Chiller intelligent disordered sorting and shot blasting flexible production line and use method thereof

Abstract

The invention relates to an intelligent disordered sorting and shot blasting flexible production line for chillers and a using method thereof.The intelligent disordered sorting and shot blasting flexible production line comprises sorting and stacking equipment and breaking and shot blasting equipment, and the sorting and stacking equipment comprises an electromagnet cantilever crane, a vibration machine, a plate chain roller path, a sorting robot, a 3D vision camera, a platform scale and a stacking robot; and the electromagnet cantilever crane puts a plurality of chilling blocks into an inlet of the material vibrating machine, and then the material vibrating machine is used for supplying the chilling blocks to the plate chain raceway one by one. Disorder means that the directions of the cold iron discharged from the outlet of the material vibrating machine may be different. And after the chilling block arrives at the 3D vision camera, the 3D vision camera detects the position coordinate information of the chilling block and sends the information to the sorting robot, and the sorting robot carries the chilling block to the platform scale. And then the platform scale judges the model of the chilling block according to the weight of the chilling block, and the palletizing robot carries the chilling block on the platform scale into the corresponding charging basket. And finally, the chiller in the charging basket is grabbed to a shot blasting machine by the disassembling and chopping robot.

Description

Technical Field

[0001] This invention relates to the field of sorting shot blasting production line technology, specifically to a flexible intelligent unordered sorting shot blasting production line for chilled iron and its usage method. Background Technology

[0002] Chilled iron workpieces are mold blocks for casting. There are five types of chilled iron workpieces, and their external dimensions vary greatly. After casting, these chilled iron workpieces need to be shot blasted and classified.

[0003] The relevant technologies involve manually sorting the cold iron blocks and manually feeding them into the shot blasting machine for shot blasting, which results in low work efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible intelligent unordered sorting and shot blasting production line for chilled iron and its usage method, so as to solve the problems existing in related technologies.

[0005] In one aspect, this disclosure provides a flexible intelligent unordered sorting and shot blasting production line for chills, including sorting and palletizing equipment and disassembly and shot blasting equipment. The sorting and palletizing equipment includes an electromagnet cantilever crane, a vibrating feeder, a plate chain conveyor, a sorting robot, a 3D vision camera, a platform scale, and a palletizing robot. The electromagnet cantilever crane is located on one side of the inlet of the vibrating feeder to grab chills to the inlet of the vibrating feeder. The plate chain conveyor is located on one side of the outlet of the vibrating feeder. The 3D vision camera is located on the side of the plate chain conveyor away from the vibrating feeder. The sorting machine... A robot is positioned beside the plate chain roller and electrically connected to the 3D vision camera to receive the position coordinate information of the cold iron to be grasped. The sorting robot is used to grasp the cold iron onto the platform scale, which is located between the sorting robot and the palletizing robot for classifying the cold iron. The palletizing robot is used to grasp the cold iron on the platform scale and place it into the corresponding material basket. The chopping and shot blasting equipment includes a chopping robot and a shot blasting machine. The chopping robot is used to grasp the cold iron in the material basket onto the conveyor belt of the shot blasting machine.

[0006] Optionally, the sorting robot includes a robot unit and a sorting manipulator. The sorting manipulator includes a sorting connecting shaft, a sorting connecting plate, a sorting magnet, a sorting spring, a sorting guide rod, and a sorting bracket. The two ends of the sorting connecting shaft are fixedly connected to the end face of the robot unit's arm and the sorting connecting plate, respectively. The sorting bracket is fixedly connected to the side of the sorting connecting plate away from the end face of the robot unit's arm. The sorting guide rod is slidably connected to the fixing plate of the sorting magnet and fixedly connected to the sorting bracket. The sorting spring is fixedly connected to the fixing plate of the sorting magnet and the sorting bracket, respectively.

[0007] Optionally, the sorting magnet, the sorting spring, the sorting guide rod, and the sorting bracket are in multiple sets, with multiple sorting brackets fixed at intervals around the circumference of the sorting connecting plate.

