Man-machine cooperation size detection grading equipment and implementation method thereof

Abstract

The invention discloses a man-machine cooperation size detection grading device which comprises a material arranging mechanism, a size detection mechanism is arranged on one side of the material arranging mechanism, a grading mechanism is arranged on one side of the size detection mechanism, a grading material receiving mechanism is arranged on one side of the grading mechanism, the size detection mechanism comprises a third conveying line, and the third conveying line penetrates through the grading mechanism. An eighth conveying line is arranged at the discharging end of the third conveying line, a ninth conveying line is arranged at the discharging end of the eighth conveying line, a tenth conveying line is arranged at the discharging end of the ninth conveying line, and an NG product receiving mechanism is arranged on the side face of the discharging end of the tenth conveying line; the invention further discloses an implementation method of the man-machine cooperation size detection grading equipment. Through the arrangement of the material arranging mechanism, disordered products conveyed by the front-end equipment are arranged, so that the disordered products are orderly transferred into the grading mechanism on the second conveying line, the grading mechanism can conveniently and accurately obtain the length values and the width values of the products, and therefore the grading accuracy is guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of size detection grading, and particularly relates to a man-machine cooperative size detection grading device and an implementation method thereof. BACKGROUND

[0002] Soft magnetic material is a kind of magnetic material with low coercivity, also known as high permeability material. It has the characteristics of high saturation magnetic flux density, high permeability, long and narrow hysteresis loop, small area, small hysteresis loss, small remanence and coercivity, etc. In the electric power industry, it is used to manufacture the cores of electric appliances such as motors and transformers. The production process of soft magnetic products includes material preparation, pressing forming, sintering, grinding, appearance detection, performance detection and packaging.

[0003] At present, manual measurement is needed for products. The current manual operation process is as follows: after appearance detection, a vernier caliper adjusted to the minimum range width is used to slide on the whole row of products, and when there is a product that cannot pass, a vernier caliper with a second range width is used in this way. The current method cannot guarantee the measurement accuracy, and in the sliding process, the product is more likely to be damaged, causing secondary scratches on the product surface. The measurement time accounts for more than 50% of the entire appearance detection and size detection section.

[0004] In addition, due to the rapid changes in products, it is difficult to accurately measure some special products manually. Therefore, there are many problems in the whole manual grading process, such as misjudgment, omission, scratching, time-consuming, etc., which seriously affect the product quality and production efficiency, and the labor intensity is large. SUMMARY

[0005] The application aims to provide a man-machine cooperative size detection grading device to solve the problems in the background technology. The man-machine cooperative size detection grading device provided by the application has the characteristics of high compatibility, accurate measurement, reliable process and simple operation.

[0006] Another object of the application is to provide an implementation method of the man-machine cooperative size detection grading device.

[0007] In order to achieve the above object, the present application provides the following technical scheme: A man-machine cooperation size detection grading equipment, including a material arranging mechanism, one side of the material arranging mechanism is provided with a size detection mechanism, one side of the size detection mechanism is provided with a grading mechanism, one side of the grading mechanism is provided with a grading material receiving mechanism, the size detection mechanism includes a third conveying line, the third conveying line passes through the grading mechanism, the discharge end of the third conveying line is provided with an eighth conveying line, the discharge end of the eighth conveying line is provided with a ninth conveying line, the discharge end of the ninth conveying line is provided with a tenth conveying line, the side of the discharge end of the tenth conveying line is provided with an NG product material receiving mechanism, the grading material receiving mechanism includes an A-grade material receiving machine, a B-grade material receiving machine, a C-grade material receiving machine and a D-grade material receiving machine, wherein the A-grade material receiving machine and the B-grade material receiving machine are respectively arranged on the two sides of the eighth conveying line, and the C-grade material receiving machine and the D-grade material receiving machine are respectively arranged on the two sides of the ninth conveying line.

