few specifications and large batches can be achieved through box sorting. If there is an automatic box sorter, since the box sorter only processes one specification at a time, and its working essence is to pull out a small part of the needles and leave most of the needles as finished products, its efficiency can reach 8,000 pieces per hour. Among the 100,000 pieces of usage, 30,000 pieces can be completed by the needle allocator in 7 - 10 hours, and the remaining 70,000 pieces can be completed by the sorter in 9 hours. The working hours are less than the situation of using two needle allocators. Moreover, compared with the needle allocator, the sorter has a simpler function and a much lower cost than the needle allocator.

[0067] Based on this, the embodiments of the present application provide a drill bit box sorting method and a drill bit box sorting device. By obtaining the critical value of the automatic box sorting requirement, the needle allocator is used to sort the demand for multiple specifications and small batches, and the sorter is used to sort the demand for few specifications and large batches, and they are run simultaneously to achieve comprehensive and efficient needle allocation.

[0068] In an exemplary embodiment, as Figure 1As shown in the figure, a drill bit box sorting device 100 is provided, including: a transmission mechanism 110 and a sorting mechanism 120. Among them, the transmission mechanism 110 includes a first transmission component 111 and a second transmission component 112. The first transmission component 111 is used to transmit the material boxes to be sorted, and the second transmission component 112 is used to transmit spare material boxes; the sorting mechanism 120 includes a sorting manipulator 121 and a buffer component 122. The buffer component 122 is used to carry the buffer material boxes placed by the sorting manipulator.

[0069] Among them, the sorting manipulator 121 is used to pull out the first drill bit from the material box carried by the buffer component 122, insert the first drill bit into the spare material box, grab the spare material box after inserting the first drill bit, use the spare material box after inserting the first drill bit as a buffer material box, and place it on the buffer component 122; the sorting manipulator 121 is also used to pull out the second drill bit from the material box to be sorted and insert the second drill bit into the material box carried by the buffer component 122; the sorting manipulator 121 is also used to pull out the third drill bit from the material box to be sorted, insert the third drill bit into the material box carried by the buffer component 122, grab the material box to be sorted after pulling out the third drill bit, and place the material box to be sorted after pulling out the third drill bit on the buffer component 122; the sorting manipulator 121 is also used to pull out the fourth drill bit from the material box carried by the buffer component 122 and insert the fourth drill bit into the material box to be sorted.

[0070] Exemplarily, the buffer component 122 is a metal plate with a rectangular groove. The sorting manipulator 121 can grab the material box and place it in the groove of the buffer component 122. Among them, the sorting manipulator 121 can be composed of a robot with multiple grippers, including a drill bit gripper and a material box gripper. The drill bit gripper is used to pull out or insert the drill bit from the material box, and the material box gripper is used to grab or place the material box. In other embodiments, the drill bit grippers can be designed in an arrangement of multiple rows to increase the number of drill bits that can be grabbed simultaneously and improve the sorting efficiency.

[0071] Exemplarily, one end of the first transmission component 111 is docked with the vertical warehouse 200, and the other end is close to the sorting manipulator 121. The vertical warehouse 200 is used to provide the material boxes to be sorted to the first transmission component 111. The first transmission component 111 transmits the material boxes to be sorted to the end close to the sorting manipulator 121. Among them, the material boxes to be sorted are usually full. In other embodiments, a scanning component is provided at the end of the first transmission component 111 docked with the vertical warehouse 200. The scanning component can scan common information carriers such as RIFD chips, two-dimensional codes, and barcodes, and is used to obtain information about the material boxes to be sorted, including the drill bit model and the number of drill bits in the material boxes to be sorted, etc. In addition, a positioning component is provided at the end of the first transmission component 111 close to the sorting manipulator 121, which is used to position the position of the material box to be sorted so that the sorting manipulator 121 can grab the drill bit or the material box at the end position of the first transmission component 111.

[0072] Exemplarily, one end of the second transfer component 112 is docked to the vertical storage 200, and the other end is close to the sorting manipulator 121. The vertical storage 200 is used to provide spare cartridges to the second transfer component 112. The second transfer component 112 transfers the spare cartridges to the end close to the sorting manipulator 121. Among them, the spare cartridges are usually empty cartridges. In other embodiments, similar to the first transfer component 111, a code scanning component is provided at the end of the second transfer component 112 that is docked to the vertical storage 200 for obtaining information of the spare cartridges, and a positioning component is provided at the end close to the sorting manipulator 121 for positioning the position of the spare cartridges. In other embodiments, the positioning component can be implemented by a cylinder with an adaptive spring gripper. The adaptive spring gripper can adapt to the sizes of different cartridges to ensure accurate positioning of the cartridges in the first transfer component 111 and the second transfer component 112.

[0073] In this embodiment, the sorting manipulator pulls out or inserts a drill bit from the cartridges to be sorted transferred by the first transfer component, the spare cartridges transferred by the second transfer component, and the buffer cartridges, and grabs the cartridges and places them on the buffer component. The buffer component bears the cartridges, reducing the waiting time of a single cartridge. By using the sorting manipulator to grab or insert the drill bit, accurate positioning and grabbing of drill bits of different specifications are achieved, thereby improving the sorting efficiency.

[0074] In an exemplary embodiment, still as Figure 1 shown, the drill bit cartridge sorting device 100 further includes: a discharging mechanism 130. Among them, the discharging mechanism 130 is used to bear the sorted cartridges; the sorting manipulator 121 is further used to grab the sorted cartridges and place the sorted cartridges on the discharging mechanism 130.

[0075] Exemplarily, the discharging mechanism 130 can be docked to the downstream process so that the sorted cartridges can quickly enter the next process. Among them, the sorted cartridges are usually those after the cartridges borne by the buffer component 122 are sorted, or those after the cartridges to be sorted transferred by the first transfer component 111 are sorted. In other embodiments, the discharging mechanism 130 can be set to a structure similar to that of the buffer component 122 to bear the sorted cartridges.