[0008] Optionally, the 3D vision camera includes a fixed bracket, a protective cover, and a 3D camera. The fixed bracket is fixed to the ground and has an L-shaped structure. The protective cover is fixedly connected to the end of the fixed bracket away from the ground. The 3D camera is located inside the protective cover. A first sensor is provided directly below the 3D camera. The first sensor is fixedly connected to the fixing part of the plate chain roller. The first sensor is used to sense the presence or absence of chills.

[0009] Optionally, the chopping robot includes a robot unit and a chopping manipulator. The chopping manipulator includes a chopping guide rod, a chopping connecting shaft, a chopping connecting plate, a chopping magnet, a chopping spring, a chopping bracket, a distance sensor, a 2D camera, a camera light source, two chopping guide rod cylinders, and two chopping grippers. The two ends of the chopping connecting shaft are fixedly connected to the end face of the robot unit's arm and the chopping connecting plate, respectively. The chopping bracket is fixedly connected to the side of the chopping connecting plate away from the end face of the robot unit's arm. The chopping guide rod is slidably connected to the fixing plate of the chopping magnet. The chopping spring is fixedly connected to the fixing plate of the chopping magnet and the chopping bracket, respectively. The distance sensor, the 2D camera and the camera light source are fixedly connected to the chopping connecting plate, and the 2D camera and the camera light source are located in the middle of the chopping connecting plate. The two chopping guide rod cylinders are fixedly connected to the two ends of the chopping connecting plate on the side near the arm end face of the robot unit. The two chopping guide rod cylinders are connected to the two chopping grippers, and the two chopping grippers are used to hold the material basket.

[0010] Optionally, the disassembly magnet is an electro-permanent magnet or a pneumatic magnet.

[0011] Optionally, the 2D camera is positioned within the ring of the camera light source.

[0012] Optionally, the number of sorting and palletizing devices may be multiple.

[0013] Optionally, the intelligent unordered sorting shot blasting flexible production line for cold irons also includes five pallet assemblies. The five pallet assemblies are spaced apart around the palletizing robot. Each pallet assembly includes an upper pallet, a lower pallet, and multiple material baskets. The lower pallet is fixedly connected to the ground, and the upper pallet is plugged into the lower pallet. The multiple material baskets are stacked in two rows on the upper pallet.

[0014] Optionally, tapered positioning pins are installed at the four corners of the top of the lower tray, and positioning tapered pin sleeves are installed at the four corners of the bottom of the upper tray. The tapered positioning pins are used to insert into the positioning tapered pin sleeves. Limit switches are installed at the four corners of the top of the lower tray, and the limit switches are located outside the tapered positioning pins. The material basket is plugged into the upper tray, and positioning pin sleeves are provided on both sides of the material basket. The positioning pin sleeves are used for gripper gripping and positioning.

[0015] Secondly, this disclosure provides a method for using a flexible intelligent unordered sorting shot blasting production line for cold irons, including:

[0016] The electromagnet cantilever crane throws multiple chilled irons into the inlet of the vibrating feeder, which then feeds the chilled irons one by one onto the plate chain roller conveyor.

[0017] Once the chilled iron reaches the 3D vision camera, the 3D vision camera detects the position coordinates of the chilled iron and sends the information to the sorting robot, which then moves the chilled iron onto the platform scale.

[0018] The platform scale determines the model of the chilled iron based on its weight, and the palletizing robot moves the chilled iron from the platform scale to the corresponding material basket.

[0019] The dismantling robot grabs the cold iron from the material basket and transfers it to the shot blasting machine.

[0020] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0021] An electromagnet-operated cantilever crane delivers multiple chilled irons to the inlet of a vibrating feeder, which then feeds the chilled irons one by one onto a conveyor belt. Once the chilled irons reach a 3D vision camera, the camera detects their position coordinates and sends this information to a sorting robot. The sorting robot then moves the chilled irons to a platform scale. The scale determines the type of chilled iron based on its weight, and a palletizing robot moves the chilled irons from the scale to the corresponding baskets. Finally, a disassembly robot picks up the chilled irons from the baskets and transfers them to a shot blasting machine. This process eliminates the need for manual sorting and transport of chilled irons to the shot blasting machine, significantly improving work efficiency. Attached Figure Description

[0022] Figure 1 This is a brief introduction to five types of chills illustrated according to an exemplary embodiment of the present disclosure.