[0008] In order to arrange the disordered products conveyed by the front-end equipment and make them be conveyed neatly, further, the material arranging mechanism includes a material arranging table, the inside of the material arranging table is provided with a first conveying line, the side of the first conveying line is provided with a second conveying line, and two material arranging mechanical hands are installed on the top of the material arranging table, a suction head is connected to the output end of the material arranging mechanical hand, and a sensor and an encoder are respectively installed on the feeding end of the first conveying line, the second conveying line and the third conveying line.

[0009] In order to identify the position and state of the product and facilitate the material arranging mechanical hand to adjust the state of the product, further, a guide box is respectively installed on the feeding end of the first conveying line and the front side of the third conveying line, and a face array camera is installed in the inside of the guide box.

[0010] In order to calculate the length value and height value of the product, reduce the labor intensity of workers, improve the efficiency and accuracy of grading, further, the size detection mechanism also includes a size detection table, the feeding end of the third conveying line is installed above the size detection table, a length detection assembly is installed above the third conveying line on the size detection table, and a height detection assembly is also installed on the side of the third conveying line on the size detection table. The length detection assembly includes a length detection support seat, a moving module is installed on the length detection support seat, a CCD camera is installed on the moving end of the moving module, a lens is connected below the CCD camera, a light source is arranged below the lens, and the structure of the height detection assembly is the same as that of the length detection assembly.

[0011] In order to classify and place products of different grades, further, the grading mechanism includes a grading table, the fifth conveying line and the sixth conveying line are respectively arranged on the two sides of the third conveying line on the grading table, the fourth conveying line is arranged on the outside of the fifth conveying line, the seventh conveying line is arranged on the outside of the sixth conveying line, two grading mechanical hands are installed above the grading table, and a suction head is also installed on the output end of the grading mechanical hand.

[0012] In order to collect NG products and products not timely grabbed, further, the NG product collecting mechanism comprises an NG product collecting machine table, an NG product collecting belt is installed above the NG product collecting machine table, and a pushing assembly is installed on the feeding end of the NG product collecting belt.

[0013] In order to avoid mutual bumping between products to cause appearance damage, further, the A-grade collecting machine comprises a thirteenth conveying line, the thirteenth conveying line is arranged on one side of the eighth conveying line, the other side of the thirteenth conveying line is respectively provided with an eleventh conveying line and a twelfth conveying line, and the side of the outfeed end of the twelfth conveying line is provided with an A-grade buffer belt; the B-grade collecting machine comprises a sixteenth conveying line, the sixteenth conveying line is arranged on the other side of the eighth conveying line, the other side of the sixteenth conveying line is respectively provided with a fourteenth conveying line and a fifteenth conveying line, and the side of the outfeed end of the fifteenth conveying line is provided with a B-grade buffer belt; the C-grade collecting machine comprises a seventeenth conveying line, the seventeenth conveying line is arranged on one side of the ninth conveying line, and the side of the outfeed end of the seventeenth conveying line is provided with a C-grade buffer belt; and the D-grade collecting machine comprises an eighteenth conveying line, the eighteenth conveying line is arranged on the other side of the ninth conveying line, and the side of the outfeed end of the eighteenth conveying line is provided with a D-grade buffer belt, and a pushing assembly is respectively installed on the feeding end of the A-grade buffer belt, the B-grade buffer belt, the C-grade buffer belt and the D-grade buffer belt.

[0014] Further in the application, the implementation method of the man-machine cooperation size detection grading equipment comprises the following steps:

[0015] (1) The unordered product flow of the front-end equipment enters the first conveying line, the sensor at the feeding end of the first conveying line is triggered after the product flow, the system records the position information of each product on the first conveying line in real time in combination with the encoder value, the face array camera triggers photographing when the product flows through the guide box, and the position and state of the product are identified in sequence, the first material sorting manipulator finds the angle and position of the suction head, tracks the product position, and places the product on the second conveying line, and the product that is not timely transported by the first material sorting manipulator is placed on the second conveying line by the suction head driven by the second material sorting manipulator;

