An automatic recycling line for turnover base plates and its control method

Abstract

This invention discloses an automatic recycling line for turnover plates and its control method, relating to the field of automation equipment technology. The automatic recycling line includes a first conveying device, a turnover device, a second conveying device, a dust removal device, and a stacking device. The first conveying device is connected to the industrial production line and is used to receive turnover plates from the industrial production line. The turnover device is connected to the first conveying device and transfers the turnover plates from the first conveying device to the second conveying device. The second conveying device is connected to the industrial production line and is used to return the turnover plates to the industrial production line. The dust removal device is located on the first conveying device. The stacking device is located beside the second conveying device and uses an adsorption mechanism to grab the turnover plates on the second conveying device and stack them at a target location. By constructing an automatic recycling line for turnover plates that operates in conjunction with the industrial production line, the recycling path of the turnover plates is fixed and the operation process is automated.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to an automatic recycling line for turnover base plates and its control method. Background Technology

[0002] As the manufacturing industry continues to develop towards large-scale, automated, and flexible production, continuous conveying equipment such as roller conveyors, chain conveyors, and belt conveyors are widely used in the assembly, testing, transfer, and production processes of various industrial products. These industrial products include, but are not limited to, electrical complete machines (such as commercial refrigerators, washing machines, and dishwashers) and electromechanical equipment (such as power distribution cabinets, control cabinets, and frequency converter cabinets), which typically require multiple processes to be completed sequentially along the industrial production line during their production.

[0003] In the aforementioned industrial production lines, to ensure stable product load-bearing, posture maintenance, and standardized transport during the conveying process, turnover base plates, carriers, or pallets are typically installed on the conveying system to support the products. These turnover base plates, serving as intermediate load-bearing units between the products and the conveying equipment, need to move synchronously with the products during production line operation and are repeatedly recycled between multiple workstations.

[0004] In the existing production model, turnover base plates typically accompany products through predetermined assembly or inspection processes. When a product leaves the production line, moves to another process, or leaves the conveyor, the corresponding turnover base plate needs to be recycled from the current workstation and transported back to the upstream or starting workstation for continued use by subsequent products. For industrial products that are large in size, heavy in weight, or have complex structures, their corresponding turnover base plates often have large dimensions and high load-bearing strength. These products exhibit characteristics such as high recycling frequency, long circulation paths, and high requirements for operational continuity in the production line, placing high demands on the turnover base plate recycling method and system stability.

[0005] However, in existing technologies, the recycling of turnover plates still mainly relies on manual handling, manual pushing, or return using turnover carts. The overall level of automation is low, recycling paths are scattered and lack unified scheduling, making it difficult to effectively match the recycling process with the operation of industrial production lines. In recycling modes with significant manual involvement, not only are labor costs and intensity increased, but issues such as misalignment, accumulation, delayed return, or jamming of turnover plates during recycling are also prone to occur due to operational differences, information asymmetry, or improper management. These problems ultimately affect the continuous operating efficiency and overall stability of the industrial production line. Summary of the Invention

[0006] To address the technical problems in existing technologies, such as the low level of automation and inefficiency caused by the manual handling or reliance on trolleys for recycling turnover plates, the present invention aims to provide an automated turnover plate recycling line and its control method. This solution achieves automated recycling of turnover plates, which not only improves the efficiency and stability of turnover plate recycling and reintroduction into the industrial production line, but also enhances the overall automation level and flexibility of the industrial production line.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] In a first aspect, the present invention provides an automatic recycling line for turnover base plates, the automatic recycling line comprising:

[0009] A first conveying device is connected to an industrial production line and is used to receive turnover base plates from the industrial production line.

[0010] A turnover device is connected to the first conveying device, and the turnover device transfers the turnover base plate from the first conveying device to the second conveying device;

[0011] A second conveying device is connected to the industrial production line and is used to return the turnover base plate to the industrial production line.

[0012] A dust removal device is installed on the first conveying device, and the dust removal device cleans and removes dust from the upper surface of the turnover base plate;

[0013] A stacking device is provided next to a second conveying device. The stacking device uses an adsorption method to grab the turnover base plate on the second conveying device and stack it at the target position.

[0014] In a preferred embodiment of the first aspect, the dust removal device includes:

[0015] A cover, which is installed on the upper end face of the first conveying device;

[0016] A dust removal mechanism, comprising a dust removal frame, a roller brush motor, and at least one roller brush, wherein the dust removal frame is connected to the cover, and the roller brush is rotatably connected to the dust removal frame and driven to rotate by the roller brush motor; the roller brush is used to contact the upper surface of the turnover base plate;

[0017] The negative pressure dust collection assembly includes a negative pressure fan, a pipe, and multiple negative pressure suction heads. The multiple negative pressure suction heads are arranged side by side above the first conveying device. The multiple negative pressure suction heads are connected to the negative pressure fan through the pipe. The multiple negative pressure suction heads are used to adsorb dust and foreign objects on the turnover base plate under negative pressure.

[0018] The dust removal mechanism and the negative pressure dust collection assembly are arranged sequentially along the conveying direction of the first conveying device.

[0019] In a preferred embodiment of the first aspect, the stacking device includes:

[0020] A truss, wherein the truss is provided with a moving mechanism, the moving mechanism being capable of reciprocating along the length of the truss;

[0021] A lifting robot arm, wherein the lifting robot arm is connected to the moving mechanism, and the moving mechanism drives the lifting robot arm to move;

[0022] A vacuum suction cup assembly is connected to the lifting robot arm and is used to vacuum grip the turnover base plate.

[0023] In a preferred embodiment of the first aspect, the vacuum suction cup assembly includes:

[0024] A suction cup frame, which is fixedly connected to the lifting robot arm;

[0025] Multiple vacuum suction cups are arranged in a rectangular array and spaced apart from each other at the bottom of the suction cup frame;

[0026] Multiple limiting mechanisms are evenly distributed and connected to the suction cup frame, and the limiting mechanisms and the vacuum suction cup are staggered.

[0027] The multiple limiting mechanisms are configured to switch synchronously between a first position and a second position. In the first position, the multiple limiting mechanisms retract into the suction cup frame. In the second position, the multiple limiting mechanisms can limit the turnover base plate that is being suction-grabbed, specifically, they limit the left, right and bottom sides of the turnover base plate.

[0028] In a preferred embodiment of the first aspect, the limiting mechanism includes:

[0029] A limit cylinder, which is connected to the suction cup frame by mounting bracket bolts;

[0030] A fixing frame, which is fixedly connected to the limiting cylinder;

[0031] A swing arm, which is hinged to the fixed frame and hinged to the end of the movable shaft of the limiting cylinder;

[0032] A limiting component is fixedly connected to the swing arm and is used to limit the position of the turnover base plate.

[0033] In a preferred embodiment of the first aspect, the turnover device is a lifting platform for vertically transporting the turnover base plate between different heights; the turnover device includes:

[0034] The lifting frame has an inlet at the top of its side wall, which is connected to the first conveying device; an outlet at the bottom of its side wall, which is connected to the second conveying device; and a grid border is provided on the outer periphery of the lifting frame.

[0035] A lifting platform is provided inside the lifting frame, and the lifting platform is capable of vertically lifting relative to the lifting frame.

[0036] A lifting drive mechanism is provided on the lifting frame and connected to the lifting support platform, for driving the lifting support platform to move between different height positions;

[0037] The lifting platform is equipped with a roller conveyor assembly for carrying and transporting turnover base plates, and the lifting platform is also equipped with a centering mechanism.

[0038] In a preferred embodiment of the first aspect, the second conveying device is provided with a stop mechanism configured to switch between a third position and a fourth position;

[0039] When the stop mechanism is in the third position, it retracts into the second conveying device; when the stop mechanism is in the fourth position, it can stop the turnover base plate on the second conveying device, so that the turnover base plate can be held so that it can be adsorbed and grasped by the stacking device.

[0040] In a preferred embodiment of the first aspect, the automatic recycling line further includes:

[0041] A first sensor is installed in the turnover device, and the first sensor is used to output a first signal when a turnover base plate is detected in the turnover device.