[0023] Figure 2 This is a top view of a flexible production line for intelligent unordered sorting and shot blasting of cold irons, according to an exemplary embodiment of this disclosure.

[0024] Figure 3 This is a top view of a sorting and palletizing device in a flexible shot blasting production line for intelligent unordered sorting of cold irons, according to an exemplary embodiment of this disclosure.

[0025] Figure 4 This is a top view of a shot blasting device in a flexible intelligent unordered sorting shot blasting production line for cold irons, according to an exemplary embodiment of this disclosure.

[0026] Figure 5 This is a schematic diagram of a robotic unit in a flexible production line for intelligent unordered sorting and shot blasting of cold irons, according to an exemplary embodiment of this disclosure.

[0027] Figure 6 This is a schematic diagram of an angle of a sorting robot in a flexible intelligent shot blasting production line for sorting cold irons, according to an exemplary embodiment of the present disclosure.

[0028] Figure 7 This is a schematic diagram from another angle illustrating a sorting robot in a flexible shot blasting production line for intelligent unordered sorting of cold irons, according to an exemplary embodiment of this disclosure.

[0029] Figure 8 This is a schematic diagram of an angle of a disassembly robot in a flexible production line for intelligent unordered sorting and shot blasting of cold irons, according to an exemplary embodiment of the present disclosure.

[0030] Figure 9 This is a schematic diagram from another angle illustrating a disassembly robot in a flexible production line for intelligent unordered sorting and shot blasting of cold irons, according to an exemplary embodiment of this disclosure.

[0031] Figure 10 This is a schematic diagram of a 3D vision camera in a flexible production line for intelligent unordered sorting of shot blasting of cold irons, according to an exemplary embodiment of the present disclosure.

[0032] Figure 11 This is a schematic diagram of a pallet assembly in a flexible shot blasting production line for intelligent unordered sorting of cold irons, according to an exemplary embodiment of this disclosure.

[0033] Figure 12 This is a flowchart illustrating a sorting and palletizing device in a flexible intelligent shot blasting production line for cold iron sorting, according to an exemplary embodiment of the present disclosure.

[0034] Figure 13 This is a flowchart illustrating a shot blasting equipment in a flexible intelligent unordered sorting shot blasting production line for cold irons, according to an exemplary embodiment of this disclosure.

[0035] Explanation of icon numbers:

[0036] 0. Robot unit; 1. Sorting and palletizing equipment;

[0037] 11. Electromagnetic cantilever crane; 12. Vibrating feeder; 13. Plate chain roller conveyor; 14. Sorting robot; 142. Sorting manipulator; 1421. Sorting connecting shaft; 1422. Sorting connecting plate; 1423. Sorting magnet; 1424. Sorting spring; 1426. Sorting bracket;

[0038] 15. 3D vision camera; 151. Mounting bracket; 152. Protective cover; 153. 3D camera;

[0039] 16. Platform scale; 17. Palletizing robot;

[0040] 2. Chopping and shot blasting equipment; 21. Chopping robot; 211. Chopping manipulator; 2111. Chopping connecting shaft; 2112. Chopping connecting plate; 2113. Chopping magnet; 2114. Chopping spring; 2115. Chopping bracket; 2116. Distance sensor; 2117. Camera light source; 2118. Chopping guide rod cylinder; 2119. Chopping gripper; 2110. 2D camera; 22. Shot blasting machine;

[0041] 3. Pallet assembly; 31. Upper pallet; 311. Positioning cone pin sleeve; 32. Lower pallet; 322. Limit switch; 33. Material basket; 331. Positioning pin sleeve. Detailed Implementation

[0042] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0043] In this disclosure, unless otherwise stated, directional terms such as "upper," "lower," "front," "rear," "left," and "right" are used for ease of description based on the drawing orientations of the corresponding figures, while "inner" and "outer" are defined based on the contours of the corresponding components themselves. Terms such as "first" and "second" used in this disclosure are used to distinguish one element from another and do not have sequential or importance implications. Furthermore, when the following description refers to the figures, unless otherwise indicated, the same numbers in different figures represent the same or similar elements.