[0076] In this embodiment, by using the sorting mechanism to bear the sorted cartridges, the accumulation of the sorted cartridges in the buffer component or the first transfer component is avoided, the waiting time of the next cartridge is reduced, and thus the sorting efficiency is improved.

[0077] In an exemplary embodiment, still as Figure 1 shown, the transfer mechanism 110 further includes: a return-to-warehouse mechanism 113 and an exception handling mechanism 114. Among them, the return-to-warehouse mechanism 113 is used to transfer the return-to-warehouse cartridges placed by the sorting manipulator 121; the exception handling mechanism 114 is used to transfer the exception cartridges placed by the sorting manipulator 121.

[0078] Among them, the sorting manipulator 121 is further configured to grab the returned material box from the material box carried by the buffer component 122 and place the returned material box on the return mechanism 113; the sorting manipulator 121 is further configured to grab the abnormal material box from the material box to be sorted and the spare material box and place the abnormal material box on the abnormal handling mechanism 114.

[0079] Exemplarily, one end of the return mechanism 113 is docked with the vertical library 200, and the other end is close to the sorting manipulator 121, and is configured to transport the returned material box placed by the sorting manipulator 121 back to the vertical library 200. Among them, the returned material box is usually the redundant material box carried by the buffer component 122. One end of the abnormal handling mechanism 114 is close to the sorting manipulator 121 and is configured to cache the abnormal material box placed by the sorting manipulator 121. Among them, the abnormal material box is usually the material box with abnormal identification in the first transfer component 111 and the second transfer component 112.

[0080] In other embodiments, the first transfer component 111, the second transfer component 112, the return mechanism 113, and the abnormal handling mechanism 114 can adopt the belt line or the rail transportation method to transport the material box.

[0081] In this embodiment, the sorting manipulator grabs the returned material box and the abnormal material box, and transports them through the return mechanism and the abnormal handling mechanism respectively, and transports the remaining material box and the abnormality in the sorting process back to the library, reducing the waiting time of the next material box, thereby improving the sorting efficiency.

[0082] In an exemplary embodiment, as Figure 2 shown, a drill bit box sorting method is provided. Taking the drill bit box sorting device 100 applied to Figure 1 as an example, the method includes the following steps 202 to step 208. Among them:

[0083] S202: Obtain a sorting threshold according to the number of drill bit arrangements in the material box, the transportation speed of the sorting manipulator, and the number of jaws.

[0084] Optionally, the number of drill bit arrangements is the number of drill bits when the material box is a full material box. The transportation speed of the sorting manipulator refers to the speed at which the sorting manipulator transports the material box. The number of jaws of the sorting manipulator refers to the number of jaws used for inserting and removing drill bits. Since the automatic box sorting machine pulls out a certain number of drill bits from the material box, and the remaining drill bits are the sorted finished products, the fewer the number of drill bits pulled out by the automatic sorting machine per box of drill bits, the more sorted finished products per hour, and the higher the sorting efficiency. Therefore, by setting the sorting threshold, when the number of drill bits required by the task is lower than the sorting threshold, the needle dispensing machine is used to distribute the required drill bits into the material box, and when the number of drill bits required by the task is not lower than the sorting threshold, the sorting manipulator is used to insert and remove drill bits to achieve efficient automatic box sorting to obtain higher comprehensive needle dispensing efficiency.

[0085] Exemplarily, assume that the transportation speed of the sorting manipulator is t1 seconds per time, the speed of inserting and removing the drill bit is t2 seconds per time, and the number of grippers is x (at most x drill bits can be inserted and removed at a time). Assume that the needle - matching efficiency of the needle - matching machine is E1 pieces per hour, and the sorting efficiency of the sorting manipulator is E2 pieces per hour. Then the sorting duration of a box of drill bits just at the sorting threshold specification is:

[0086]

[0087] where ceil is the ceiling function.

[0088] Then the minimum efficiency of the sorting manipulator is:

[0089]

[0090] It is necessary to ensure that the efficiency of the sorting machine is always greater than or equal to the efficiency of the needle - matching machine, that is, E2≥E1. Then the range of the sorting threshold n can be obtained, and the minimum value of this range is taken as the sorting threshold.

[0091] S204: Obtain a sorting task; the sorting task includes the required drill bit model and the required number of drill bits.

[0092] Optionally, the sorting task usually includes the required drill bit model and the required number of drill bits. Among them, the required drill bit model refers to the drill bit model of the finished product cartridge, and the required number of drill bits refers to the number of drill bits in the finished product cartridge. It should be noted that the required number of drill bits can usually be less than the number of drill bits in a full cartridge.

[0093] S206: When the required number of drill bits is not less than the sorting threshold, and there is a target cartridge in the buffer cartridge with the same drill bit model as the required drill bit model, and the incoming drill bit model of the cartridge to be sorted transmitted by the first transmission component is the same as the required drill bit model, obtain the number of cached drill bits in the target cartridge and the number of incoming drill bits in the cartridge to be sorted.

[0094] Optionally, when the required number of drill bits is not less than the sorting threshold, it means that the required number of drill bits in the finished product cartridge is large, belonging to the type of few specifications and large quantities. At this time, it is preferably sorted by the sorting manipulator. When there is a target cartridge in the buffer cartridge with the same drill bit model as the required drill bit model, it means that the current buffer component already carries a cartridge corresponding to the required drill bit model, that is, there are drill bits with the same required drill bit model. The sorting manipulator can directly obtain the finished product cartridge using the drill bits in the target cartridge. When the incoming drill bit model of the cartridge to be sorted transmitted by the first transmission component is the same as the required drill bit model, it means that the current cartridge to be sorted is consistent with the required drill bit model, and the drill bits can be directly sorted from the cartridge to be sorted.