[0016] (2) The product enters the third conveying line and is conveyed backward, the length and height dimensions of the product are calculated by the system after the product flows through the length detection assembly and the height detection assembly and is photographed and recorded by the CCD camera, five grade information of A, B, C, D and NG products is generated, the product position is positioned again after the face array camera triggers photographing when the product flows to the guide box at the grading mechanism, the first grading manipulator sucks and places the product on the conveying line of the corresponding grade, and the product that is not sucked by the first grading manipulator is placed on the conveying line of the corresponding grade by the second grading manipulator;

[0017] (Three), the A-grade products are conveyed to the eleventh conveying line through the fourth conveying line, and then conveyed to the twelfth conveying line through the eleventh conveying line, when the number of products on the twelfth conveying line reaches a set value, the product arranged by the pushing assembly on the A-grade buffer belt is pushed into the A-grade buffer belt, and the product on the A-grade buffer belt is put into the packaging box by artificial, and the B-grade products are the same;

[0018] (Four), the C-grade products are conveyed to the seventeenth conveying line through the thirteenth conveying line, when the number of products on the seventeenth conveying line reaches a set value, the product arranged by the pushing assembly on the C-grade buffer belt is pushed into the C-grade buffer belt, and the D-grade products are the same;

[0019] (Five), the NG products and the products not grabbed are conveyed to the ninth conveying line through the eighth conveying line, and then conveyed to the tenth conveying line through the ninth conveying line, and the product arranged by the pushing assembly on the NG product collecting belt is pushed into the NG product collecting belt.

[0020] Compared with the prior art, the beneficial effects of the present application are:

[0021] 1、Through the arrangement of the arrangement mechanism, the disordered products conveyed by the front-end equipment are arranged, so that they are neatly transferred on the second conveying line to the grading mechanism, so that the grading mechanism can accurately obtain the length value and the width value of the products, thereby ensuring the accuracy of grading.

[0022] 2、The first conveying line, the second conveying line and the third conveying line are respectively provided with sensors and encoders on the feeding end, which can record the position of the product in real time, so that the mechanical hand can accurately grab the product.

[0023] 3、The CCD camera is used to take pictures of the products, calculate the length value and height value of the products, reduce the labor intensity of workers, improve the efficiency and accuracy of grading.

[0024] 4、The first conveying line and the third conveying line are respectively provided with guide boxes on the feeding end and the front side of the grading mechanism, and the guide boxes are provided with area array cameras inside, which are used to identify the position and state of the product, so as to adjust the state of the product by the arrangement mechanism.

[0025] 5、The eleventh conveying line of the A-grade material collecting machine is provided with an inductor at the end thereof, and the twelfth conveying line is controlled by a servo motor, when the eleventh conveying line senses the product, the servo motor controls the twelfth conveying line to move a set distance, so that the products are arranged in small intervals on the twelfth conveying line and are conveyed backward, and the other grades of material collecting machines are the same, so as to avoid the mutual knocking between the products and the appearance damage caused thereby. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a structural schematic view of the present application.

[0027] Figure 2 It is an axonometric structural schematic view of the material arranging mechanism of the present application.

[0028] Figure 3 It is a main structural schematic view of the material arranging mechanism of the present application.

[0029] Figure 4 It is a side structural schematic view of the material arranging mechanism of the present application.

[0030] Figure 5 It is a structural schematic view of the size detecting mechanism of the present application.

[0031] Figure 6 It is a structural schematic view of the length detecting assembly of the present application.

[0032] Figure 7 It is a structural schematic view of the grade separating mechanism of the present application.

[0033] Figure 8 It is a structural schematic view of the NG product material collecting mechanism of the present application.

[0034] Figure 9 It is a structural schematic view of the cooperation between the third conveying line and the grade separating mechanism and the grade separating material collecting mechanism of the present application.

[0035] Figure 10 It is a structural schematic view of the cooperation between the conveying line of the grade separating material collecting mechanism and the NG product material collecting mechanism of the present application.