[0044] Please see Figures 1 to 3In a first aspect, this disclosure provides a flexible intelligent unordered sorting and shot blasting production line for chills, including a sorting and palletizing device 1 and a disassembly and shot blasting device 2. The sorting and palletizing device 1 includes an electromagnet cantilever crane 11, a vibrating feeder 12, a plate chain roller conveyor 13, a sorting robot 14, a 3D vision camera 15, a platform scale 16, and a palletizing robot 17. The electromagnet cantilever crane 11 is located on one side of the inlet of the vibrating feeder 12 and is used to grab chills to the inlet of the vibrating feeder 12. The plate chain roller conveyor 13 is located on one side of the outlet of the vibrating feeder 12, and the 3D vision camera 15 is located on the plate chain roller conveyor 13 away from the vibrating feeder 12. On one side, a sorting robot 14 is located beside the plate chain roller 13 and is electrically connected to a 3D vision camera 15 to receive the position coordinate information of the cold iron to be grabbed. The sorting robot 14 is used to grab the cold iron onto the platform scale 16. The platform scale 16 is located between the sorting robot 14 and the palletizing robot 17 and is used to classify the cold iron. The palletizing robot 17 is used to grab the cold iron on the platform scale 16 and place it into the corresponding material basket 33. The chopping and shot blasting equipment 2 includes a chopping robot 21 and a shot blasting machine 22. The chopping robot 21 is used to grab the cold iron in the material basket 33 onto the conveyor belt of the shot blasting machine 22.

[0045] It is understood that chills are existing technology and will not be described in detail here. An electromagnetic cantilever crane 11 delivers multiple chills to the inlet of a vibrating feeder 12, which then feeds the chills one by one onto a plate chain conveyor 13. Once the chills reach the 3D vision camera 15, the camera detects their position coordinates and sends this information to a sorting robot 14. The sorting robot 14 then moves the chills onto a platform scale 16. The platform scale 16 then determines the type of chill based on its weight, and a palletizing robot 17 moves the chills from the platform scale 16 into the corresponding basket 33. A forklift then transfers the palletized basket 33 to a dismantling robot 21, which finally grabs the chills from the basket 33 and places them onto a shot blasting machine 22.

[0046] In one implementation, please refer to Figure 2 , Figure 3 and Figure 5 The sorting robot 14 includes a robot unit 0 and a sorting manipulator 142. The robot unit 0 is existing technology. Specifically, the robot unit 0 consists of a robot base, an industrial robot, and a cable package. The robot base is fixed to the ground with expansion bolts. The industrial robot is installed on the upper surface of the robot base. The air pipes and cables of the industrial robot's tool end go to the robot base through the cable package. The sorting, palletizing, and depalletizing operations all require the robot unit 0 to perform.

[0047] Please see Figures 3 to 7The sorting robot 142 includes a sorting connecting shaft 1421, a sorting connecting plate 1422, a sorting magnet 1423, a sorting spring 1424, a sorting guide rod, and a sorting bracket 1426. The two ends of the sorting connecting shaft 1421 are fixedly connected to the end face of the robot unit 0's arm and the sorting connecting plate 1422, respectively. The sorting bracket 1426 is fixedly connected to the side of the sorting connecting plate 1422 away from the end face of the robot unit 0's arm. The sorting guide rod is slidably connected to the fixing plate of the sorting magnet 1423 and fixedly connected to the sorting bracket 1426. The sorting spring 1424 is fixedly connected to both the fixing plate of the sorting magnet 1423 and the sorting bracket 1426. Flexibility refers to the floating connection of the sorting magnet through the spring and guide rod. This allows the sorting magnet 1423 to float between itself and the robot unit when gripping products, ensuring reliability and safety even with deviations in product dimensions and visual recognition tolerances. Disorder refers to the fact that the cold iron may be facing different directions when it comes out of the outlet of the vibrating feeder 12. The sorting magnet 1423 is a pneumatic magnet.

[0048] In one implementation, please refer to Figure 6 The sorting magnet 1423, sorting spring 1424, sorting guide rod and sorting bracket 1426 are in multiple sets. Multiple sorting brackets 1426 are fixed at intervals around the circumference of the sorting connecting plate 1422, which improves sorting efficiency.