[0042] The second sensor is disposed in the second conveying device and is used to output a second signal when a turnover base plate is detected in the second conveying device.

[0043] The third sensor is installed in the stacking device and is used to detect the stacking height of multiple turnover base plates at the target position and output a height signal.

[0044] Secondly, the present invention also provides a control method for an automatic recycling line for turnover base plates as described in the first aspect, characterized in that the control method includes the following steps:

[0045] When the first signal from the first sensor is acquired, the system continuously detects whether the second sensor outputs a second signal.

[0046] When the second sensor outputs a second signal, the stop mechanism of the second conveying device is instructed to switch to the fourth position and stop the turnover base plate.

[0047] The altitude signal is acquired in real time and compared with a preset altitude threshold.

[0048] When the height signal is less than the preset height threshold, the stacking device is instructed to use an adsorption method to grab the turnover base plate on the second conveying device and stack it at the target position.

[0049] When the height signal is equal to or greater than a preset height threshold, the stacking device is instructed to adsorb and grab the turnover base plate on the second conveying device and stack it in the candidate position.

[0050] In a preferred embodiment of the second aspect, the control method further includes:

[0051] Receives a feeding instruction sent by the industrial production line, the feeding instruction being used to instruct the automatic recycling line to deliver a turnover base plate to the industrial production line;

[0052] Within a preset period, determine whether the first signal from the first sensor has been received;

[0053] If the first signal is not received within the preset period, the stacking device is instructed to pick up the turnover base plate from the target position or alternative position and place it on the second conveying device.

[0054] The second conveying device is instructed to transport the turnover base plate to the industrial production line.

[0055] Compared with the prior art, the present invention has at least the following beneficial effects:

[0056] This invention provides an automated recycling line for turnover trays, comprising a first conveying device, a turnover device, a second conveying device, a dust removal device, and a stacking device. The first conveying device is connected to an industrial production line and is used to receive turnover trays from the industrial production line. The turnover device is connected to the first conveying device and transfers the turnover trays from the first conveying device to the second conveying device. The second conveying device is connected to the industrial production line and is used to return the turnover trays to the industrial production line. The dust removal device is located on the first conveying device and cleans and removes dust from the upper surface of the turnover trays. The stacking device is located beside the second conveying device and uses an adsorption mechanism to grab the turnover trays from the second conveying device and stack them at a target location.

[0057] To address the issues of existing industrial production lines where the recycling of reusable floor trays relies primarily on manual labor or trolleys, with fragmented recycling paths and difficulty in synchronizing with refrigeration unit production, this solution establishes an independent automated reusable floor tray recycling line within the industrial production line. This transforms the previously scattered and discontinuous recycling process into an automated return process that operates in tandem with the production line. After leaving the refrigeration unit, the floor trays can directly enter the first conveyor, completing the recycling process without manual handling, thus reducing the uncertainty caused by human intervention at the source. During the recycling process, the reusable floor trays are automatically transferred between different conveyor sections via a transfer device, ensuring a stable flow along a preset path and ultimately returning to the industrial production line via the second conveyor. This automated recycling line avoids the misalignment, jamming, or accumulation of floor trays caused by manual operation or temporary stacking in existing technologies, thereby ensuring the continuous operation of the industrial production line.

[0058] Simultaneously, this solution involves cleaning the turnover base plates at the recycling inlet. A dust removal device cleans the upper surface of the base plates, ensuring they are clean and ready for reuse after recycling. On one hand, this process does not rely on additional manual labor or independent procedures, effectively reducing the adverse effects of impurities on the base plate surface on subsequent assembly and inspection processes. On the other hand, cleaning the surface of the turnover base plates improves the reliability and safety of the stacking device's adsorption and gripping capabilities.

[0059] By configuring a stacking device next to the second conveyor, automatic stacking and centralized storage of turnover base plates are achieved. When production on the industrial production line fluctuates or when there is no need to return the base plates for a short period of time, the base plates can be stacked in an orderly manner at the target location, thereby forming a buffer zone between the recycling system and the production line, improving the adaptability of the entire production line to load changes and cycle adjustments. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the structure of an automatic recycling line for a turnover base plate according to the present invention;

[0061] Figure 2 This is an assembly diagram of an automatic recycling line for a turnover base plate according to the present invention.

[0062] Figure 3 This is a front view of an automatic recycling line for a turnover base plate according to the present invention;

[0063] Figure 4 This is a schematic diagram of the AA cross-section of an automatic recycling line for a turnover base plate according to the present invention;

[0064] Figure 5 This is a schematic diagram of the stacking device of an automatic recycling line for turnover base plates according to the present invention.

[0065] Figure 6This is a schematic diagram of the limiting mechanism of an automatic recycling line for a turnover base plate according to the present invention.

[0066] Figure 7 This is a flowchart illustrating the control method for an automatic recycling line of a turnover base plate according to the present invention.

[0067] In the picture:

[0068] 100 - First conveying device, 110 - Lifting and transferring machine, 120 - Roller conveyor;

[0069] 200-Turnover device;

[0070] 300 - Second conveying device;

[0071] 500 - Dust removal device;

[0072] 600-Stacking device, 610-Truss, 611-Moving mechanism, 620-Lifting manipulator, 630-Vacuum suction cup assembly, 631-Limiting mechanism. Detailed Implementation

[0073] To facilitate understanding of the present invention, the technical solutions and advantages of the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Any mechanisms or methods not elaborated in this invention can be referred to in the prior art. The specific structures and features of the present invention are illustrated below by way of example and should not be construed as limiting the present invention in any way. Furthermore, any of the technical features mentioned below (including implicit or disclosed features), as well as any technical features directly shown or implied in the figures, can be arbitrarily combined or deleted among these technical features to form more other embodiments that may not be directly or indirectly mentioned in this invention. The accompanying drawings show preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention.

[0074] In this embodiment, an industrial production line refers to an automated, continuous assembly line system used to realize the assembly, testing, transfer, and unloading of various industrial products (including but not limited to home appliances, electromechanical equipment, etc.), typically including a conveyor line. On this industrial production line, a turnover base plate serves as a carrier between the product and the conveyor line, ensuring stable support and movement of the product between various workstations.

[0075] Example 1

[0076] like Figure 1-6 As shown in the figure, Embodiment 1 of this application provides a preferred structural diagram of an automatic recycling line for turnover base plates;

[0077] like Figure 1 As shown, the automated recycling line includes a first conveying device 100, a turnover device 200, a second conveying device 300, a dust removal device 500, and a stacking device 600. The first conveying device 100 is connected to the industrial production line and is used to receive turnover plates from the industrial production line. The turnover device 200 is connected to the first conveying device 100 and transfers the turnover plates from the first conveying device 100 to the second conveying device 300. The second conveying device 300 is connected to the industrial production line and is used to return the turnover plates to the industrial production line. The dust removal device 500 is located on the first conveying device 100 and cleans and removes dust from the upper surface of the turnover plates. The stacking device 600 is located beside the second conveying device 300 and uses an adsorption mechanism to grab the turnover plates on the second conveying device 300 and stack them at the target location.

[0078] In some embodiments, the first conveying device 100 is located downstream of the industrial production line to receive the turnover base plates that have left the conveyor line after the industrial production line has completed its processes. Preferably, the first conveying device 100 is a roller conveyor structure, capable of carrying the turnover base plates used in the refrigerated display cases and ensuring that the base plates move smoothly during the conveying process. The first conveying device 100 serves as the inlet for the turnover base plate recycling, guiding the turnover base plates from the industrial production line into the automatic recycling line, ensuring that the turnover base plates enter the recycling process sequentially and smoothly, and avoiding misalignment or accumulation caused by manual handling.

[0079] In some embodiments, the second conveying device 300 is located upstream of the industrial production line and is responsible for returning the turnover plates to the starting position or a designated upstream position of the industrial production line. The second conveying device 300 preferably employs a roller conveyor structure similar to the first conveying device 100. The second conveying device 300 achieves the orderly return of the turnover plates, ensuring that the turnover plates can be supplied to the industrial production line in a timely and continuous manner, thereby supporting the continuous operation of the industrial production line and reducing manual intervention.

