CN113276128A - Flexible automatic workstation for discriminating product processing raw materials and discriminating system thereof - Google Patents

Flexible automatic workstation for discriminating product processing raw materials and discriminating system thereof Download PDF

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Publication number
CN113276128A
CN113276128A CN202110557897.8A CN202110557897A CN113276128A CN 113276128 A CN113276128 A CN 113276128A CN 202110557897 A CN202110557897 A CN 202110557897A CN 113276128 A CN113276128 A CN 113276128A
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processing
raw materials
processing raw
silo
raw material
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张延锴
肖文佑
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Shenzhen X Tec Technology Co ltd
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Shenzhen X Tec Technology Co ltd
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Priority to CN202110557897.8A priority Critical patent/CN113276128A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/027—Electromagnetic sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Program controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

本发明一种产品加工原料甄别柔性自动化工作站及其甄别系统，属于机械加工领域。提供了一种能够移动配合加工设备进行零件识别，并匹配对应加工程序的工作站，及其零件识别系统，包括行走部、给料部、料仓部，料仓部置于行走部上，给料部置于行走部上，且位于料仓部一侧，所述给料部设置有识别器，切换协作和非协作模式的机器人，与激光雷达结合，可实现机器人效率和安全性、便利性的兼顾。

Figure 202110557897

The invention relates to a flexible automatic workstation for screening raw materials for product processing and a screening system thereof, belonging to the field of mechanical processing. Provided is a workstation that can move and cooperate with processing equipment to identify parts and match corresponding processing programs, and a part identification system thereof, including a walking part, a feeding part, and a silo part. The silo part is placed on the walking part, and the feeding part is The feeding part is placed on the walking part and is located on the side of the silo part. The feeding part is provided with an identifier to switch the cooperative and non-cooperative mode of the robot. Combined with the lidar, it can realize the efficiency, safety and convenience of the robot. Take into account.