[0049] In one implementation, please refer to Figure 2 , Figure 3 and Figure 10 The 3D vision camera 15 includes a fixed bracket 151, a protective cover 152, and a 3D camera 153. The fixed bracket 151 is fixed to the ground and has an L-shaped structure. The protective cover 152 is fixedly connected to the end of the fixed bracket 151 that is away from the ground. The 3D camera 153 is located inside the protective cover 152. A first sensor (photoelectric sensor) is located directly below the 3D camera 153. The first sensor is fixedly connected to the fixing part of the plate chain roller 13. The first sensor is used to sense the presence or absence of chills.

[0050] Specifically, the fixed bracket 151 is fixed to the ground with expansion bolts and installed at the rear end of the conveyor belt 13 in the conveying direction. The protective cover 152 protects the 3D camera 153. The 3D camera 153 performs visual recognition of the disorderly stacked workpieces and provides the coordinates to the sorting robot 14 after recognition, guiding the sorting robot 14 to grasp the chilled workpieces. The plate chain conveyor 13 consists of chain plates, chains, head wheel assembly, tail wheel assembly, frame, motor, reducer, photoelectric sensors, etc., and is responsible for the product conveying function.

[0051] Understandably, when the photoelectric sensor detects the chilled workpiece, the plate chain roller 13 stops, and the 3D camera 153 takes a picture for recognition. Once all the workpieces within the field of view of the 3D camera 153 have been removed, the plate chain roller 13 will restart.

[0052] In one embodiment, see Figures 2 to 5 as well as Figure 8 and Figure 9 The chopping robot 21 includes a robot unit 0 and a chopping manipulator 211. The robot unit 0 is existing technology and will not be described in detail here. The chopping manipulator 211 includes a chopping guide rod, a chopping connecting shaft 2111, a chopping connecting plate 2112, a chopping magnet 2113, a chopping spring 2114, a chopping bracket 2115, a distance sensor 2116, a 2D camera 2110, a camera light source 2117, two chopping guide rod cylinders 2118, and two chopping grippers 2119. The two ends of the chopping connecting shaft 2111 are fixedly connected to the end face of the arm of the robot unit 0 and the chopping connecting plate 2112, respectively. The chopping bracket 2115 is fixedly connected to the side of the chopping connecting plate 2112 away from the end face of the arm of the robot unit 0. The chopping guide rod is slidably connected to the fixing plate of the chopping magnet 2113 and to the chopping guide rod. The chopping bracket 2115 is fixedly connected, the chopping spring 2114 is fixedly connected to the fixing plate of the chopping magnet 2113 and the chopping bracket 2115 respectively, the ranging sensor 2116, the 2D camera 2110 and the camera light source 2117 are fixedly connected to the chopping connecting plate 2112 respectively, and the 2D camera 2110 and the camera light source 2117 are located in the middle of the chopping connecting plate 2112. The two chopping guide rod cylinders 2118 are fixedly connected to the two ends of the side of the chopping connecting plate 2112 near the end face of the robot unit 0 respectively. The two chopping guide rod cylinders 2118 are connected to the two chopping grippers 2119 respectively. The two chopping grippers 2119 are used to hold the material basket 33. Before grabbing the material basket 33, the distance sensor 2116 needs to detect the height of the material basket 33. After all the chilled iron workpieces in the material basket 33 have been taken out, the material basket 33 needs to be grabbed and placed on the other side, and then the workpieces in the next layer of material basket 33 are loaded.

[0053] In one embodiment, the disassembly magnet 2113 is an electro-permanent magnet or a pneumatic magnet. Because the electro-permanent magnet has strong magnetism, by magnetizing and demagnetizing the magnet with current, the electro-permanent magnet can grasp two workpieces at a time, greatly improving the loading efficiency.

[0054] In one implementation, please refer to Figure 8 The 2D camera 2110 is located within the ring of the camera light source 2117.

[0055] In one embodiment, the structure of the chopping robot is the same as that of the disassembly robot, and will not be described in detail here.