[0080] In this embodiment, the first conveying device 100 and the second conveying device 300 are directly connected to the industrial production line to construct a return channel for the turnover base plates. Compared to existing decentralized recycling methods that rely on manual labor or turnover carts, this automatic recycling line enables the turnover base plates to automatically return to the upstream or starting station along a fixed path after they have finished off the line or left the workstation, thereby realizing the turnover base plate recycling process and significantly improving the overall recycling efficiency and operational continuity.

[0081] In some embodiments, the turnover device 200 of this application is used to transfer turnover base plates between the first conveying device 100 and the second conveying device 300. It achieves automatic switching and transition of the turnover base plates under different conveying directions or heights, avoiding the risks of instability, displacement, or collision caused by manual handling or multiple loading and unloading operations. This improves the conveying stability of the turnover base plates during the recycling process and reduces the probability of interference with the production line operation due to jamming or misalignment. For example, the turnover device 200 can employ methods such as inclined conveying, robotic arms, roller tilting, or lifting to achieve automatic transfer of the turnover base plates in the required direction, position, or height.

[0082] In some embodiments, a dust removal device 500 is positioned above the first conveying device 100 to clean and remove dust from the upper surface of the base plate. The dust removal device 500 can employ air blowing, brushing, or vibration cleaning methods to remove impurities and dust from the base plate surface before recirculation. Cleaning the base plate reduces the impact of impurities on the refrigerator assembly, testing, or other production processes, while also extending the base plate's lifespan and improving the overall hygiene and equipment safety of the production line.

[0083] Furthermore, in this embodiment of the application, a dust removal device 500 is integrated into the first conveying device 100 to perform online cleaning treatment on the upper surface of the recycled turnover base plate. This ensures the reliability of the turnover base plate being adsorbed and grasped during stacking, and that it is in a relatively clean state before being returned to the industrial production line. It also reduces the secondary introduction of dust and debris into the production line, avoiding potential impacts on the appearance quality of the freezer and subsequent processes, thereby improving the quality stability and consistency of the entire production line.

[0084] In some embodiments, a stacking device 600 is disposed beside the second conveyor 300 for temporary storage or buffering of returned turnover trays. The stacking device 600 uses an adsorption or mechanical gripping method to pick up the turnover trays from the second conveyor 300 and stack them at a designated target location. The stacking device 600 provides buffering storage when fluctuations occur in the industrial production line, preventing turnover trays from piling up or becoming congested during transport. Simultaneously, orderly stacking facilitates subsequent batch supply to the industrial production line, improving the adaptability of the automated recycling line to different production cycles.

[0085] For example, the stacking device 600 is located beside the second conveying device 300 and automatically stacks the turnover base plates through an adsorption gripping method, realizing the centralized and orderly storage of the turnover base plates. This structure not only reduces the disorderly accumulation and space occupation of turnover base plates at the return end, but also facilitates subsequent unified scheduling and reuse, thereby improving the management efficiency of turnover base plates and the space utilization rate of the production site.

[0086] In summary, the various technical units form an integrated automated recycling line around the "automatic recycling—cleaning—orderly return—centralized stacking" of the turnover pads. This transforms the turnover pad recycling process from the original manual, discrete operation to an automated, continuous, and standardized operation mode. While reducing labor costs and labor intensity, it effectively improves the operational stability, cycle time consistency, and overall automation level of the industrial production line.

[0087] Specifically, the embodiments of this application will provide a detailed structural description of each device through the following explanation.

[0088] In a specific implementation, the first conveying device 100 includes a lifting and transferring machine 110 and a roller conveyor 120. The lifting and transferring machine 110 is installed in the conveyor line of the industrial production line, and the roller conveyor 120 is installed beside the lifting and transferring machine.

[0089] Specifically, the lifting and transferring machine 110 is installed in the conveyor line of the industrial production line. Its main purpose is to lift the turnover base plate from the conveyor line plane after it leaves the production line or completes its workstation, thus achieving horizontal transfer or position adjustment of the turnover base plate. Through the lifting action, the turnover base plate can detach from the conveyor line and enter the recycling process.

[0090] In this embodiment, the lifting and transferring machine 110 is installed in the conveyor section of the industrial production line to separate the turnover base plate from the production line conveyor and transport it to the roller conveyor 120 of the first conveying device 100. The lifting and transferring machine 110 mainly includes a lifting mechanism and multiple belt-type translation modules. The lifting mechanism is located inside the conveyor line, and the multiple belt-type translation modules are distributed at intervals between the rollers of the conveyor line.

[0091] For example, the lifting mechanism is located inside the conveyor section of an industrial production line, preferably in the space below the rollers of the conveyor line. The lifting mechanism can take the form of a cylinder, an electric push rod, or a servo lifting mechanism to provide vertical lifting driving force. The top of the lifting mechanism is connected to multiple belt-type translation modules, which can synchronously drive the multiple belt-type translation modules to rise and fall as a whole in the vertical direction when the lifting mechanism is in motion.

[0092] For example, multiple belt-type translation modules are spaced apart along the conveying direction of the industrial production line and embedded in the gaps between the rollers of the production line. The conveying direction of each belt-type translation module faces the roller conveyor side of the first conveying device 100. When the lifting mechanism is in its initial position, the upper surface of the belt-type translation module is lower than or flush with the conveying surface of the production line rollers, which does not affect the normal conveying of the turnover base plate along the production line; after the lifting mechanism is started, the multiple belt-type translation modules are lifted upward under the synchronous drive of the lifting mechanism, and their upper surfaces are higher than the conveying surface of the production line rollers, thereby supporting and carrying the turnover base plate located thereon.

[0093] The working principle of the first conveying device 100 is as follows: After the turnover base plate is conveyed along with the industrial production line and reaches the designated diversion position, the lifting mechanism starts and moves upward, driving multiple belt-type translation modules to rise as a whole, raising the conveying surface of the belt-type translation modules to a height higher than the roller conveying surface of the conveyor line. At this time, the turnover base plate is lifted off the production line rollers and removed from the original conveying path. Subsequently, the belt-type translation modules start, smoothly conveying the turnover base plate in the lateral direction to the roller conveyor set on the side, realizing the separation and transfer of the turnover base plate from the industrial production line to the automatic recycling line. Through the above structure and action coordination, the lifting and transfer machine 110 can realize the automatic diversion and transfer of turnover base plates without interfering with the continuous operation of the industrial production line, avoiding the instability factors caused by manual handling or pushing methods.

[0094] like Figure 2 As shown, the dust removal device 500 is installed on the top of the roller conveyor of the first conveying device 100. In this embodiment, the dust removal device 500 is installed on the top of the roller conveyor of the first conveying device 100 and extends along the conveying direction of the first conveying device 100, and is used to perform surface cleaning treatment on the turnover base plate entering the automatic recycling line.

[0095] In some specific implementations, the dust removal device 500 includes a hood, a dust removal mechanism, and a negative pressure dust collection assembly.

[0096] For example, a cover is installed on the upper surface of the first conveying device 100 and covers the roller conveyor to define the dust removal operation area. The cover reduces dust spillage during the dust removal process and provides stable installation space for the internal dust removal mechanism and negative pressure suction assembly.

[0097] For example, the dust removal mechanism includes a dust removal frame, a roller brush motor, and at least one roller brush. The dust removal frame is fixedly connected inside the housing and serves to support and position the roller brush motor and the roller brush. The roller brush is rotatably connected to the dust removal frame and is driven to rotate by the roller brush motor. The roller brush is positioned so that it can contact the upper surface of the turnover base plate in the working state. As the turnover base plate passes through the dust removal area with the roller conveyor, the roller brush rotates under the drive of the roller brush motor, and removes dust, debris, and other foreign matter adhering to the upper surface of the turnover base plate through a brushing action.