[0036] In the figure: 1, material sorting mechanism; 101, material sorting table; 102, guide box; 103, material sorting manipulator; 104, suction head; 2, size detection mechanism; 201, size detection table; 202, height detection assembly; 203, length detection assembly; 231, length detection support seat; 232, moving module; 233, CCD camera; 234, lens; 235, light source; 3, grading mechanism; 31, grading table; 32, grading manipulator; 4, grading material receiving mechanism; 5, NG product material receiving mechanism; 51, NG product material receiving table; 52, NG product material receiving belt; 53, material pushing assembly; 6, first conveying line; 7, second conveying line; 8, third conveying line; 9, fourth conveying line; 10, fifth conveying line; 11, sixth conveying line; 12, seventh conveying line; 13, eighth conveying line; 14, ninth conveying line; 15, tenth conveying line; 16, eleventh conveying line; 17, twelfth conveying line; 18, thirteenth conveying line; 19, fourteenth conveying line; 20, fifteenth conveying line; 21, sixteenth conveying line; 22, seventeenth conveying line; 23, eighteenth conveying line; 24, A-grade buffer belt; 25, B-grade buffer belt; 26, C-grade buffer belt; 27, D-grade buffer belt. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0038] Embodiment 1

[0039] Please refer to Figures 1-10 The present application provides the following technical solutions: a man-machine cooperative size detection grading equipment, which comprises a material sorting mechanism 1, one side of the material sorting mechanism 1 is provided with a size detection mechanism 2, one side of the size detection mechanism 2 is provided with a grading mechanism 3, one side of the grading mechanism 3 is provided with a grading material receiving mechanism 4, the size detection mechanism 2 comprises a third conveying line 8, the third conveying line 8 passes through the grading mechanism 3, the discharge end of the third conveying line 8 is provided with an eighth conveying line 13, the discharge end of the eighth conveying line 13 is provided with a ninth conveying line 14, the discharge end of the ninth conveying line 14 is provided with a tenth conveying line 15, the side surface of the discharge end of the tenth conveying line 15 is provided with an NG product material receiving mechanism 5, the grading material receiving mechanism 4 comprises an A-grade material receiving machine, a B-grade material receiving machine, a C-grade material receiving machine and a D-grade material receiving machine, wherein the A-grade material receiving machine and the B-grade material receiving machine are respectively arranged on the two sides of the eighth conveying line 13, and the C-grade material receiving machine and the D-grade material receiving machine are respectively arranged on the two sides of the ninth conveying line 14.

[0040] By adopting the above technical scheme, the product in disorder conveyed by the front-end equipment is arranged through the arrangement of the material arrangement mechanism 1, so that the product is neatly transferred to the second conveying line 7 and then to the grading mechanism 3, the length value and the width value of the product are accurately obtained by the grading mechanism 3, and the accuracy of grading is ensured. The product in different grades and the NG product are collected by the grading material collecting mechanism 4 and the NG product collecting mechanism 5, the grading efficiency is improved, and the labor intensity of workers is reduced.

[0041] Specifically, the material arrangement mechanism 1 comprises a material arrangement table 101, the inside of the material arrangement table 101 is provided with a first conveying line 6, the side of the first conveying line 6 is provided with a second conveying line 7, the top of the material arrangement table 101 is provided with two material arrangement mechanical hands 103, and the output end of the material arrangement mechanical hand 103 is connected with a suction head 104.

[0042] By adopting the above technical scheme, the product in disorder conveyed by the front-end equipment is arranged, and the product is neatly conveyed backward.

[0043] Specifically, the feeding end of the first conveying line 6, the second conveying line 7 and the third conveying line 8 is respectively provided with an inductor and an encoder.

[0044] By adopting the above technical scheme, the position of each product on the first conveying line 6 is recorded in real time through the cooperation of the inductor and the encoder on the first conveying line 6, so that the material arrangement mechanical hand can be accurately grasped; the position of the product placed on the second conveying line 7 by the first material arrangement mechanical hand is recorded through the cooperation of the inductor and the encoder on the second conveying line 7, so that the product is not placed on the product on the second conveying line 7 by the second material arrangement mechanical hand; the position of each product on the third conveying line 8 is recorded through the cooperation of the inductor and the encoder on the third conveying line 8, so that the product can be accurately graded according to the grading information by the grading mechanical hand.