[0056] The vibrating material machine 12 consists of a vibrating motor, a vibrating trough, a frame, and rubber springs. The width of the vibrating material machine 12 is 800mm, and the discharge port is divided into two discharge ports. The vibrating material machine 12 drives the vibrating trough to vibrate through the vibrating motor, and vibrates the workpieces into two paths and successively onto the plate chain roller 13. The vibrating material capacity meets the requirement of vibrating out 400 pieces per hour.

[0057] In one embodiment, the number of sorting and palletizing devices 1 is multiple, which improves the efficiency of sorting and palletizing.

[0058] In one implementation, please refer to Figures 2 to 4 as well as Figure 11 The intelligent unordered sorting shot blasting flexible production line of Lengtie also includes five pallet components 3. The five pallet components 3 are spaced apart around the palletizing robot 17. The pallet components 3 include an upper pallet 31, a lower pallet 32 ​​and multiple material baskets 33. The lower pallet 32 ​​is fixedly connected to the ground, the upper pallet 31 is plugged into the lower pallet 32, and the multiple material baskets 33 are stacked in two rows on the upper pallet 31.

[0059] In one implementation, please refer to Figure 11 Conical positioning pins are installed at the four corners of the top of the lower tray 32, and positioning conical pin sleeves 311 are installed at the four corners of the bottom of the upper tray 31. The conical positioning pins are used to insert into the positioning conical pin sleeves 311. Limit switches 322 are installed at the four corners of the top of the lower tray 32. The limit switches 322 are located on the outside of the conical positioning pins. The material basket 33 is plugged into the upper tray 31. Positioning pin sleeves 331 are provided on both sides of the material basket 33. The positioning pin sleeves 331 are used for gripper gripping and positioning.

[0060] Understandably, the lower pallet 32 ​​is fixed to the ground with expansion bolts. The lower pallet 32 ​​has four conical positioning pins for docking and positioning with the positioning conical pin sleeves 311 of the upper pallet 31. There are also four limit switches 322. When the upper pallet 31 falls on the lower pallet 32, the four limit switches 322 simultaneously send signals to indicate that the upper pallet 31 is in the correct position. Otherwise, the system will trigger an alarm. There are eight conical pins on the upper pallet 31 for docking and positioning with the positioning conical pin sleeves 311 below the material basket 33. Two rows of material baskets 33 can be placed on the upper pallet 31, enabling the robot to stack the material baskets 33 back and forth. The material baskets 33 are also positioned with conical pins and pin sleeves. The positioning pin sleeves 331 on the side of the material basket 33 are used for gripping and positioning by the gripper.

[0061] In one embodiment, the shot blasting machine 22 consists of a conveying system, a shot blasting chamber, a shot blaster, a screw conveyor, a bucket elevator, a shot separator, a shot quantity control system, a maintenance platform and ladder, and a dust removal system. The conveying system comprises tracks, idlers, and shaft-mounted reducers. The steel track is made of steel chain and steel plate, with the steel plate material being rolled Mn13 and the steel chain material being 65Mn. This is a critical component of the entire conveying system, directly affecting the smoothness and efficiency of the conveying process. Therefore, the chamber is securely fixed to the main chamber during installation, ensuring a safe and reliable structure. The entire conveying process is continuous, improving work efficiency and reducing the labor intensity of workers. The track speed is variable frequency stepless speed regulation, with a maximum linear speed of 5m / min and forward and reverse rotation functions. The shot blasting chamber is welded from national standard profile plates, and the entire chamber is paved with 10mm rolled Mn13 plates. The internal connection between the auxiliary chambers is sealed with double-layered, 12-layer wear-resistant leather curtains to prevent shot splattering and provide a sealed compartment for dust removal caused by the large amount of dust generated during shot blasting. The roller conveyor inside the main chamber is protected by wear-resistant sleeves to extend its service life.

[0062] The electromagnet cantilever crane 11 consists of a chassis, support column, main beam, electric hoist, and buffer; two cantilever cranes are placed between two vibrating material machines 12 for manual feeding. A disc electromagnet is installed below the chain of the electric hoist. After the electromagnet attracts the mixed workpiece, it is placed into the trough of the vibrating material machine 12.