Figure 202110557897

Description

Flexible automatic workstation for discriminating product processing raw materials and discriminating system thereof
Technical Field
The invention discloses a flexible automatic workstation for discriminating product processing raw materials and a discrimination system thereof, belonging to the field of machining.
Background
Industrial robots in the market at present mainly have two types, one type is industrial robot, mainly has efficient characteristics, and the other type is cooperative robot, has safe easy-to-use's a bit, can with the people in overlapping space collaborative work. No matter be industrial robot or cooperation robot, when being applied to the production scene, the mode of present mainstream all is according to the part characteristic of production, and the service object equipment of robot, set up the material storehouse on the workshop ground, set up the robot mount base, just can let the robot get into the production state after installation electric cabinet and the debugging robot, need consume higher human cost, and when the production demand changes, probably need demolish or remove the equipment of fixing on the floor, the production change can't correspond fast in a flexible way, above-mentioned industrial robot has the defect as follows: an industrial robot does not have the relevant characteristics of man-machine cooperation, so that a safety fence needs to be arranged to isolate the robot from a person to realize safe production; in order to realize sensitive collision detection, the running speed of the cooperative robot is often only 1/3 to 1/2 of the industrial robot, and the efficiency is low; the robot application needs to consume high labor cost, and when the production requirement changes, equipment fixed on the floor may need to be dismantled or moved, so that the production change cannot be flexibly and quickly corresponded.
Publication No. CN110775608A discloses a press workpiece conveying manipulator system and a rotary conveying method, which comprises a primary conveying system and a secondary conveying system, wherein the conveying directions of the primary conveying system and the secondary conveying system are mutually vertical, and a workpiece is conveyed to the secondary conveying system by the primary conveying system to finish the transfer of the workpiece on different stations on a press; the first-stage conveying system comprises a lead screw transmission mechanism, a rotary clamping jaw is arranged on the lead screw transmission mechanism, and a workpiece is clamped by the rotary clamping jaw; the second-stage conveying system comprises a mechanical arm and a conveying mechanism, two mechanical claw heads are fixedly arranged on one side of the mechanical arm, the mechanical arm is connected with the conveying mechanism, the conveying mechanism controls the axial horizontal movement and the lifting movement of the mechanical arm, the mechanical structure is fixed and cannot move, only the gripping clamp can be carried out, the function of screening raw materials is lacked, and the gripping clamp is also carried out on non-qualified pieces.
Disclosure of Invention
The invention aims to overcome the technical defects and provides a workstation capable of movably matching with machining equipment to identify parts and matching with corresponding machining programs and a part identification system thereof.
The invention relates to a flexible automatic workstation for discriminating product processing raw materials, which comprises a walking part, a feeding part and a stock bin part, wherein the stock bin part is arranged on the walking part;
the walking part is of a box body structure, and moving wheels and ground feet are arranged at the bottom of the walking part;
the walking part is provided with a positioning component connected with processing equipment, and the positioning component is any one of a bolt, a buckle and a magnetic sucker;
the walking part is provided with a laser radar;
the walking part is driven by a motor to move, a pre-loading program is arranged in the walking part, and the walking part moves along a set route;
a control cabinet is arranged in the walking part, a microcomputer with a preloaded program is arranged in the control cabinet, and the microcomputer and the processing equipment form data interaction;
the microcomputer comprises a real-time controller and a non-real-time controller;
the real-time controller consists of a CPU, an internal memory, a hard disk and a real-time operating system;
the non-real-time controller adopts an arm or x86 CPU, a Windows, Linux or android operating system;
the feeding part is a multi-joint mechanical arm;
the mechanical arm base is fixedly arranged on the walking part;
the mechanical arm clamping jaw is provided with a recognizer;
the recognizer is one or more of a metal sensor, an X-ray probe, a laser sensor, a bar code reading head, a two-dimensional code reading head and an RFID reading head;
the mechanical arm clamping jaw is replaced by one of a vacuum chuck, an electromagnetic paste, a cylinder and an electric cylinder;
the bin part is a goods shelf for accommodating processing raw materials;
the storage bin part is provided with a display screen, the display screen and a microcomputer in the walking part form data interaction, and the display screen is used for calling a loading program;
the storage bin part is arranged in multiple layers, a plurality of processing raw material fixing grooves are equidistantly arranged on each layer of partition plate, and photoelectric sensors and/or contact switches are arranged in the fixing grooves;
the partition plate of the stock bin part can be detached and replaced.
The flexible automatic workstation for discriminating the product processing raw materials further comprises an alarm lamp and an emergency stop switch;
the invention relates to a product processing and discriminating system, which comprises the following steps:
1) establishing a database, wherein the content of the database comprises processing raw material integrity data and processing content data; the integrity data of the processing raw materials comprise weight, outline shape, internal quality, hole position and wall thickness;
the contour form is data of a picture and/or a contour point;
the processing content data comprises a processing area, a processing size of a key hole position, a processed surface defect standard and a processed weight;
2) the feeding part selects processing raw materials, identifies the processing raw materials, is correspondingly placed in the stock bin part, identifies the processing raw materials by the stock bin part, and records the placing position;
the feeding part selects processing raw materials, identifies the processing raw materials through an identifier, and selects the processing raw materials which do not meet the data requirement through comparison with the integrity data of the processing raw materials preloaded in the hard disk;
the processing raw materials are unprocessed blanks, products processed in the previous working procedure and raw materials;
3) the walking part moves to the side of subsequent processing equipment and is fixedly connected with the processing equipment, a microcomputer in the walking part and the processing equipment form data interaction, the data of processing raw materials are fed back to the processing equipment, and the processing equipment calls a corresponding processing program;
4) the feeding part grabs processing raw materials from the stock bin part, the stock bin part senses the grabbed processing raw materials, the recognizer on the feeding part synchronously recognizes the processing raw materials, the processing raw materials are grabbed and placed in the processing equipment, and the processing equipment processes the processing raw materials;