[0045] Specifically, the size detection mechanism 2 further comprises a size detection table 201, the feeding end of the third conveying line 8 is installed above the size detection table 201, the size detection table 201 is provided with a length detection assembly 203 above the third conveying line 8, and the size detection table 201 is further provided with a height detection assembly 202 at the side of the third conveying line 8. The length detection assembly 203 comprises a length detection support seat 231, the length detection support seat 231 is provided with a moving module 232, the moving end of the moving module 232 is provided with a CCD camera 233, the lower side of the CCD camera 233 is connected with a lens 234, the lower side of the lens 234 is provided with a light source 235, and the structure of the height detection assembly 202 is the same as that of the length detection assembly 203.

[0046] By adopting the technical scheme, the product is photographed by the CCD camera 233, and the length value and the height value of the product are calculated, so as to reduce the labor intensity of workers, improve the efficiency and accuracy of grading.

[0047] Specifically, the grading mechanism 3 comprises a grading machine table 31, fifth and sixth conveying lines 10 and 11 are arranged on both sides of the third conveying line 8 on the grading machine table 31, a fourth conveying line 9 is arranged on the outer side of the fifth conveying line 10, a seventh conveying line 12 is arranged on the outer side of the sixth conveying line 11, two grading mechanical hands 32 are installed above the grading machine table 31, and a suction head 104 is also installed on the output end of the grading mechanical hand 32.

[0048] By adopting the technical scheme, the products of different grades are classified and placed.

[0049] Specifically, the NG product collecting mechanism 5 comprises an NG product collecting machine table 51, an NG product collecting belt 52 is installed above the NG product collecting machine table 51, a pushing assembly 53 is installed on the feeding end of the NG product collecting belt 52, and the pushing assembly 53 comprises a pushing cylinder and a pushing plate installed on the output end of the pushing cylinder.

[0050] By adopting the technical scheme, the NG products and the products that are not timely grabbed are collected.

[0051] Embodiment 2

[0052] The difference between the embodiment and the embodiment 1 is that specifically, guide boxes 102 are installed on the feeding end of the first conveying line 6 and on the third conveying line 8 at the front side of the grading mechanism 3, and a face array camera is installed in the guide box 102.

[0053] By adopting the technical scheme, the product position and state are recognized, and the state of the product is adjusted by the sorting mechanical hand.

[0054] Embodiment 3

[0055] The difference between the embodiment and the embodiment 1 is that specifically, the A-grade collecting machine comprises a thirteenth conveying line 18, the thirteenth conveying line 18 is arranged on one side of the eighth conveying line 13, the other side of the thirteenth conveying line 18 is respectively provided with eleventh and twelfth conveying lines 16 and 17, and the side surface of the discharge end of the twelfth conveying line 17 is provided with an A-grade buffer belt 24; the B-grade collecting machine comprises a sixteenth conveying line 21, the sixteenth conveying line 21 is arranged on the other side of the eighth conveying line 13, the other side of the sixteenth conveying line 21 is respectively provided with fourteenth and fifteenth conveying lines 19 and 20, and the side surface of the discharge end of the fifteenth conveying line 20 is provided with a B-grade buffer belt 25.

[0056] By adopting the technical scheme, the end of the eleventh conveying line 16 is provided with an inductor, the twelfth conveying line 17 is controlled by a servo motor, when the eleventh conveying line 16 senses the product, the servo motor controls the twelfth conveying line 17 to act a set distance, so that the products are arranged in small intervals on the twelfth conveying line 17 and are conveyed backward, avoiding mutual knocking between the products to cause appearance damage; meanwhile, the inductor can also record the number of the products on the twelfth conveying line 17, when the number of the products on the twelfth conveying line 17 reaches a set value, the product arranging device on the A-grade buffer belt 24 pushes the arranged products to the A-grade buffer belt 24, the action principle of the A-grade buffer belt 24 is the same as that of the twelfth conveying line 17, and the B-grade material collecting machine is the same.