[0063] Secondly, a method for using a flexible intelligent unordered sorting shot blasting production line for chilled iron is provided, including:

[0064] The electromagnet cantilever crane 11 throws multiple cold irons into the inlet of the vibrating feeder 12, which is used to supply the cold irons one by one to the plate chain roller 13.

[0065] Once the cold iron reaches the 3D vision camera 15, the 3D vision camera 15 detects the position coordinates of the cold iron and sends the information to the sorting robot 14. The sorting robot 14 then moves the cold iron onto the platform scale 16.

[0066] The platform scale 16 determines the model of the cold iron based on its weight, and the palletizing robot 17 moves the cold iron on the platform scale 16 into the corresponding material basket 33.

[0067] The disassembly robot 21 grabs the cold iron in the material basket 33 and transfers it to the shot blasting machine 22.

[0068] This invention has been described through embodiments. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of this invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, this invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this invention.

Claims

1. A flexible intelligent unordered sorting and shot blasting production line for cold iron, characterized in that, The equipment includes a sorting and palletizing device (1) and a shot blasting and chopping device (2). The sorting and palletizing device (1) includes an electromagnet cantilever crane (11), a vibrating feeder (12), a plate chain roller conveyor (13), a sorting robot (14), a 3D vision camera (15), a platform scale (16), and a palletizing robot (17). The electromagnet cantilever crane (11) is located on one side of the inlet of the vibrating feeder (12) and is used to grab cold iron to the inlet of the vibrating feeder (12). The plate chain roller conveyor (13) is located on one side of the outlet of the vibrating feeder (12). The 3D vision camera (15) is located on the side of the plate chain roller conveyor (13) away from the vibrating feeder (12). The sorting robot (14) is located on the side of the plate chain roller conveyor (13). The sorting robot (14) is located on the side of the channel (13) and electrically connected to the 3D vision camera (15) to receive the position coordinate information of the cold iron to be grabbed. The sorting robot (14) is used to grab the cold iron onto the platform scale (16). The platform scale (16) is located between the sorting robot (14) and the palletizing robot (17) and is used to classify the cold iron. The palletizing robot (17) is used to grab the cold iron on the platform scale (16) and place it into the corresponding material basket (33). The chopping shot blasting equipment (2) includes a chopping robot (21) and a shot blasting machine (22). The chopping robot (21) is used to grab the cold iron in the material basket (33) onto the conveyor belt of the shot blasting machine (22).

2. The intelligent disordered sorting shot blasting flexible production line for cold irons according to claim 1, characterized in that, The sorting robot (14) includes a robot unit (0) and a sorting manipulator (142). The sorting manipulator (142) includes a sorting connecting shaft (1421), a sorting connecting plate (1422), a sorting magnet (1423), a sorting spring (1424), a sorting guide rod, and a sorting bracket (1426). The two ends of the sorting connecting shaft (1421) are fixedly connected to the end face of the arm of the robot unit (0) and the sorting connecting plate (1422), respectively. The sorting bracket (1426) is fixedly connected to the side of the sorting connecting plate (1422) away from the end face of the arm of the robot unit (0). The sorting guide rod is slidably connected to the fixing plate of the sorting magnet (1423) and fixedly connected to the sorting bracket (1426). The sorting spring (1424) is fixedly connected to the fixing plate of the sorting magnet (1423) and the sorting bracket (1426), respectively.

3. The intelligent disordered sorting shot blasting flexible production line for cold irons according to claim 2, characterized in that, The sorting magnet (1423), the sorting spring (1424), the sorting guide rod and the sorting bracket (1426) are in multiple sets, and multiple sorting brackets (1426) are fixed at intervals in the circumference of the sorting connecting plate (1422).

4. The intelligent disordered sorting shot blasting flexible production line for cold irons according to claim 1, characterized in that, The 3D vision camera (15) includes a fixed bracket (151), a protective cover (152), and a 3D camera (153). The fixed bracket (151) is fixed to the ground and has an L-shaped structure. The protective cover (152) is fixedly connected to the end of the fixed bracket (151) away from the ground. The 3D camera (153) is located inside the protective cover (152). A first sensor is provided directly below the 3D camera (153). The first sensor is fixedly connected to the fixing part of the plate chain roller (13). The first sensor is used to sense the presence or absence of chills.