[0098] For example, the negative pressure dust collection assembly includes a negative pressure fan, ducts, and multiple negative pressure suction heads. The multiple negative pressure suction heads are arranged side-by-side above the first conveying device 100 and downstream of the dust collection mechanism. Each negative pressure suction head is connected to the negative pressure fan via a duct to form a stable negative pressure adsorption airflow when the negative pressure fan is operating. On one hand, after the roller brush picks up dust and foreign objects from the surface of the turnover base plate, the negative pressure suction heads immediately adsorb the suspended or loose dust and transport it through the duct to the negative pressure fan for centralized processing, thereby preventing dust from re-adhering to the turnover base plate surface or spreading into the production environment. On the other hand, the negative pressure suction heads are also used for secondary cleaning of the turnover base plate surface. Through the synergistic effect of brushing and adsorption, efficient cleaning of the upper surface of the turnover base plate is achieved.

[0099] Since the subsequent stacking device 600 uses vacuum adsorption to grab and stack the turnover base plates, if dust, debris, or particulate matter adheres to the surface of the base plates, it can easily lead to poor sealing of the adsorption surface, resulting in insufficient adsorption force, grabbing failure, or the base plates falling off. By setting up a dust removal device 500 at the front end of the recycling process and actively cleaning the surface of the turnover base plates, the sealing performance and stability of the stacking device 600 during vacuum adsorption can be effectively improved, thereby ensuring the reliable operation of the stacking device 600 and reducing the risk of stacking abnormalities and line stoppages.

[0100] The dust removal device 500 uses a combination of roller brushes and negative pressure suction to simultaneously clean dust and foreign objects from the surface of the turnover base plate, keeping it relatively clean before it enters stacking or is returned to the industrial production line. This technology effectively prevents dust and debris from being brought back into the industrial production line with the turnover base plate, reducing secondary diffusion of dust in the production line rollers, conveyor components, and workstation areas.

[0101] like Figure 2 As shown, in some embodiments, the turnover device 200 is a lifting platform for vertically transferring the turnover base plate between different heights. The turnover device 200 includes a lifting frame, a lifting support platform, and a lifting drive mechanism.

[0102] For example, the lifting frame is an integral frame structure used to provide guidance and support for the lifting platform. An inlet is provided at the top of the side wall of the lifting frame, which connects to the discharge end of the first conveying device 100 to receive the turnover base plates conveyed by the first conveying device 100. An outlet is provided at the bottom of the side wall of the lifting frame, which connects to the inlet of the second conveying device 300 to output the turnover base plates, after height conversion, to the second conveying device 300.

[0103] In some implementations, a grid border is provided around the outer perimeter of the lifting frame. The grid border is used to enclose and protect the lifting area, preventing the turnover base plate from falling off laterally during the lifting process without affecting visual observation, and improving the safety of equipment operation.

[0104] For example, the lifting platform is installed inside the lifting frame and can move vertically relative to the lifting frame. The upper surface of the lifting platform is used to support the turnover base plate, and its dimensions match the shape of the turnover base plate to ensure the stability of the base plate during the load-bearing process.

[0105] Specifically, when the lifting platform is at the top of the lifting frame, its height is adapted to the conveying surface of the first conveying device 100, so that the turnover plate can smoothly enter the lifting platform from the first conveying device 100; when the lifting platform is lowered to the bottom position, its height is adapted to the conveying surface of the second conveying device 300, so that the turnover plate can smoothly output from the lifting platform to the second conveying device 300.

[0106] For example, a lifting drive mechanism is mounted on the lifting frame and connected to the lifting platform, used to drive the lifting platform to move between different height positions. The lifting drive mechanism can use a motor in conjunction with a chain, wire rope, synchronous belt, or lead screw to achieve stable lifting of the lifting platform. Through precise control of the lifting drive mechanism, the lifting platform can reciprocate between the inlet and outlet positions, thereby completing the vertical transfer of the turnover plate between different heights.

[0107] The working principle of the turnover device 200 is as follows: After the turnover base plate is conveyed to the elevator inlet by the first conveyor device 100, the lifting platform is at the same height as the conveying surface of the first conveyor device 100, allowing the turnover base plate to smoothly enter the lifting platform. Subsequently, the lifting drive mechanism is activated, driving the lifting platform to descend vertically to a position level with the conveying surface of the second conveyor device 300. When the lifting platform reaches the target height, the turnover base plate is output from the lifting platform and enters the second conveyor device 300, completing one height conversion process. Through the above actions, the turnover base plate can be stably transferred between conveying systems of different heights without tilting, flipping, or manual handling. This elevator structure makes the transfer path of the turnover base plate clear and controlled, effectively avoiding slippage, collision, and jamming problems caused by direct pushing due to height differences or inclined conveying.

[0108] In a preferred embodiment, the lifting platform is equipped with a roller conveyor assembly for carrying and transporting the turnover base plate, and the lifting platform is further equipped with a centering mechanism to improve the stability and docking reliability of the turnover base plate during lifting and transfer.

[0109] For example, a roller conveyor assembly is disposed on the upper surface of the lifting platform for carrying and conveying turnover plates. The roller conveyor assembly includes a plurality of rollers arranged along the conveying direction of the turnover plates, and the roller axes are aligned with the roller axes of the first conveying device 100 and the second conveying device 300.

[0110] Specifically, when the lifting platform is at the same height as the first conveying device 100, the roller conveyor assembly and the first conveying device 100 form a continuous conveying surface, allowing the turnover base plate to enter the lifting platform smoothly; when the lifting platform moves to the same height as the second conveying device 300, the roller conveyor assembly and the second conveying device 300 form a continuous conveying surface, allowing the turnover base plate to be output smoothly.

[0111] In this embodiment, a centering mechanism is disposed on the lifting platform to laterally correct the position of the turnover plate after it enters the platform, ensuring it is in a preset centered position. For example, the centering mechanism may include guide members or movable limiting members disposed on both sides of the lifting platform. When the turnover plate enters the platform, its positional deviation is gradually corrected under the guidance or limiting action, ensuring that the turnover plate remains aligned with the roller conveyor direction throughout the lifting and output process.

[0112] Since the turnover base plate may have a certain positional offset or rotation angle during the previous stage of conveying or recycling, the centering mechanism automatically corrects the position and angle of the turnover base plate to avoid interference between the turnover base plate and the lifting frame, grid frame or conveying device during the lifting process, thereby ensuring the safety and stability of the elevator operation.

[0113] In one specific implementation, a centering mechanism is installed on the lifting platform to automatically correct the position of the turnover base plate in the lateral direction after it enters the lifting platform, so that the turnover base plate remains centered during lifting and conveying.

[0114] For example, the centering mechanism mainly includes a symmetrically arranged centering guide assembly and a centering drive assembly. The centering guide assembly includes at least a first guide member and a second guide member disposed on both sides of the lifting platform. The first guide member and the second guide member extend along the conveying direction of the roller conveyor assembly and are located on the left and right sides of the roller conveyor assembly, respectively. The first guide member and the second guide member adopt guide baffles, with the side facing the turnover base plate serving as a guide surface for contacting the side edge of the turnover base plate.

[0115] Furthermore, the centering drive assembly can be located below or to the side of the lifting platform, employing two electric actuators to provide the driving force required for the centering action. The electric actuators can be connected to the first or second guide member via mounting brackets, enabling them to move synchronously in opposite directions.

[0116] In this embodiment, the second conveying device 300 is provided with a stop mechanism, which is configured to switch between a third position and a fourth position. In the third position, the stop mechanism retracts within the second conveying device 300; in the fourth position, the stop mechanism can stop the turnover base plate on the second conveying device 300, causing the turnover base plate to remain stationary for being gripped by the stacking device 600.

[0117] In this embodiment, the second conveying device 300 is used to carry and transport the turnover base plate returned by the turnover device 200. To coordinate with the stacking device 600 for stable adsorption and gripping of the turnover base plate, a stop mechanism is provided on the second conveying device 300. Specifically, the second conveying device 300 also adopts a roller conveyor structure.