[0057] Specifically, the C-grade material collecting machine includes the seventeenth conveying line 22, the seventeenth conveying line 22 is arranged on one side of the ninth conveying line 14, and the discharge end side of the seventeenth conveying line 22 is provided with the C-grade buffer belt 26; the D-grade material collecting machine includes the eighteenth conveying line 23, the eighteenth conveying line 23 is arranged on the other side of the ninth conveying line 14, and the discharge end side of the eighteenth conveying line 23 is provided with the D-grade buffer belt 27, and the feeding ends of the A-grade buffer belt 24, the B-grade buffer belt 25, the C-grade buffer belt 26 and the D-grade buffer belt 27 are respectively provided with the product pushing assembly.

[0058] By adopting the technical scheme, the action principles of the seventeenth conveying line 22 and the eighteenth conveying line 23 are the same as that of the twelfth conveying line 17.

[0059] Embodiment 4

[0060] Further, the implementation method of the man-machine cooperation size detection grading equipment comprises the following steps:

[0061] (1) The products in the front-end equipment are transferred into the first conveying line 6 in disorder, the inductor at the feeding end of the first conveying line 6 is triggered after the products flow in, the system records the position information of each product on the first conveying line 6 in real time in combination with the encoder value, when the products pass through the guide box 102, the area array camera triggers photographing, and the position and state of the products are identified in sequence, when the products flow through the first material sorting manipulator, the first material sorting manipulator drives the suction head 104 to find the angle and position, tracks the product position, and places the product on the second conveying line 7 by suction, and the products that are not timely transported by the first material sorting manipulator are placed into the second conveying line 7 by suction of the second material sorting manipulator after flowing into the stroke range area of the second material sorting manipulator;

[0062] (II) The product enters the third conveying line 8 from the second conveying line 7 and is conveyed backward. When the product passes through the length detection assembly 203 and the height detection assembly 202 in sequence, the CCD camera 233 takes a picture to record the length and height of the product. The system calculates the length and height of the product to generate five grades of A, B, C, D and NG. When the product flows to the guide box of the grading mechanism 3, the first grading mechanical hand absorbs the product and places it on the conveying line corresponding to the grade after the product position is positioned twice by the area array camera and the picture is taken. The product that the first grading mechanical hand fails to absorb is grabbed by the second grading mechanical hand and placed on the conveying line corresponding to the grade;

[0063] (III) The A-grade product is conveyed to the eleventh conveying line 16 from the fourth conveying line 9 and then to the twelfth conveying line 17 from the eleventh conveying line 16. When the number of products on the twelfth conveying line 17 reaches a set value, the product arranged on the A-grade buffer belt 24 is pushed into the A-grade buffer belt 24 by the pushing assembly on the A-grade buffer belt 24. The product on the A-grade buffer belt 24 is put into a packaging box by manual work. The B-grade product is the same.

[0064] (IV) The C-grade product is conveyed to the seventeenth conveying line 22 from the thirteenth conveying line 18. When the number of products on the seventeenth conveying line 22 reaches a set value, the product arranged on the C-grade buffer belt 26 is pushed into the C-grade buffer belt 26 by the pushing assembly on the C-grade buffer belt 26. The D-grade product is the same.

[0065] (V) The NG product and the product that is not grabbed is conveyed to the ninth conveying line 14 from the eighth conveying line 13 and then to the tenth conveying line 15 from the ninth conveying line 14. The product arranged on the NG product collecting belt 52 is pushed into the NG product collecting belt 52 by the pushing assembly on the NG product collecting belt 52.