[0095] S208: Control the sorting manipulator to perform the sorting operation corresponding to the sorting task according to the required number of drill bits, the number of cached drill bits, and the number of incoming drill bits.

[0096] Optionally, when controlling the sorting manipulator to perform the sorting operation corresponding to the sorting task, it is necessary to comprehensively consider the quantitative relationship among the required number of drill bits, the number of cached drill bits, and the number of incoming drill bits. For example, when the number of cached drill bits is greater than the required number of drill bits, only need to control the sorting manipulator to pull out a certain number of drill bits from the target cartridge, so that the number of cached drill bits in the target cartridge is the same as the required number of drill bits. At this time, the target cartridge is the finished product cartridge. And when the number of incoming drill bits is greater than the required number of drill bits, just pull out the drill bits from the cartridge to be sorted to obtain the finished product cartridge.

[0097] In the above drill bit cartridge sorting method, obtain the sorting threshold according to the number of drill bits arranged in the cartridge, the transportation speed of the sorting manipulator, and the number of grippers, obtain the sorting task. When the required number of drill bits is not less than the sorting threshold, and there is a target cartridge in the cache cartridge with the same drill bit model as the required drill bits, and the incoming drill bit model in the cartridge to be sorted is the same as the required drill bit model, obtain the number of cached drill bits in the target cartridge, and the number of incoming drill bits in the cartridge to be sorted. Control the sorting manipulator to perform the sorting operation corresponding to the sorting task according to the required number of drill bits, the number of cached drill bits, and the number of incoming drill bits, which can comprehensively consider the matching relationship between the cache quantity and the demand quantity, dynamically allocate the sorting source, and thus improve the sorting efficiency.

[0098] In an exemplary embodiment, the number of cached drill bits is not less than the required number of drill bits, and the number of incoming drill bits is less than the required number of drill bits; the steps of controlling the sorting manipulator to perform the sorting operation corresponding to the sorting task according to the required number of drill bits, the number of cached drill bits, and the number of incoming drill bits include: obtaining the first difference between the number of cached drill bits and the required number of drill bits; controlling the sorting manipulator to pull out the first drill bits corresponding to the first difference from the target cartridge; controlling the sorting manipulator to grasp the target cartridge after pulling out the first drill bits, and place the target cartridge after pulling out the first drill bits on the discharging mechanism; controlling the sorting manipulator to grasp the spare cartridge transmitted by the second transmission component, place the spare cartridge on the cache component, and insert the first drill bits into the spare cartridge.

[0099] Optionally, when the number of cached drills is not less than the number of required drills and the number of incoming drills is less than the number of required drills, it means that the cached drills in the target cartridge have met the requirements of the current sorting task, while the drills in the cartridge to be sorted do not meet the requirements of the current sorting task. Then, control the sorting manipulator to directly pull out the first difference number of drills (i.e., the first drill) from the target cartridge. The first transmission component will transport the spare cartridge, where the spare cartridge is empty. After that, control the sorting manipulator to put the pulled-out first drill into the spare cartridge. At this time, the spare cartridge with the first drill inserted will be used as the spare cartridge for the next sorting. Control the sorting manipulator to grab the spare cartridge after inserting the first drill and place the spare cartridge after inserting the first drill on the caching component, while the target cartridge from which the first drill is pulled out will be used as the finished product cartridge. Control the sorting manipulator to grab the target cartridge after pulling out the first drill and place the target cartridge after pulling out the first drill on the discharging mechanism.

[0100] Exemplarily, assume that the number of cached drills is 50, the number of required drills is 40, and the number of incoming drills is 30. Then, control the sorting manipulator to pull out 10 drills from the target cartridge and put them into the spare cartridge, grab the spare cartridge with 10 drills inserted and place it on the caching component to wait for the next sorting, and grab the target cartridge with the remaining 40 drills and place it on the discharging component. At this time, the number of drills in the cartridge to be sorted remains unchanged and continues to wait for the next sorting.

[0101] In this embodiment, when the number of cached drills is not less than the number of required drills and the number of incoming drills is less than the number of required drills, by controlling the sorting manipulator to directly pull out the first drill from the target cartridge, controlling the sorting manipulator to grab the target cartridge after pulling out the first drill and placing the target cartridge after pulling out the first drill on the discharging mechanism, controlling the sorting manipulator to grab the spare cartridge transported by the second transmission component and placing the spare cartridge on the caching component, and inserting the first drill into the spare cartridge, the caching cartridge can be effectively utilized, the time for waiting for the first transmission component to transport the cartridge to be sorted can be reduced, and thus the sorting efficiency can be improved.

[0102] In an exemplary embodiment, the number of cached drills is less than the number of required drills and the number of incoming drills is not less than the number of required drills; the steps of controlling the sorting manipulator to perform the sorting operation corresponding to the sorting task according to the number of required drills, the number of cached drills, and the number of incoming drills include: obtaining the second difference between the number of incoming drills and the number of required drills; controlling the sorting manipulator to pull out the second drill corresponding to the second difference from the cartridge to be sorted and insert the second drill into the target cartridge; controlling the sorting manipulator to grab the cartridge to be sorted after pulling out the second drill and placing the cartridge to be sorted after pulling out the second drill on the discharging mechanism.

[0103] Optionally, when the number of cached drills is less than the number of required drills, and the number of incoming drills is not less than the number of required drills, it means that the cached drills in the target cartridge do not meet the requirements of the current sorting task, while the drills in the cartridge to be sorted meet the requirements of the current sorting task. At this time, directly control the sorting manipulator to pull out the drills with the second difference (i.e., the second drill) from the cartridge to be sorted. Since the target cartridge matches the required drill model, control the sorting manipulator to insert the second drill into the target cartridge. The spare cartridge with the second drill inserted continues to be used as the spare cartridge for the next sorting, while the cartridge to be sorted from which the second drill is pulled out is used as the finished product cartridge. Control the sorting manipulator to grab the cartridge to be sorted after pulling out the second drill, and place the target cartridge after pulling out the second drill on the discharging mechanism.