[0118] In one specific implementation, the stop mechanism includes a stop plate, a stop drive assembly, and a guide assembly. The stop plate is positioned in the conveying direction of the second conveying device 300 (roller conveyor) and can extend or retract vertically. The lower edge of the stop plate is parallel to the upper surface of the roller of the second conveying device 300 (roller conveyor). When extended, it is located on the forward path of the turnover base plate to block it; when retracted, the stop plate is completely hidden within the frame of the second conveying device 300 (roller conveyor) and does not interfere with the rotation of the roller or the conveying of the turnover base plate.

[0119] For example, the stop drive assembly can be extended and retracted using a cylinder or an electric actuator. In this preferred embodiment, a double-acting cylinder is used, with one end of the cylinder fixed to the conveyor frame and the piston rod fixedly connected to the stop plate via a connecting plate.

[0120] Furthermore, to ensure stable and linear movement of the stop plate during extension and retraction, guide rails or guide sleeves are installed on both sides of the stop plate and fixedly connected to the conveyor frame. The guide components also serve a supporting function.

[0121] It should be noted that the stopping mechanism has at least two states:

[0122] (1) Third position (contraction position): The stop plate is completely retracted to the inside of the roller conveyor frame, the stop surface is lower than the upper surface of the roller, and the turnover bottom plate can pass continuously.

[0123] (2) Fourth position (stop position): The stop plate extends to the forward path of the turnover base plate, and the stop surface is higher than the upper surface of the roller, so that the turnover base plate is reliably blocked and stops at the preset gripping position.

[0124] The working principle of the stop mechanism is as follows: The turnover base plate moves forward with the roller conveyor. When stacking of the current turnover base plate is required, the control system of the automatic recycling line sends a signal, activating the stop drive assembly. The stop plate switches from the retracted position to the extended position. The turnover base plate stops moving after its front end contacts the stop surface of the stop plate, ensuring precise stopping on the second conveyor 300. The stacking device 600 performs a suction gripping action, lifting the turnover base plate away from the roller conveyor. After the turnover base plate is gripped away, the stop plate switches back to the retracted position, preparing for the conveying of the next base plate.

[0125] like Figure 5 As shown, the stacking device 600 includes a truss 610, a lifting robot 620, and a vacuum suction cup assembly 630. The truss 610 is equipped with a moving mechanism 611, which can reciprocate along the length of the truss 610. The lifting robot 620 is connected to the moving mechanism 611, and the moving mechanism 611 drives the lifting robot 620 to move. The vacuum suction cup assembly 630 is connected to the lifting robot 620 and is used for vacuum gripping of the turnover base plate.

[0126] In this embodiment, the truss 610 is an integral support frame used to support the lifting robot 620 and its moving mechanism 611. The moving mechanism 611 is provided along the length of the truss 610, and the moving mechanism 611 can reciprocate along the length of the truss 610, providing the lifting robot 620 with horizontal movement freedom.

[0127] For example, truss 610 is constructed from two parallel gantry frames. The two gantry frames are arranged parallel to each other along the length of truss 610, with their bottom ends fixed to the ground or workbench, and their tops connected by crossbeams to form a stable support structure. The gantry frames can be made of welded steel.

[0128] The moving mechanism 611 includes two parallel linear guide rails mounted on top of the truss 610, arranged along the length of the truss 610. The linear guide rails provide horizontal guidance and motion support for the moving mechanism 611, ensuring the stability and accuracy of the lifting robot 620 during movement. The moving mechanism 611 also includes a wheeled moving base, which is mounted on the linear guide rails via two sets of moving wheels and can move along the linear guide rails. The wheeled moving base is equipped with a servo motor and a sprocket drive mechanism. The sprocket drive mechanism is connected to the axles of the two sets of moving wheels, and the servo motor synchronously drives the two sets of moving wheels to move forward or backward.

[0129] Specifically, the control system of the automatic recycling line sends movement commands to the servo motor, which drives the sprocket transmission mechanism to rotate. The sprocket transmission mechanism transmits rotational torque to the axle of the moving wheel, causing the moving wheel to roll on the linear guide rail, thus moving the wheeled moving seat along the length of the truss 610. The lifting robot 620 is fixed to the wheeled moving seat and moves synchronously with it, thereby bringing the vacuum suction cup assembly 630 above the preset turnover base plate on the second conveying device 300.

[0130] like Figure 5 As shown, the lifting robot 620 comprises a rigid frame structure formed by welding multiple square tubes, used to support the lifting cylinders and the vacuum suction cup assembly 630. Mounting plates are welded to the four corners of the frame, for a total of four mounting plates. One lifting cylinder is fixedly mounted on each mounting plate, for a total of four lifting cylinders. The piston rods of the lifting cylinders are connected to the suction cup frame of the vacuum suction cup assembly 630.

[0131] like Figure 5 As shown, the vacuum suction cup assembly 630 includes a suction cup frame, multiple vacuum suction cups, and multiple limiting mechanisms 631. The suction cup frame is fixedly connected to the lifting robot 620. The multiple vacuum suction cups are arranged in a rectangular array at intervals on the bottom of the suction cup frame. The multiple limiting mechanisms 631 are evenly distributed and connected to the suction cup frame, and the limiting mechanisms 631 are staggered from the vacuum suction cups.

[0132] Among them, multiple limiting mechanisms 631 are configured to switch synchronously between a first position and a second position. When in the first position, the multiple limiting mechanisms 631 retract into the suction cup frame. When in the second position, the multiple limiting mechanisms 631 can limit the turnover base plate that is being suction-grabbed, specifically, they can limit the left side, right side and bottom of the turnover base plate.

[0133] In this embodiment, the suction cup frame is fixedly connected to the lower end of the lifting robot 620, serving as a supporting structure for the vacuum suction cup and the limiting mechanism 631. The suction cup frame can move synchronously with the vertical and horizontal movement of the lifting robot 620.

[0134] Specifically, multiple vacuum suction cups are arranged in a rectangular array at the bottom of the suction cup frame, spaced apart from each other, to uniformly adsorb the upper surface of the turnover base plate. The vacuum suction cups are connected to a vacuum pump or vacuum source through pipelines to achieve the adsorption and release of the turnover base plate.

[0135] It should be noted that the limiting mechanisms 631 are evenly distributed and installed on the suction cup frame, and are staggered from the vacuum suction cups. Each limiting mechanism 631 is used to provide lateral and / or longitudinal constraints on the turnover base plate during the gripping process.

[0136] like Figure 6As shown, in one specific embodiment, each limiting mechanism 631 includes a limiting cylinder, a fixed frame, a swing arm, and a limiting component. The limiting cylinder is bolted to the suction cup frame via a mounting seat. The fixed frame is fixedly connected to the limiting cylinder. The swing arm is hinged to the fixed frame and to the movable shaft end of the limiting cylinder. The limiting component is fixedly connected to the swing arm and is used to limit the movement of the turnover base plate.

[0137] In practical implementation, the mounting base is fixedly connected to the suction cup frame via bolts, serving as the power source for the limiting mechanism 631. The piston rod of the limiting cylinder is used to drive the rotation or swinging motion of the swing arm, thereby extending and retracting the limiting component.

[0138] In practical implementation, the fixed frame is fixedly connected to the limiting cylinder, providing structural support for the limiting mechanism 631. The fixed frame is a rigid structure used to support the hinge of the swing arm and ensure the stability of the limiting action.

[0139] In practice, one end of the swing arm is connected to the fixed frame via a hinge, and the other end is connected to the movable shaft end of the limiting cylinder via a hinge. The swing arm can swing around the hinge point under the push of the limiting cylinder, realizing the movement of the limiting component from the retracted position to the extended position.

[0140] In practice, the limiting component is fixedly connected to the end of the swing arm to contact and limit the movement of the turnover base plate. The position and angle of the limiting component are designed to adapt to the size and thickness of the turnover base plate, achieving three-way constraint on the left, right, and bottom sides. In some embodiments, the limiting component is a metal component with an L-shaped cross-section.