5) after the processing is finished, the feeding part grabs the processed raw materials, the raw materials are identified through the identifier and compared with the processing content data, and the effectiveness of the processing procedure is determined;
6) and (5) repeating the steps 4) and 5), after all the processing raw materials in the stock bin part are processed, disconnecting the walking part from the processing equipment, moving the walking part to the subsequent processing equipment, repeating the steps 3) and 5), and after all the processing contents are finished, warehousing the processed finished products.
According to the product processing and discriminating system, when manual external intervention is used for operation, the laser radar works to identify the installation operation range.
Has the advantages that:
the robot for switching the cooperative mode and the non-cooperative mode is combined with a laser radar, so that the efficiency, the safety and the convenience of the robot can be realized.
And secondly, due to the integrated design, the production site construction is greatly reduced, the effect of using the product when the product falls to the ground is realized, and the product can be rapidly moved and reset at any time according to production needs.
Thirdly, the operation is convenient, the mobile operation is realized, the resource utilization rate is high, and the device can be adapted to different devices.
Drawings
Fig. 1 is a three-dimensional structure diagram of a flexible automatic workstation for screening product processing raw materials according to the present invention.
Fig. 2 is a side view of a product processing feedstock screening flexible automated workstation of the present invention.
Fig. 3 is a schematic structural view of a clamping jaw of a flexible automatic workstation for screening product processing raw materials.
Fig. 4 is a schematic structural diagram of a product processing screening apparatus control system of the present invention.
Fig. 5 is a flow chart of a product processing screening system of the present invention.
In the drawings:
the robot comprises a multi-joint mechanical arm (1), a walking part (2), a stock bin part (3), a laser radar (4), a clamping jaw (5) and a recognizer (6).
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. In which like parts are designated by like reference numerals.
It should be noted that the terms "front", "back", "left", "right", "upper" and "lower" used in the following description refer to the direction in which the judgment is made in fig. 1, and the terms "inner" and "outer" refer to the directions toward and away from the geometric center of a specific part, respectively.
With reference to the attached figures 1 to 2, the device comprises a walking part 2, a feeding part and a material bin part 3, wherein the material bin part 3 is arranged on the walking part 2, the feeding part is arranged on the walking part 2 and is positioned at one side of the material bin part 3, the feeding part is provided with an identifier 6,
the walking part 2 is of a box body structure, and moving wheels and ground feet are arranged at the bottom of the walking part;
a positioning component connected with processing equipment is arranged on the walking part 2, and the positioning component is any one of a bolt, a buckle and a magnetic sucker;
the walking part 2 is provided with a laser radar 4;
the 2-position motor of the walking part drives to move, a pre-loading program is arranged in the walking part 2, and the walking part moves according to a set route;
a control cabinet is arranged in the walking part 2, a microcomputer with a preloaded program is arranged in the control cabinet, and the microcomputer and the processing equipment form data interaction;
the microcomputer comprises a real-time controller and a non-real-time controller;
the real-time controller consists of a CPU, an internal memory, a hard disk and a real-time operating system;
the non-real-time controller adopts an arm or x86 CPU, a Windows, Linux or android operating system;
the feeding part is a multi-joint mechanical arm 1;
the mechanical arm base is fixedly arranged on the walking part 2;
the mechanical arm clamping jaw 5 is provided with a recognizer 6;
the recognizer 6 is one or more of a metal sensor, an X-ray probe, a laser sensor, a bar code reading head, a two-dimensional code reading head and an RFID reading head, and can respectively perform data recognition on materials, internal quality, position defects and materials;
the mechanical arm clamping jaw 5 is replaced by one of a vacuum chuck, an electromagnetic paste, a cylinder and an electric cylinder, and can grab processing raw materials with different structures;
the bin part 3 is a goods shelf for accommodating processing raw materials;
the storage bin part 3 is provided with a display screen, the display screen and a microcomputer in the walking part 2 form data interaction, and the display screen is used for calling a loading program;
the storage bin part 3 is arranged in a plurality of layers, a plurality of processing raw material fixing grooves are equidistantly arranged on each layer of partition plate, and photoelectric sensors and/or contact switches are arranged in the fixing grooves;
the partition plate of the stock bin part 3 can be detached and replaced.
With reference to fig. 3 to 4, the product processing screening system of the present invention comprises the following steps:
1) establishing a database, wherein the content of the database comprises processing raw material integrity data and processing content data;
the integrity data of the processing raw materials comprise weight, outline shape, internal quality, hole position and wall thickness;
the contour form is data of a picture and/or a contour point;
the processing content data comprises a processing area, a processing size of a key hole position, a processed surface defect standard and a processed weight;
2) the feeding part selects processing raw materials, identifies the processing raw materials, is correspondingly placed in the stock bin part 3, and the stock bin part 3 identifies the processing raw materials and records the placing positions;
the feeding part selects processing raw materials, the processing raw materials are identified through the identifier 6, and the processing raw materials which do not meet the data requirements are sorted through comparison with the integrity data of the processing raw materials preloaded in the hard disk;
the processing raw materials are unprocessed blanks, products processed in the previous working procedure and raw materials;
3) the walking part 2 moves to the side of subsequent processing equipment and is fixedly connected with the processing equipment, a microcomputer in the walking part 2 and the processing equipment form data interaction, the data of processing raw materials are fed back to the processing equipment, and the processing equipment calls a corresponding processing program;
4) the feeding part grabs processing raw materials from the stock bin part 3, the stock bin part 3 senses the grabbed processing raw materials, the recognizer 6 on the feeding part synchronously recognizes the processing raw materials, and the processing raw materials are grabbed and placed in the processing equipment for processing;
5) after the processing is finished, the feeding part grabs the processed raw materials, the raw materials are identified through the identifier 6 and are compared with the processing content data to determine the effectiveness of the processing procedure;
6) repeating the steps 4) to 5), after all the processing raw materials in the stock bin part 3 are processed, disconnecting the walking part 2 from the processing equipment, moving the walking part to the subsequent processing equipment, repeating the steps 3) to 5), and after all the processing contents are finished, warehousing the processed finished products
The purpose of screening and processing the processing raw materials is achieved.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (9)