[0104] Exemplarily, assume that the number of cached drills is 30, the number of required drills is 40, and the number of incoming drills is 50. Then control the sorting manipulator to pull out 10 drills from the cartridge to be sorted and put them into the target cartridge. The number of drills in the target cartridge becomes 40. Then control the sorting manipulator to grab the cartridge to be sorted with the remaining 40 drills and place it on the discharging assembly.

[0105] In this embodiment, when the number of cached drills is less than the number of required drills and the number of incoming drills is not less than the number of required drills, by controlling the sorting manipulator to directly pull out the second drill from the cartridge to be sorted, insert the second drill into the target cartridge, control the sorting manipulator to grab the cartridge to be sorted after pulling out the second drill, and place the cartridge to be sorted after pulling out the second drill on the discharging mechanism, it can quickly achieve the sorting of the cartridge to be sorted, and at the same time effectively utilize the cache cartridge to cache the redundant drills, improving the sorting efficiency.

[0106] In an exemplary embodiment, the number of cached drill bits is less than the number of required drill bits, the number of incoming drill bits is less than the number of required drill bits, and the sum of the number of cached drill bits and the number of incoming drill bits is not less than the number of required drill bits. The steps of controlling the sorting manipulator to perform the sorting operation corresponding to the sorting task according to the number of required drill bits, the number of cached drill bits, and the number of incoming drill bits include: when the number of cached drill bits is not less than the number of incoming drill bits, obtaining a third difference between the number of required drill bits and the number of cached drill bits; controlling the sorting manipulator to pull out a third drill bit corresponding to the third difference from the to-be-sorted cartridge, and insert the third drill bit into the target cartridge; controlling the sorting manipulator to grasp the target cartridge after inserting the third drill bit, and place the target cartridge after inserting the third drill bit on the discharging mechanism; controlling the sorting manipulator to grasp the to-be-sorted cartridge after pulling out the third drill bit, and place the to-be-sorted cartridge after pulling out the third drill bit on the caching component; when the number of cached drill bits is less than the number of incoming drill bits, obtaining a fourth difference between the number of required drill bits and the number of incoming drill bits; controlling the sorting manipulator to pull out a fourth drill bit corresponding to the fourth difference from the target cartridge, and insert the fourth drill bit into the to-be-sorted cartridge; controlling the sorting manipulator to grasp the to-be-sorted cartridge after inserting the fourth drill bit, and place the to-be-sorted cartridge after inserting the fourth drill bit on the discharging mechanism.

[0107] Optionally, when the number of cached drill bits is less than the number of required drill bits, the number of incoming drill bits is less than the number of required drill bits, and the sum of the number of cached drill bits and the number of incoming drill bits is not less than the number of required drill bits, it means that neither the single target cartridge nor the to-be-sorted cartridge can meet the requirements of the current sorting task, while the drill bits in the combined target cartridge and to-be-sorted cartridge can meet the requirements of the current sorting task. At this time, the sorting manipulator is controlled according to the number of drill bits in the target cartridge and the to-be-sorted cartridge.

[0108] Specifically, when the number of cached drill bits is greater than the number of incoming drill bits, it means that the number of drill bits to be pulled out from the target cartridge is more than the number of drill bits to be pulled out from the to-be-sorted cartridge. Therefore, control the sorting manipulator to pull out the drill bit corresponding to the third difference (i.e., the third drill bit) from the to-be-sorted cartridge, and insert the third drill bit into the target cartridge. The target cartridge continues to wait for the next sorting. Control the sorting manipulator to grasp the to-be-sorted cartridge after pulling out the third drill bit, and place it on the discharging mechanism as a finished product cartridge. On the contrary, when the number of cached drill bits is less than the number of incoming drill bits, control the sorting manipulator to pull out the fourth drill bit from the target cartridge and insert it into the spare cartridge transported by the second transmission component. The spare cartridge inserted with the fourth drill bit is placed on the caching component and waits for the next sorting, while the target cartridge after pulling out the fourth drill bit is placed on the discharging mechanism as a finished product cartridge. Among them, when the number of cached drill bits is equal to the number of incoming drill bits, drill bits can be pulled out from the to-be-sorted cartridge, drill bits can be pulled out from the target cartridge, and the remaining cartridge is the finished product cartridge.

[0109] In other embodiments, it is also possible that both the number of cached drill bits and the number of incoming drill bits are greater than the number of required drill bits. In this case, the drill bits are preferentially withdrawn from the corresponding cartridge with the smaller number among the number of cached drill bits and the number of incoming drill bits.

[0110] In this embodiment, when the number of cached drill bits is less than the number of required drill bits, the number of incoming drill bits is less than the number of required drill bits, and the sum of the number of cached drill bits and the number of incoming drill bits is not less than the number of required drill bits, the sorting manipulator is controlled to withdraw drill bits from the corresponding cartridge according to the quantity size of the cached drill bits and the incoming drill bits, so as to obtain the finished cartridge, which can effectively utilize the cached cartridge and reduce the waiting time for the first transmission component to transmit the cartridge to be sorted, thereby improving the sorting efficiency.

[0111] In an exemplary embodiment, the method further includes: in the case where there is no target cartridge in the cached cartridge that is the same as the required drill bit model, controlling the sorting manipulator to grab the spare cartridge transmitted by the second transmission component and place the spare cartridge on the caching component, so as to use the spare cartridge as the target cartridge that is the same as the required drill bit model.