[0141] Specifically, the limiting mechanism 631 can switch between the first position and the second position, as follows:

[0142] (1) Retracted state (first position): The limit cylinder retracts the piston rod, the swing arm retracts along the hinge point of the fixed frame, and the limit component is pulled back to the side of the suction cup frame to move away from the turnover base plate. In this state, the turnover base plate can freely contact the vacuum suction cup for adsorption without interference from the limit component.

[0143] (2) Extended state (second position): The piston rod of the limit cylinder extends, driving the swing arm to swing around the fixed hinge point, so that the limit member extends to the side of the turnover base plate. The multiple limit members of the multiple limit mechanisms 631 form a three-way constraint on the side of the turnover base plate to prevent the turnover base plate from falling off during the gripping and handling process.

[0144] The working principle of the vacuum suction cup assembly 630 is as follows: Before gripping, the lifting robot 620 moves the vacuum suction cup assembly 630 above the turnover base plate where the stop mechanism of the second conveying device 300 is stopped. The limiting mechanism 631 is in the first retracted position, providing space for the turnover base plate to freely contact the material. During the gripping action, the lifting robot 620 descends, and the vacuum suction cup contacts the upper surface of the turnover base plate and initiates suction. After the turnover base plate is firmly suctioned, the lifting robot 620 rises a fixed distance, instructing the limiting mechanism 631 to switch to the second position, extending to the left, right, and below the turnover base plate, fixing the turnover base plate below the suction cup frame to prevent slippage or tilting during gripping. The lifting robot 620 drives the vacuum suction cup assembly 630 to lift the turnover base plate and move it along the truss 610 to above the target stacking position. After the lifting robot 620 descends to a certain stroke, the limiting mechanism 631 resets and retracts, releasing the limit on the turnover base plate. The lifting robot 620 continues to descend until it reaches the stacking position, at which point the vacuum suction cup releases the turnover base plate, completing the stacking.

[0145] Example 2

[0146] The purpose of this second embodiment is to provide a control system for an automated recycling line. This control system includes a central controller, multiple control modules, and a sensor cluster. Specifically, the central controller can be a PLC, an industrial computer, or an embedded controller, used for centralized control and coordination of the various devices on the automated recycling line.

[0147] Specifically, the central controller connects to the control modules of each device and to the sensor cluster. These control modules include the first conveying device control module, the turnover device control module, the stacking device control module, the second conveying device control module, and the dust removal device control module.

[0148] In this embodiment, the central controller, as the core control unit of the entire automated recycling line, is responsible for receiving and processing information from various sensor clusters and control modules, and outputting control commands according to the set program logic. The central controller is responsible for the operation coordination, fault detection, data recording, and alarm functions of the entire control system.

[0149] In some implementations, the first conveying device control module is responsible for controlling the start and stop of the lifting transfer machine and the roller conveyor. The turnover device control module controls the operation of the lifting platform (lifting load platform, centering mechanism) to ensure the vertical transfer and position adjustment of the turnover base plate.

[0150] In some implementations, the stacking device control module controls the actions of the stacking device, including the horizontal movement of the truss moving mechanism, the vertical movement of the lifting robot, and the gripping and releasing of the vacuum suction cup assembly. This, in conjunction with a stop signal from the second conveying device control module, ensures that the turnover base plates are stably gripped and stacked.

[0151] In some implementations, the second conveying device control module is responsible for starting and stopping the roller conveyor of the second conveying device. By controlling the stop mechanism, the extension and retraction of the stop plate are controlled to ensure that the turnover base plate can be accurately stopped in the designated position to wait for the stacking device to grab it.

[0152] In some implementations, the dust removal device control module controls the start and stop of the dust removal device. Sensors detect the surface dirt level of the turnover base plate, and the cleaning function is activated promptly to prevent dust or dirt from affecting the stacking or conveying process.

[0153] In a specific implementation, the sensor cluster of the control system includes a first sensor, a second sensor, and a third sensor. For example, the first sensor is installed on the turnover device, and outputs a first signal when a turnover base plate is detected in the turnover device. For example, the second sensor is installed on the second conveying device, and outputs a second signal when a turnover base plate is detected in the second conveying device. For example, the third sensor is installed on the stacking device, and outputs a height signal to detect the stacking height of multiple turnover base plates at the target location.

[0154] In this embodiment, a first sensor is mounted on the turnover device, for example, at the entrance or inside the lifting frame of the turnover device, to ensure that each turnover base plate passing through the turnover device can be detected. The first sensor may be a photoelectric sensor.

[0155] In this embodiment, the second sensor is mounted on the second conveying device, specifically at the starting end of the second conveyor belt or between the starting end and the stop mechanism. The second sensor can be a photoelectric sensor.

[0156] In this embodiment, the third sensor is installed at the target location of the stacking device. Specifically, it can be installed on top of or beside the target location to monitor changes in the height of the stacking area. The third sensor can be a laser rangefinder or an ultrasonic sensor.

[0157] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0158] Please see Figure 7 , Figure 7This is a flowchart illustrating a control method for an automatic recycling line of a turnover base plate provided in Embodiment 2 of this application. This control method can be applied to the aforementioned automatic recycling line and can be executed by the central controller of the automatic recycling line's control system.

[0159] like Figure 7 The control method for an automatic recycling line for turnover base plates shown may include one or more steps from steps 101 to 105. It should be understood that, for ease of description, steps 101 to 105 are described in this way, but this embodiment does not limit the order of execution, the execution time, or the number of executions of the above one or more steps. Steps 101 to 105 are as follows:

[0160] Step 101: When the first signal from the first sensor is obtained, detect in real time whether the second sensor outputs a second signal.

[0161] In this embodiment, the control system first acquires a first signal output by a first sensor, indicating that the turnover base plate has arrived at the turnover device and is ready to enter the subsequent process. The control system monitors in real time whether a second sensor outputs a second signal, which indicates that a turnover base plate is present on the second conveying device.

[0162] Step 102: When the second sensor outputs the second signal, instruct the stop mechanism of the second conveying device to switch to the fourth position and stop the turnover base plate.

[0163] In practice, when the second sensor outputs a second signal, the control system immediately issues a command to switch the stop mechanism of the second conveyor to the fourth position. In this position, the stop mechanism prevents the turnover plate from moving forward, keeping it stationary on the second conveyor in preparation for stacking operations. By controlling the stop mechanism, the turnover plate is ensured to remain in the correct position, preventing it from moving to other locations and affecting the stacking operation.

[0164] Step 103: Acquire the altitude signal in real time and compare the altitude signal with a preset altitude threshold.

[0165] In practice, the control system acquires height signals from a third sensor in real time, reflecting the stacking height of the turnover base plates above the current stacking area. The acquired height signal is compared with a preset stacking height threshold. This step determines whether the current stacking area has reached its maximum stacking height. If the preset height threshold has not been reached, stacking continues; if the preset height threshold has been reached, the turnover base plates need to be moved to a candidate position.

[0166] Step 104: When the height signal is less than the preset height threshold, the stacking device is instructed to adsorb and grab the turnover base plate on the second conveying device and stack it at the target position.

[0167] In this specific implementation, when the height signal is less than a preset height threshold, the control system instructs the stacking device to perform an adsorption-type gripping operation to grab the turnover base plate resting on the second conveyor. Subsequently, the stacking device moves the base plate and stacks it to a target position, which is a preset stacking area that has not yet reached the maximum stacking limit. This step ensures stable stacking of the base plates within the stacking area. When the stacking height has not reached the preset threshold, stacking continues until the target position is reached.

[0168] Step 105: When the height signal is equal to or greater than the preset height threshold, the stacking device is instructed to adsorb and grab the turnover base plate on the second conveying device and stack it in the candidate position.

[0169] In practice, when the height signal is equal to or greater than a preset height threshold, the control system instructs the stacking device to perform an adsorption-type gripping action, grabbing the turnover base plate resting on the second conveyor. Then, the stacking device moves the base plate and stacks it to a candidate position, which is a preset backup stacking area. When the target position reaches its maximum stacking capacity, the candidate position will be used as a backup area. This step prevents the stacking area from being stacked too high, ensuring that the system dynamically adjusts according to the stacking height and rationally distributes the load on the stacking area.