[0066] In summary, the application arranges the unordered products conveyed by the front-end equipment through the arrangement of the material arrangement mechanism 1, so that the products are neatly transferred on the second conveying line 7 to the grading mechanism 3, which facilitates the grading mechanism 3 to accurately obtain the length and width values of the products, thereby ensuring the accuracy of grading. The application grades and collects different grades of products and NG products through the grading and collecting mechanism 4 and the NG product collecting mechanism 5, thereby improving the grading efficiency and reducing the labor intensity of workers. The first conveying line 6, the second conveying line 7 and the third conveying line 8 are respectively provided with sensors and encoders at the feeding ends, which can record the positions of the products in real time, thereby facilitating the accurate grabbing of the products by the mechanical hand. The application photographs the products through the CCD camera 233, calculates the length and height values of the products, reduces the labor intensity of workers, and improves the efficiency and accuracy of grading. The first conveying line 6 is provided with a guide box 102 at the feeding end and at the front side of the grading mechanism 3, and the guide box 102 is provided with a face array camera inside, which is used to identify the positions and states of the products, thereby facilitating the adjustment of the states of the products by the material arrangement mechanism. The eleventh conveying line 16 of the A-grade collecting machine is provided with a sensor at the tail end, and the twelfth conveying line 17 is controlled by a servo motor. When the eleventh conveying line 16 senses the products, the servo motor controls the twelfth conveying line 17 to act at a set distance, so that the products are arranged at a small interval on the twelfth conveying line 17 and are conveyed backward. The other grades of collecting machines are the same, which avoids the mutual knocking between the products and causes the appearance to be damaged.

[0067] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A human-machine collaborative size detection and grading device, characterized by: It includes a material sorting mechanism, one side of the material sorting mechanism is provided with a size detection mechanism, one side of the size detection mechanism is provided with a grading mechanism, one side of the grading mechanism is provided with a grading material receiving mechanism, the size detection mechanism includes a third conveyor line, the third conveyor line passes through the grading mechanism, the discharging end of the third conveyor line is provided with an eighth conveyor line, the discharging end of the eighth conveyor line is provided with a ninth conveyor line, the discharging end of the ninth conveyor line is provided with a tenth conveyor line, the discharging end of the tenth conveyor line is provided with an NG product receiving mechanism on the side, the grading material receiving mechanism includes an A-grade receiving machine, a B-grade receiving machine, a C-grade receiving machine and a D-grade receiving machine, wherein the A-grade receiving machine and the B-grade receiving machine are respectively arranged on both sides of the eighth conveyor line, and the C-grade receiving machine and the D-grade receiving machine are respectively arranged on both sides of the ninth conveyor line.

2. The human-machine collaborative size detection and grading device according to claim 1, characterized in that: The material sorting mechanism includes a material sorting machine platform, a first conveyor line is provided inside the material sorting machine platform, a second conveyor line is provided on the side of the first conveyor line, two material sorting robots are installed on the top of the material sorting machine platform, a suction head is connected to the output end of the material sorting robot, and sensors and encoders are respectively installed on the feed ends of the first conveyor line, the second conveyor line and the third conveyor line.

3. The human-machine collaborative size detection and grading device according to claim 1, characterized in that: A guide box is installed on the feeding end of the first conveyor line and on the front side of the step-grading mechanism of the third conveyor line, and an area array camera is installed inside the guide box.

4. The human-machine collaborative size detection and grading device according to claim 1, characterized in that: The size detection mechanism also includes a size detection machine. The feed end of the third conveyor line is installed above the size detection machine. The size detection machine is equipped with a length detection component located above the third conveyor line. The size detection machine is also equipped with a height detection component located on the side of the third conveyor line.

5. The human-machine collaborative size detection and grading device according to claim 4, characterized in that: The length detection component includes a length detection support seat, a mobile module is installed on the length detection support seat, a CCD camera is installed on the mobile end of the mobile module, a lens is connected below the CCD camera, and a light source is provided below the lens. The structure of the height detection component is the same as that of the length detection component.

6. The human-machine collaborative size detection and grading device according to claim 1, characterized in that: The grading mechanism includes a grading machine, on which a fifth conveyor line and a sixth conveyor line are respectively provided on both sides of the third conveyor line, a fourth conveyor line is provided on the outside of the fifth conveyor line, and a seventh conveyor line is provided on the outside of the sixth conveyor line. Two grading robots are installed above the grading machine, and suction heads are also installed on the output ends of the grading robots.