[0112] Optionally, in the case where there is no target cartridge in the cached cartridge that is the same as the required drill bit model, at this time, it is impossible to obtain the required drill bits from the cached cartridge, nor can the drill bits withdrawn from the cartridge to be sorted be placed in the caching component. Therefore, the sorting manipulator is controlled to grab the spare cartridge transmitted by the second transmission component and place the spare cartridge on the caching component, so as to use the spare cartridge as the target cartridge that is the same as the required drill bit model. At this time, this cartridge can be used as the carrier for subsequent sorting operations to receive the corresponding model drill bits taken out from the cartridge to be sorted.

[0113] In this embodiment, by obtaining the spare cartridge from the second transmission component when there is no cartridge with a matching model in the caching component, the cached cartridge can be quickly replenished so as to cache the redundant drill bits during the subsequent sorting process, thereby improving the sorting efficiency.

[0114] In an exemplary embodiment, the method further includes: in the case where the caching component does not meet the caching condition, controlling the sorting manipulator to grab the return cartridge that is not the same as the required drill bit model from the cached cartridge and place the return cartridge on the return mechanism.

[0115] Optionally, when the caching component does not meet the caching condition, it means that the caching component cannot carry a new cartridge at this time. At this time, the sorting manipulator is controlled to grab the return cartridge that is not the same as the required drill bit model from the cached cartridge, that is, the cartridge that has nothing to do with the current sorting task, and place the return cartridge on the return mechanism so as to carry the newly placed cartridge in the caching component subsequently.

[0116] In this embodiment, when the buffer component does not meet the buffer condition, the sorting manipulator is controlled to grab the return bin that is different from the required drill bit model from the buffer bin and place the return bin on the return mechanism, which can avoid the situation where new bins cannot be stored in the buffer component due to the backlog of bins in the buffer area, thereby ensuring the smooth execution of the sorting operation process and improving the sorting efficiency.

[0117] In an exemplary embodiment, the method further includes: when the bin to be sorted transported by the first transport component or the spare bin transported by the second transport component does not meet the recognition condition, controlling the sorting manipulator to grab the bin to be sorted or the spare bin and place the bin to be sorted or the spare bin on the exception handling mechanism.

[0118] Optionally, when the bin to be sorted transported by the first transport component or the spare bin transported by the second transport component does not meet the recognition condition, it means that the first transport component or the second transport component cannot recognize the currently transported bin, and thus cannot sort the currently transported bin. At this time, the sorting manipulator is controlled to grab the bin to be sorted or the spare bin that does not meet the recognition condition and place the bin to be sorted or the spare bin on the exception handling mechanism.

[0119] In this embodiment, when the bin to be sorted transported by the first transport component or the spare bin transported by the second transport component does not meet the recognition condition, controlling the sorting manipulator to grab the bin to be sorted or the spare bin and place the bin to be sorted or the spare bin on the exception handling mechanism can avoid sorting exceptions caused by the inability to recognize by the sorting manipulator, ensure the smooth execution of the sorting operation process, and improve the sorting efficiency.

[0120] In an exemplary embodiment, as Figure 3 shown, a drill bit bin sorting method is provided, and the method includes the following steps:

[0121] (1) Obtain the sorting threshold: According to the number of drill bits arranged in the bin, the transportation speed of the sorting manipulator, and the number of grippers, obtain the sorting threshold.

[0122] (2) Obtain the sorting task: The sorting task includes the required drill bit model and the required number of drill bits.

[0123] (3) When the required number of drill bits is not less than the sorting threshold, obtain the number of cached drill bits in the target bin and the number of incoming drill bits in the bin to be sorted: When the required number of drill bits is not less than the sorting threshold, and there is a target bin in the buffer bin that is the same as the required drill bit model, and the incoming drill bit model of the bin to be sorted transported by the first transport component is the same as the required drill bit model, obtain the number of cached drill bits in the target bin and the number of incoming drill bits in the bin to be sorted.

[0124] (4)When the number of cached drills is not less than the required number of drills and the number of incoming drills is less than the required number of drills, perform the first sorting operation: When the number of cached drills is not less than the required number of drills and the number of incoming drills is less than the required number of drills, obtain the first difference between the number of cached drills and the required number of drills; control the sorting manipulator to pull out the first drill corresponding to the first difference from the target cartridge; control the sorting manipulator to grasp the target cartridge after pulling out the first drill, and place the target cartridge after pulling out the first drill on the discharging mechanism; control the sorting manipulator to grasp the spare cartridge transported by the second transfer component, place the spare cartridge on the caching component, and insert the first drill into the spare cartridge.

[0125] (5)When the number of cached drills is less than the required number of drills and the number of incoming drills is not less than the required number of drills, perform the second sorting operation: When the number of cached drills is less than the required number of drills and the number of incoming drills is not less than the required number of drills, obtain the second difference between the number of incoming drills and the required number of drills; control the sorting manipulator to pull out the second drill corresponding to the second difference from the cartridge to be sorted, and insert the second drill into the target cartridge; control the sorting manipulator to grasp the cartridge to be sorted after pulling out the second drill, and place the cartridge to be sorted after pulling out the second drill on the discharging mechanism.

[0126] (6)When the number of cached drills is less than the required number of drills, the number of incoming drills is less than the required number of drills, and the sum of the number of cached drills and the number of incoming drills is not less than the required number of drills, perform the third sorting operation: When the number of cached drills is less than the required number of drills, the number of incoming drills is less than the required number of drills, and the sum of the number of cached drills and the number of incoming drills is not less than the required number of drills, and when the number of cached drills is not less than the number of incoming drills, obtain the third difference between the required number of drills and the number of cached drills; control the sorting manipulator to pull out the third drill corresponding to the third difference from the cartridge to be sorted, and insert the third drill into the target cartridge; control the sorting manipulator to grasp the target cartridge after inserting the third drill, and place the target cartridge after inserting the third drill on the discharging mechanism; control the sorting manipulator to grasp the cartridge to be sorted after pulling out the third drill, and place the cartridge to be sorted after pulling out the third drill on the caching component; when the number of cached drills is less than the number of incoming drills, obtain the fourth difference between the required number of drills and the number of incoming drills; control the sorting manipulator to pull out the fourth drill corresponding to the fourth difference from the target cartridge, and insert the fourth drill into the cartridge to be sorted; control the sorting manipulator to grasp the cartridge to be sorted after inserting the fourth drill, and place the cartridge to be sorted after inserting the fourth drill on the discharging mechanism.