[0170] This application embodiment utilizes the collaborative operation of multiple sensors. Based on the real-time feedback from these sensors and the coordinated work of the control system, the entire recycling line control process achieves highly efficient automation, reducing manual intervention and improving production efficiency. Real-time monitoring and dynamic adjustment of height signals ensure that the preset stacking height is not exceeded during the stacking process, improving stacking stability and preventing stacking overflow or equipment failure.

[0171] Specifically, the main purpose of the aforementioned control method is to effectively manage the flow and stacking of turnover pallets by automatically identifying whether stacking operations are needed using two sensors. When both the first and second sensors detect signals simultaneously, the automatic recycling line's control system can determine that the number of turnover pallets currently being returned is excessive, thereby triggering a stacking operation to prevent these pallets from excessively returning to the industrial production line and affecting its normal operation. By intelligently determining whether stacking is necessary, excessive accumulation of pallets on the industrial production line is avoided, which could disrupt the production rhythm, while also preventing premature stacking operations that waste space.

[0172] In a further optimized implementation, the control method also includes:

[0173] Step 201: Acquire and monitor the first signal from the first sensor and the second signal from the second sensor.

[0174] Understandably, step 201 ensures that the control system can continuously monitor the status of the two key devices and determine in real time whether there are too many turnover base plates that need to be stacked or whether the base plates need to be returned to the industrial production line.

[0175] Step 202: If either the first signal or the second signal disappears, instruct the stop mechanism of the second conveying device to switch to the third position, so that the turnover base plate is returned from the second conveying device to the industrial production line.

[0176] In practice, when the control system detects the disappearance of either the first signal or the second signal, it issues a command to control the stop mechanism of the second conveying device to switch to the third position, so that the turnover base plate can pass through the second conveying device and return to the industrial production line.

[0177] Understandably, if the first signal disappears, the second signal remains: if the base plate signal detected by the elevator disappears, the turnover base plate has already been moved to the second conveying device, and the control system assumes that there are currently no turnover base plates that need to be stacked. The turnover base plates can then be normally returned to the industrial production line.

[0178] The first signal is present, and the second signal disappears: if the second sensor does not detect the turnover base plate, it indicates that there is no corresponding turnover base plate on the second conveying device. The control system will determine that there is no need for stacking, and the turnover base plate needs to be returned. It will then instruct the stop mechanism to remain in the third position.

[0179] In a preferred embodiment, the control method further includes an active feeding strategy, which includes:

[0180] Step 301: Receive the feeding instruction sent by the industrial production line. The feeding instruction is used to instruct the automatic recycling line to deliver the turnover base plate to the industrial production line.

[0181] In this step, when the control system receives a feeding instruction from the industrial production line, explicitly indicating that the production line requires more turnover base plates, the automatic recycling line's control system needs to process this instruction to meet the demand.

[0182] It should be noted that the proactive loading strategy has the highest priority. When the control system receives a loading instruction from the industrial production line, it must respond to this external demand first, ensuring that the necessary turnover base plates are provided to the industrial production line in a timely manner. This step is crucial to the system's control flow; therefore, its priority is higher than other operations.

[0183] Step 302: Based on the feeding command, control the stop mechanism of the second conveying device to switch and maintain it in the third position.

[0184] In practice, based on the received feeding instruction, the control system controls the stop mechanism of the second conveyor to switch to the third position. In the third position, the stop mechanism retracts into the second conveyor, not obstructing further movement of the turnover base plate, ensuring that it is conveyed to the industrial production line via the second conveyor.

[0185] Step 303: Within a preset period, determine whether the first signal from the first sensor has been received.

[0186] In practice, the control system enters a preset periodic waiting time and determines whether it has received the first signal from the first sensor.

[0187] Understandably, if the first signal is received, it means that the elevator has detected a turnover base plate ready to enter the elevator. If the first signal is not received within the preset period, the control system needs to actively add turnover base plates. The control system will instruct the stacking device to pick up the turnover base plate from the target position or alternative position and place it on the second conveyor.

[0188] Step 304: If the first signal is not received within the preset period, the stacking device is instructed to pick up the turnover base plate from the target position or alternative position and place it on the second conveying device.

[0189] In this application, if the first signal is not received within a preset period, it means that there are no new turnover base plates available for return. At this time, the control system instructs the stacking device to pick up the turnover base plate from the target position or alternative position and place it on the second conveying device to transport it to the industrial production line, ensuring smooth feeding of the industrial production line.

[0190] For example, the preset period is 30 seconds, 1 minute, etc.

[0191] Step 305: Instruct the second conveying device to convey the turnover base plate to the industrial production line.

[0192] Step 306: Repeat steps 303 to 305. When the number of turnover base plates delivered to the industrial production line reaches the preset quantity threshold, stop the active feeding strategy until the next trigger.

[0193] In this application, when the active feeding strategy is executed, the control system monitors the number of turnover base plates conveyed to the industrial production line in real time. When the number of conveyed base plates reaches a preset quantity threshold, the control system stops the active feeding strategy and waits for the next trigger. By setting the quantity threshold, overfeeding is avoided. This ensures that not too many turnover base plates are conveyed to the industrial production line each time, maintaining the smooth operation of the industrial production line.

[0194] In a preferred embodiment, the sensor cluster further includes an industrial camera mounted on the stacking device, which is used to acquire target images of the turnover base plate on the second conveyor. The control method also includes the following turnover base plate anomaly identification step:

[0195] Step 401: Obtain the target image, the image content of which includes the upper surface of the turnover base plate on the second conveying device.

[0196] In practice, an industrial camera is mounted on the stacking device to acquire target images of the turnover base plate on the second conveyor. The image primarily shows the upper surface of the turnover base plate. By acquiring the target image, the control system can perform real-time visual monitoring of the actual condition of the turnover base plate and prepare for subsequent anomaly identification and processing.

[0197] Step 402: Preprocess the target image and output the preprocessed image.

[0198] In practice, the acquired target image undergoes preprocessing, which may include noise reduction, contrast enhancement, grayscale conversion, and edge detection. The processed image is then optimized to facilitate analysis by the subsequent recognition model. The goal of preprocessing is to improve image quality and accuracy, reducing the impact of changes in the shooting environment or lighting. This preprocessing step ensures that the image has higher quality and recognizability before being input into the recognition model, enabling the model to accurately determine any abnormalities in the turnover board.

[0199] Step 403: Input the preprocessed image into the preset recognition model and output the recognition result.

[0200] In practice, the preprocessed image is input into a preset recognition model for analysis. The model outputs corresponding recognition results based on its feature recognition capabilities during training. The recognition results include the classification and identification of various anomalies on the surface of the turnover base plate (such as surface foreign objects, structural damage, etc.). Through the model's judgment, the control system can identify whether there are abnormal objects or structural damage in the image, thereby determining whether further processing is needed.

[0201] In one specific implementation, the preset recognition model adopts a ResNet50 network structure. ResNet50 contains 50 layers, including convolutional layers, residual blocks, pooling layers, and fully connected layers. Specifically, the preset recognition model includes:

[0202] Input layer: The image size is typically 224×224×3 (RGB image). This image is the target image of the rotating base plate of the second conveyor device. The image content includes the upper surface of the base plate and is used to detect dust, foreign objects, damage, and other abnormalities.

[0203] Convolutional layers: These layers contain multiple convolutional operations and are used to extract low-level features of an image, such as edges, textures, and surface contours. Convolutional layers can enhance the local feature information of an image, providing high-quality feature representations for subsequent residual block processing.

[0204] Residual Blocks: These use skip connections to directly add the input to the output, thus mitigating the vanishing gradient problem during deep network training. Residual blocks can extract higher-level semantic features from images, including features such as cracks, protrusions, bends, or adhered foreign objects on the substrate surface.

[0205] Pooling layer: Reduces the feature map size by using max pooling or average pooling operations, while retaining the main features and reducing computational complexity.