5. The intelligent disordered sorting shot blasting flexible production line for cold irons according to claim 1, characterized in that, The chopping robot (21) includes a robot unit (0) and a chopping manipulator (211). The chopping manipulator (211) includes a chopping guide rod, a chopping connecting shaft (2111), a chopping connecting plate (2112), a chopping magnet (2113), a chopping spring (2114), a chopping bracket (2115), a distance sensor (2116), a 2D camera (2110), a camera light source (2117), two chopping guide rod cylinders (2118), and two chopping grippers (2119). The two ends of the chopping connecting shaft (2111) are fixedly connected to the end face of the arm of the robot unit (0) and the chopping connecting plate (2112), respectively. The chopping bracket (2115) is fixedly connected to the side of the chopping connecting plate (2112) away from the end face of the arm of the robot unit (0). The chopping guide rod is fixed to the plate of the chopping magnet (2113). The sliding connection is fixedly connected to the chopping bracket (2115). The chopping spring (2114) is fixedly connected to the fixing plate of the chopping magnet (2113) and the chopping bracket (2115). The distance sensor (2116), the 2D camera (2110), and the camera light source (2117) are fixedly connected to the chopping connecting plate (2112). The 2D camera (2110) and the camera light source (2117) are located in the middle of the chopping connecting plate (2112). The two chopping guide rod cylinders (2118) are fixedly connected to the two ends of the chopping connecting plate (2112) on the side near the arm end face of the robot unit (0). The two chopping guide rod cylinders (2118) are connected to the two chopping grippers (2119). The two chopping grippers (2119) are used to hold the material basket (33).

6. The intelligent disordered sorting shot blasting flexible production line for cold irons according to claim 5, characterized in that, The dismantling magnet (2113) is an electro-permanent magnet or a pneumatic magnet.

7. The intelligent disordered sorting shot blasting flexible production line for cold irons according to claim 5, characterized in that, The 2D camera (2110) is located within the ring of the camera light source (2117).

8. The intelligent disordered sorting shot blasting flexible production line for cold irons according to claim 1, characterized in that, The intelligent disordered sorting shot blasting flexible production line for cold iron also includes five pallet assemblies (3). The five pallet assemblies (3) are spaced apart around the palletizing robot (17). Each pallet assembly (3) includes an upper pallet (31), a lower pallet (32), and multiple material baskets (33). The lower pallet (32) is fixedly connected to the ground. The upper pallet (31) is plugged into the lower pallet (32). The multiple material baskets (33) are stacked in two rows on the upper pallet (31).

9. The intelligent disordered sorting shot blasting flexible production line for cold irons according to claim 8, characterized in that, The lower tray (32) has tapered positioning pins installed at the four corners of its top, and the upper tray (31) has positioning tapered pin sleeves (311) installed at the four corners of its bottom. The tapered positioning pins are used to insert into the positioning tapered pin sleeves (311). The lower tray (32) has limit switches (322) installed at the four corners of its top. The limit switches (322) are located on the outside of the tapered positioning pins. The material basket (33) is connected to the upper tray (31) by insertion. The material basket (33) has positioning pin sleeves (331) on both sides. The positioning pin sleeves (331) are used for gripper gripping and positioning.

10. A method for using a flexible intelligent unordered sorting and shot blasting production line for cold irons, characterized in that, include: The electromagnet cantilever crane (11) throws multiple cold irons into the inlet of the vibrating feeder (12), which is used to supply the cold irons one by one to the plate chain roller (13). Once the cold iron reaches the 3D vision camera (15), the 3D vision camera (15) detects the position coordinate information of the cold iron and sends the information to the sorting robot (14), which then moves the cold iron onto the platform scale (16). The platform scale (16) determines the model of the chilled iron based on its weight, and the palletizing robot (17) moves the chilled iron on the platform scale (16) into the corresponding material basket (33). The disassembly robot (21) grabs the cold iron in the material basket (33) and puts it onto the shot blasting machine (22).

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