[0127] (7) When there is no target cartridge in the buffer cartridge that matches the required drill bit model, perform the first grasping operation: In the case where there is no target cartridge in the buffer cartridge that matches the required drill bit model, control the sorting manipulator to grasp the spare cartridge transported by the second transfer component and place the spare cartridge on the buffer component to use the spare cartridge as the target cartridge that matches the required drill bit model.

[0128] (8) When the buffer component does not meet the buffer condition, perform the second grasping operation: In the case where the buffer component does not meet the buffer condition, control the sorting manipulator to grasp the return-to-warehouse cartridge that does not match the required drill bit model from the buffer cartridge and place the return-to-warehouse cartridge on the return-to-warehouse mechanism.

[0129] (9) When the to-be-sorted cartridge transported by the first transfer component or the spare cartridge transported by the second transfer component does not meet the recognition condition, perform the third grasping operation: In the case where the to-be-sorted cartridge transported by the first transfer component or the spare cartridge transported by the second transfer component does not meet the recognition condition, control the sorting manipulator to grasp the to-be-sorted cartridge or the spare cartridge and place the to-be-sorted cartridge or the spare cartridge on the abnormal handling mechanism.

[0130] Exemplarily, assume that the number of drill bits in a full cartridge is 50, the needle-matching efficiency E1 = 3600 pieces / hour, the speed of the sorting manipulator for transporting cartridges is about 8 seconds / time, the speed of inserting and removing drill bits is about 6 seconds / time, and the number of gripper arms is designed to be 6. Then the sorting time for a box of drill bits that just reaches the sorting threshold specification is:

[0131]

[0132] The minimum efficiency of the sorting manipulator is:

[0133]

[0134] Among them, n≥32, then the sorting threshold is 32.

[0135] Assume that the current sorting task requires a total of 6 boxes of A-specification drill bits, with 40 pieces in each box. At this time, there is no drill bit of this specification in the buffer cartridge, so the vertical warehouse needs to provide 5 full boxes of A-specification (i.e., to-be-sorted cartridges), with 50 drill bits in each full box. The vertical warehouse also needs to provide 6 - 5 = 1 empty box (i.e., spare cartridge) to fill the situation where there is a shortage of 1 finished product box. Finally, the vertical warehouse also needs to provide (5×50 - 6×40) / 50 = 0.2 empty boxes (rounded up to 1) for caching the extra drill bits (i.e., buffer cartridge).

[0136] Specifically, during the sorting process of the first box, 10 pieces are taken out from the first full box of 50 pieces and put into the first empty material box, thus completing the first finished product and generating a buffer material box of 10 pieces. During the sorting process of the second box, 10 pieces are taken out from the second full box of 50 pieces and put into the buffer material box, thus completing the second finished product and generating a buffer material box of 20 pieces. During the sorting process of the third box, 10 pieces are taken out from the third full box of 50 pieces and put into the buffer material box, thus completing the third finished product and generating a buffer material box of 30 pieces. During the sorting process of the fourth box, 10 pieces are taken out from the fourth full box of 50 pieces and put into the buffer material box, thus completing the fourth finished product and generating a buffer material box of 40 pieces. During the sorting process of the fifth box, the 40 pieces in the buffer material box exactly meet the demand, so they are directly placed on the discharging mechanism, thus completing the fifth finished product. During the sorting process of the sixth box, 10 pieces are taken out from the fifth full box of 50 pieces and put into the second empty material box, thus completing the sixth finished product and generating a buffer material box of 10 pieces. At this time, the sorting task is completed.

[0137] In this embodiment, according to the number of drill bits arranged in the material box, the transportation speed of the sorting manipulator, and the number of grippers, the sorting threshold is obtained, and the sorting task is obtained. When the required number of drill bits is not less than the sorting threshold, there is a target material box in the buffer material box with the same drill bit model as the required drill bit, and the incoming drill bit model in the material box to be sorted is the same as the required drill bit model, the number of buffer drill bits in the target material box and the number of incoming drill bits in the material box to be sorted are obtained. According to the required number of drill bits, the number of buffer drill bits, and the number of incoming drill bits, the sorting manipulator is controlled to perform the sorting operation corresponding to the sorting task, which can comprehensively consider the matching relationship between the buffer quantity and the demand quantity, dynamically allocate the sorting source, and thus improve the sorting efficiency.

[0138] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, these steps do not necessarily have to be executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages do not necessarily have to be executed at the same time, but can be executed at different times. The execution order of these steps or stages does not necessarily have to be sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0139] Based on the same inventive concept, an embodiment of the present application further provides a drill bit cartridge sorting device for implementing the drill bit cartridge sorting method involved above. The solution provided by this device for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the drill bit cartridge sorting device provided below can refer to the limitations on the drill bit cartridge sorting method in the above text, and will not be repeated here.

[0140] In an exemplary embodiment, as Figure 4 shown, a drill bit cartridge sorting device is provided, including: a threshold acquisition module 10, a task acquisition module 20, a drill bit acquisition module 30, and a drill bit cartridge sorting module 40, where:

[0141] The threshold acquisition module 10 is configured to acquire a sorting threshold according to the number of drill bits arranged in the cartridge, the transportation speed of the sorting manipulator, and the number of grippers.

[0142] The task acquisition module 20 is configured to acquire a sorting task; the sorting task includes the required drill bit model and the required number of drill bits.