[0206] Fully connected layer: Maps the high-dimensional features extracted from the residual block to the classification space and outputs the state category of the turnover base plate (such as normal, damaged, foreign object, etc.).

[0207] Step 404: When the identification result indicates that there are abnormal objects or structural damage on the surface, the stop mechanism of the second conveying device is instructed to switch to the fourth position.

[0208] In practice, if the identification results indicate the presence of abnormalities or structural damage on the surface, the control system will instruct the stop mechanism of the second conveyor to switch to the fourth position, stopping the forward movement of the base plate. In the fourth position, the stop mechanism prevents the base plate from moving further forward. This switching of the stop mechanism temporarily isolates the abnormal turnover base plate, preventing it from entering the production line or stacking area and thus avoiding interference with the processing of other normal base plates.

[0209] In this application, although the automatic recycling line for the turnover floor is equipped with a dust removal device to clean dust and light particulate matter from the surface of the turnover floor, in actual production environments, there may still be abnormal situations where the dust removal device cannot completely clean or identify them. These "abnormal substances" may include, but are not limited to, the following categories:

[0210] Foreign objects caused by structural damage: such as obvious bulges or bending on the surface of the turnover base plate causing part of the plate to lift up. These abnormalities are not dust or minor debris, but they will affect the use of the product.

[0211] Foreign objects or residues: such as small parts or fragments that accidentally fall during the lifting and lowering of the turnover device, resulting in debris remaining on the turnover base plate.

[0212] Step 405: Instruct the stacking device to pick up the current turnover base plate and move it to the waste plate area.

[0213] In practice, when the control system detects an anomaly on the base plate surface, it instructs the stacking device to grab the current turnover base plate and move it to the waste plate area, which is used to store defective turnover base plates. The stacking device uses adsorption and gripping technology to safely transfer the defective base plate to the waste plate area for subsequent processing or disposal. Through this processing step, the turnover system can effectively remove defective turnover base plates, ensuring the return and stacking of normal base plates, and maintaining the stability and quality of the production line.

[0214] By introducing industrial cameras and preset recognition models, the automated recycling line can automatically identify and handle abnormalities in the turnover base plates, ensuring that unqualified base plates are promptly removed, thus maintaining the quality and efficiency of the production line. This solution reduces human interference through automated detection, control, and processing, improving the stability, flexibility, and automation level of the production line.

[0215] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. For those skilled in the art, it will be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A control method for an automatic recycling line for turnover base plates, characterized in that, The automated recycling line includes: A first conveying device is connected to an industrial production line and is used to receive turnover base plates from the industrial production line. A turnover device is connected to the first conveying device, and the turnover device transfers the turnover base plate from the first conveying device to the second conveying device; A second conveying device is connected to the industrial production line and is used to return the turnover base plate to the industrial production line. A dust removal device is installed on the first conveying device, and the dust removal device cleans and removes dust from the upper surface of the turnover base plate; A stacking device is located next to a second conveying device. The stacking device uses an adsorption method to grab the turnover base plate on the second conveying device and stack it at the target position. The turnover device is a lifting platform used to vertically transfer the turnover base plate between different heights; the turnover device includes: The lifting frame has an inlet at the top of its side wall, which is connected to the first conveying device; an outlet at the bottom of its side wall, which is connected to the second conveying device; and a grid border is provided on the outer periphery of the lifting frame. A lifting platform is provided inside the lifting frame, and the lifting platform is capable of vertically lifting relative to the lifting frame. A lifting drive mechanism is provided on the lifting frame and connected to the lifting support platform, for driving the lifting support platform to move between different height positions; The lifting platform is equipped with a roller conveyor assembly for carrying and transporting turnover base plates, and the lifting platform is also equipped with a centering mechanism. The second conveying device is provided with a stop mechanism, which is configured to switch between a third position and a fourth position; When the stop mechanism is in the third position, it retracts into the second conveying device; when the stop mechanism is in the fourth position, it can stop the turnover base plate on the second conveying device, so that the turnover base plate can be held so that it can be adsorbed and grabbed by the stacking device. The automated recycling line also includes: A first sensor is installed in the turnover device, and the first sensor is used to output a first signal when a turnover base plate is detected in the turnover device. The second sensor is disposed in the second conveying device and is used to output a second signal when a turnover base plate is detected in the second conveying device. The third sensor is installed in the stacking device and is used to detect the stacking height of multiple turnover base plates at the target position and output a height signal. The control method includes the following steps: When the first signal from the first sensor is acquired, the system continuously detects whether the second sensor outputs a second signal. When the second sensor outputs a second signal, the stop mechanism of the second conveying device is instructed to switch to the fourth position and stop the turnover base plate. The altitude signal is acquired in real time and compared with a preset altitude threshold. When the height signal is less than the preset height threshold, the stacking device is instructed to use an adsorption method to grab the turnover base plate on the second conveying device and stack it at the target position. When the height signal is equal to or greater than the preset height threshold, the stacking device is instructed to adsorb and grab the turnover base plate on the second conveying device and stack it in the candidate position. The control method further includes: Receives a feeding instruction sent by the industrial production line, the feeding instruction being used to instruct the automatic recycling line to deliver a turnover base plate to the industrial production line; Within a preset period, determine whether the first signal from the first sensor has been received; If the first signal is not received within the preset period, the stacking device is instructed to pick up the turnover base plate from the target position or candidate position and place it on the second conveying device. The second conveying device is instructed to transport the turnover base plate to the industrial production line.

2. The control method for an automatic recycling line of turnover base plates as described in claim 1, characterized in that, The dust removal device includes: A cover, which is installed on the upper end face of the first conveying device; A dust removal mechanism, comprising a dust removal frame, a roller brush motor, and at least one roller brush, wherein the dust removal frame is connected to the cover, and the roller brush is rotatably connected to the dust removal frame and driven to rotate by the roller brush motor; the roller brush is used to contact the upper surface of the turnover base plate; The negative pressure dust collection assembly includes a negative pressure fan, a pipe, and multiple negative pressure suction heads. The multiple negative pressure suction heads are arranged side by side above the first conveying device. The multiple negative pressure suction heads are connected to the negative pressure fan through the pipe. The multiple negative pressure suction heads are used to adsorb dust and foreign objects on the turnover base plate under negative pressure. The dust removal mechanism and the negative pressure dust collection assembly are arranged sequentially along the conveying direction of the first conveying device.

3. The control method for an automatic recycling line for turnover base plates as described in claim 1, characterized in that, The stacking device includes: A truss, wherein the truss is provided with a moving mechanism, the moving mechanism being capable of reciprocating along the length of the truss; A lifting robot arm, wherein the lifting robot arm is connected to the moving mechanism, and the moving mechanism drives the lifting robot arm to move; A vacuum suction cup assembly is connected to the lifting robot arm and is used to vacuum grip the turnover base plate.

4. The control method for an automatic recycling line of a turnover base plate as described in claim 3, characterized in that, The vacuum suction cup assembly includes: A suction cup frame, which is fixedly connected to the lifting robot arm; Multiple vacuum suction cups are arranged in a rectangular array and spaced apart from each other at the bottom of the suction cup frame; Multiple limiting mechanisms are evenly distributed and connected to the suction cup frame, and the limiting mechanisms and the vacuum suction cup are staggered. The multiple limiting mechanisms are configured to switch synchronously between a first position and a second position. In the first position, the multiple limiting mechanisms retract into the suction cup frame. In the second position, the multiple limiting mechanisms can limit the turnover base plate that is being suction-grabbed, specifically, they limit the left, right and bottom sides of the turnover base plate.

5. The control method for an automatic recycling line for turnover base plates as described in claim 4, characterized in that, The limiting mechanism includes: A limit cylinder, which is connected to the suction cup frame by mounting bracket bolts; A fixing frame, which is fixedly connected to the limiting cylinder; A swing arm, which is hinged to the fixed frame and hinged to the end of the movable shaft of the limiting cylinder; A limiting component is fixedly connected to the swing arm and is used to limit the position of the turnover base plate.

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