7. The human-machine collaborative size detection and grading device according to claim 1, characterized in that: The NG product receiving mechanism includes an NG product receiving machine platform, an NG product receiving belt is installed above the NG product receiving machine platform, and a pushing assembly is installed on the feeding end of the NG product receiving belt.

8. The human-machine collaborative size detection and grading device according to claim 1, characterized in that: The A-grade material receiving machine includes a thirteenth conveyor line, which is arranged on one side of the eighth conveyor line, and an eleventh conveyor line and a twelfth conveyor line are respectively provided on the other side of the thirteenth conveyor line, and an A-grade cache belt is provided on the side of the discharge end of the twelfth conveyor line; the B-grade material receiving machine includes a sixteenth conveyor line, which is arranged on the other side of the eighth conveyor line, and a fourteenth conveyor line and a fifteenth conveyor line are respectively provided on the other side of the sixteenth conveyor line, and a B-grade cache belt is provided on the side of the discharge end of the fifteenth conveyor line.

9. The human-machine collaborative size detection and grading device according to claim 8, characterized in that: The C-grade material receiving machine includes the seventeenth conveyor line, which is arranged on one side of the ninth conveyor line, and a C-grade cache belt is provided on the side of the discharge end of the seventeenth conveyor line; the D-grade material receiving machine includes the eighteenth conveyor line, which is arranged on the other side of the ninth conveyor line, and a D-grade cache belt is provided on the side of the discharge end of the eighteenth conveyor line, and pusher assemblies are respectively installed on the feed ends of the A-grade cache belt, the B-grade cache belt, the C-grade cache belt and the D-grade cache belt.

10. A method for implementing a human-machine collaborative size detection and grading device according to any one of claims 1 to 9, characterized in that: The following steps are involved: (1) The products of the front-end equipment flow into the first conveyor line in an unordered manner. After the products flow in, the sensor at the feed end of the first conveyor line is triggered. The system combines the encoder value to record the position information of each product on the first conveyor line in real time. When the product passes through the guide box, the area array camera is triggered to take pictures and identify the position and status of the product in turn. When the product flows through the first material sorting robot, the first material sorting robot drives the suction head to find the angle and position, track the position of the product, and absorb the product and place it on the second conveyor line. After the products that the first material sorting robot has not transported in time flow into the travel range of the second material sorting robot, the second material sorting robot drives the suction head to absorb and place them on the second conveyor line; (2) The product enters the third conveyor line through the second conveyor line and is conveyed backward. After the product passes through the length detection component and the height detection component in sequence, it is photographed and recorded by the CCD camera. The system calculates the length and height dimensions of the product and generates five gear information: A, B, C, D, and NG products. After the product flows to the guide box at the grading mechanism, the area array camera is triggered to take a photo to locate the product position for the second time. The first grading robot picks up the product and places it on the conveyor line of the corresponding gear. The product that the first grading robot does not have time to pick up is grabbed by the second grading robot and placed on the conveyor line of the corresponding gear. (3) The products in grade A are conveyed to the eleventh conveyor line via the fourth conveyor line, and then conveyed to the twelfth conveyor line via the eleventh conveyor line. When the number of products on the twelfth conveyor line reaches the set value, the pushing assembly on the buffer belt of grade A pushes the arranged products onto the buffer belt of grade A, and the products on the buffer belt of grade A are manually placed into packaging boxes. The same applies to the products in grade B. (4) Products in gear C are conveyed to the seventeenth conveyor line via the thirteenth conveyor line. When the number of products on the seventeenth conveyor line reaches the set value, the pushing assembly on the buffer belt of gear C pushes the arranged products onto the buffer belt of gear C. The same applies to products in gear D. (5) NG products and products that have not been grabbed are conveyed to the ninth conveyor line via the eighth conveyor line, and then conveyed to the tenth conveyor line via the ninth conveyor line. The pushing assembly on the NG product receiving belt pushes the arranged products onto the NG product receiving belt.

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