[0143] The drill bit acquisition module 30 is configured to acquire the cached drill bit quantity in the target cartridge and the incoming drill bit quantity in the to-be-sorted cartridge transported by the first transmission component when the required number of drill bits is not less than the sorting threshold, there is a target cartridge with the same required drill bit model in the buffer cartridge, and the incoming drill bit model of the to-be-sorted cartridge transported by the first transmission component is the same as the required drill bit model.

[0144] The drill bit cartridge sorting module 40 is configured to control the sorting manipulator to perform the sorting operation corresponding to the sorting task according to the required number of drill bits, the cached drill bit quantity, and the incoming drill bit quantity.

[0145] In an exemplary embodiment, the cached drill bit quantity is not less than the required number of drill bits, and the incoming drill bit quantity is less than the required number of drill bits; the drill bit cartridge sorting module 40 is further configured to acquire a first difference between the cached drill bit quantity and the required number of drill bits; control the sorting manipulator to pull out a first drill bit corresponding to the first difference from the target cartridge; control the sorting manipulator to grasp the target cartridge after pulling out the first drill bit, place the target cartridge after pulling out the first drill bit on the discharging mechanism; control the sorting manipulator to grasp the spare cartridge transported by the second transmission component, place the spare cartridge on the buffer component, and insert the first drill bit into the spare cartridge.

[0146] In an exemplary embodiment, the number of cached drill bits is less than the number of required drill bits, and the number of incoming drill bits is not less than the number of required drill bits; the drill bit box sorting module 40 is further configured to obtain a second difference between the number of incoming drill bits and the number of required drill bits; control the sorting manipulator to pull out a second drill bit corresponding to the second difference from the to-be-sorted cartridge, and insert the second drill bit into the target cartridge; control the sorting manipulator to grasp the to-be-sorted cartridge after pulling out the second drill bit, and place the to-be-sorted cartridge after pulling out the second drill bit on the discharging mechanism.

[0147] In an exemplary embodiment, the number of cached drill bits is less than the number of required drill bits, the number of incoming drill bits is less than the number of required drill bits, and the sum of the number of cached drill bits and the number of incoming drill bits is not less than the number of required drill bits; the drill bit box sorting module 40 is further configured to, when the number of cached drill bits is not less than the number of incoming drill bits, obtain a third difference between the number of required drill bits and the number of cached drill bits; control the sorting manipulator to pull out a third drill bit corresponding to the third difference from the to-be-sorted cartridge, and insert the third drill bit into the target cartridge; control the sorting manipulator to grasp the target cartridge after inserting the third drill bit, and place the target cartridge after inserting the third drill bit on the discharging mechanism; control the sorting manipulator to grasp the to-be-sorted cartridge after pulling out the third drill bit, and place the to-be-sorted cartridge after pulling out the third drill bit on the caching assembly; when the number of cached drill bits is less than the number of incoming drill bits, obtain a fourth difference between the number of required drill bits and the number of incoming drill bits; control the sorting manipulator to pull out a fourth drill bit corresponding to the fourth difference from the target cartridge, and insert the fourth drill bit into the to-be-sorted cartridge; control the sorting manipulator to grasp the to-be-sorted cartridge after inserting the fourth drill bit, and place the to-be-sorted cartridge after inserting the fourth drill bit on the discharging mechanism.

[0148] In an exemplary embodiment, when there is no target cartridge in the caching cartridge that is the same as the required drill bit model, the drill bit box sorting module 40 is further configured to control the sorting manipulator to grasp the spare cartridge transmitted by the second transmission assembly, and place the spare cartridge on the caching assembly, so as to use the spare cartridge as the target cartridge that is the same as the required drill bit model.

[0149] In an exemplary embodiment, when the caching assembly does not meet the caching condition, the drill bit box sorting module 40 is further configured to control the sorting manipulator to grasp the return cartridge that is different from the required drill bit model from the caching cartridge, and place the return cartridge on the return mechanism.

[0150] In an exemplary embodiment, when the to-be-sorted cartridge transmitted by the first transmission assembly or the spare cartridge transmitted by the second transmission assembly does not meet the recognition condition, the drill bit box sorting module 40 is further configured to control the sorting manipulator to grasp the to-be-sorted cartridge or the spare cartridge, and place the to-be-sorted cartridge or the spare cartridge on the abnormal handling mechanism.

[0151] Each module in the above drill bit box sorting device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0152] In an exemplary embodiment, a computer device is provided. The computer device can be a terminal, and its internal structural diagram can be as Figure 5 shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used for exchanging information between the processor and external devices. The communication interface of the computer device is used for communicating with external terminals in a wired or wireless manner. The wireless manner can be achieved through WIFI, a mobile cellular network, near field communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a drill bit box sorting method. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0153] Those skilled in the art can understand that Figure 5 the structure shown in

[0154] is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0155] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0156] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0157] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned method embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned method embodiments. Among them, any reference to a memory, a database, or other media in the embodiments provided in the present application can include at least one of a non-volatile memory and a volatile memory. The non-volatile memory can include a read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include a random access memory (RAM) or an external cache memory, etc. By way of illustration and not limitation, the RAM can be in various forms, such as a static random access memory (SRAM) or a dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without limitation.

[0158] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope recorded in this application.

[0159] The above-described embodiments merely represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of this application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application shall be subject to the appended claims.

Claims

1. A drill bit box sorting method, characterized in that: Applied to a drill box sorting device, the drill box sorting device includes a sorting mechanism, the sorting mechanism includes a sorting manipulator and a cache component, and the cache component is used to carry a cache material box; the method includes: Obtain the sorting threshold according to the number of drill bits arranged in the material box, the transport speed of the sorting robot and the number of grippers; Obtaining a sorting task; the sorting task includes the required drill bit model and the required drill bit quantity; When the required drill bit quantity is not less than the sorting threshold, and there is a target material box with the same model as the required drill bit in the cache material box, and the incoming drill bit model of the material box to be sorted is the same as the required drill bit model, the number of cached drill bits in the target material box and the number of incoming drill bits in the material box to be sorted are obtained; According to the required number of drill bits, the cached number of drill bits and the incoming number of drill bits, the sorting robot is controlled to perform the sorting operation corresponding to the sorting task.

2. The method according to claim 1, characterized in that The drill bit box sorting device also includes a discharging mechanism; the number of cached drill bits is not less than the required number of drill bits, and the number of incoming drill bits is less than the required number of drill bits; according to the required number of drill bits, the number of cached drill bits and the number of incoming drill bits, controlling the sorting manipulator to perform the sorting operation corresponding to the sorting task includes: Obtaining a first difference between the cached drill bit quantity and the required drill bit quantity; Controlling the sorting robot to pull out the first drill bit corresponding to the first difference value from the target material box; Control the sorting robot to grab the target material box after the first drill bit is pulled out, and place the target material box after the first drill bit is pulled out on the discharging mechanism; The sorting robot is controlled to grab a spare material box, place the spare material box on the cache component, and insert the first drill bit into the spare material box.

3. The method according to claim 1, characterized in that The drill bit box sorting device also includes a discharging mechanism; the number of cached drill bits is less than the required number of drill bits, and the number of incoming drill bits is not less than the required number of drill bits; according to the required number of drill bits, the number of cached drill bits and the number of incoming drill bits, controlling the sorting manipulator to perform the sorting operation corresponding to the sorting task includes: Obtaining a second difference between the number of incoming drill bits and the number of required drill bits; Control the sorting robot to pull out the second drill bit corresponding to the second difference value from the to-be-sorted material box, and insert the second drill bit into the target material box; The sorting robot is controlled to grab the material box to be sorted after the second drill bit is pulled out, and the material box to be sorted after the second drill bit is pulled out is placed on the discharging mechanism.

4. The method according to claim 1, characterized in that: The drill box sorting device also includes a discharging mechanism; the number of cached drill bits is less than the required number of drill bits, the number of incoming drill bits is less than the required number of drill bits, and the sum of the number of cached drill bits and the number of incoming drill bits is not less than the required number of drill bits; according to the required number of drill bits, the number of cached drill bits and the number of incoming drill bits, controlling the sorting manipulator to perform the sorting operation corresponding to the sorting task includes: When the number of the cached drill bits is not less than the number of the incoming drill bits, obtaining a third difference between the required number of drill bits and the number of the cached drill bits; Controlling the sorting robot to pull out the third drill bit corresponding to the third difference value from the to-be-sorted material box, and inserting the third drill bit into the target material box; Control the sorting robot to grab the target material box after the third drill bit is inserted, and place the target material box after the third drill bit is inserted on the discharging mechanism; Control the sorting manipulator to grab the material box to be sorted after the third drill bit is pulled out, and place the material box to be sorted after the third drill bit is pulled out on the cache component; When the number of the cached drill bits is less than the number of the incoming drill bits, obtaining a fourth difference between the required number of drill bits and the number of the incoming drill bits; Controlling the sorting robot to pull out the fourth drill bit corresponding to the fourth difference value from the target material box, and inserting the fourth drill bit into the material box to be sorted; The sorting robot is controlled to grab the material box to be sorted after the fourth drill bit is inserted, and the material box to be sorted after the fourth drill bit is inserted is placed on the discharging mechanism.

5. The method according to claim 1, characterized in that The method further comprises: When there is no target box with the same model as the required drill bit in the cache box, the sorting robot is controlled to grab the spare box and place the spare box on the cache component to use the spare box as the target box with the same model as the required drill bit.

6. The method according to claim 1, characterized in that The drill bit box sorting device also includes a return to storage mechanism; the method also includes: When the cache component does not meet the cache conditions, the sorting robot is controlled to grab a return box of a different model from the required drill bit from the cache box, and place the return box on the return mechanism.

7. The method according to claim 1, characterized in that The drill bit box sorting device also includes an abnormality handling mechanism; the method also includes: When the material box to be sorted or the spare material box does not meet the identification condition, the sorting robot is controlled to grab the material box to be sorted or the spare material box, and place the material box to be sorted or the spare material box on the abnormality handling mechanism.

8. A drill bit box sorting device, characterized in that: include: The transmission mechanism comprises a first transmission component and a second transmission component, wherein the first transmission component is used to transmit the material box to be sorted, and the second transmission component is used to transmit the spare material box; The sorting mechanism comprises a sorting manipulator and a buffer component, wherein the sorting manipulator is used to perform the sorting operation corresponding to the sorting task; and the buffer component is used to carry the buffer material box placed by the sorting manipulator; Among them, the sorting robot is equipped with multiple claws, and the claws are used to grab the material box corresponding to the sorting task during the sorting operation corresponding to the sorting task; the claws are also used to pull out the corresponding drill bit from the material box corresponding to the sorting task; the claws are also used to insert the drill bit corresponding to the sorting task into the corresponding material box.

9. The device according to claim 8, characterized in that The device also includes: A discharging mechanism, wherein the discharging mechanism is used to carry the sorted material boxes; the sorting robot is also used to grab the sorted material boxes and place the sorted material boxes on the discharging mechanism.

10. The device according to claim 8, characterized in that The device also includes: A return-to-warehouse mechanism, the return-to-warehouse mechanism is used to transport the return-to-warehouse material boxes placed by the sorting robot; An abnormality handling mechanism, the abnormality handling mechanism is used to transfer the abnormal material box placed by the sorting robot; Among them, the sorting robot is also used to grab the return material box from the cache material box, and place the return material box on the return material box; the sorting robot is also used to grab the abnormal material box from the to-be-sorted material box and the spare material box, and place the abnormal material box on the abnormal handling mechanism.

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