1.一种产品加工原料甄别柔性自动化工作站，其特征在于：包括如下操作步骤：1. a product processing raw material screening flexible automation workstation, is characterized in that: comprise the following operation steps: 1)建立数据库，所述数据库内容包括加工原料完整性数据、加工内容数据；1) establish a database, and the content of the database includes processing raw material integrity data and processing content data; 所述加工原料完整性数据包括重量、轮廓形态、内部质量、孔位、壁厚；The processed raw material integrity data includes weight, contour shape, internal quality, hole position, and wall thickness; 所述轮廓形态为图片和/或轮廓点位数据；The outline form is a picture and/or outline point data; 所述加工内容数据包括加工区域、关键孔位加工尺寸、加工后的表面缺陷标准、加工后重量；The processing content data includes the processing area, the processing size of the key hole position, the surface defect standard after processing, and the weight after processing; 2)给料部分选加工原料，并识别加工原料，对应放置在料仓部(3)，料仓部(3)对加工原料识别，并记录放置位置；2) The feeding part selects the processing raw materials, identifies the processing raw materials, and places them in the silo section (3), and the silo section (3) identifies the processing raw materials and records the placement position; 所述给料部分选加工原料，通过识别器(6)识别加工原料，通过和预加载在硬盘内的加工原料完整性数据比对，对不满足数据要求的加工原料进行分选；The feeding part selects processing raw materials, identifies the processing raw materials through the identifier (6), and sorts the processing raw materials that do not meet the data requirements by comparing with the processing raw material integrity data preloaded in the hard disk; 所述加工原料为未加工的毛坯、前道工序加工的产品、原材料；The processing raw materials are unprocessed blanks, products processed in the previous process, and raw materials; 3)行走部(2)移动至后续加工设备侧，并和加工设备形成固定连接，行走部(2)内的微电脑和加工设备形成数据交互，将加工原料的数据反馈至加工设备，加工设备调用对应的加工程序；3) The walking part (2) moves to the side of the subsequent processing equipment and forms a fixed connection with the processing equipment. The microcomputer in the walking part (2) forms data interaction with the processing equipment, and feeds back the data of the processing raw materials to the processing equipment, and the processing equipment calls Corresponding processing program; 4)给料部从料仓部(3)抓取加工原料，料仓部(3)对抓取的加工原料进行感知，给料部上的识别器(6)同步进行加工原料的识别，并抓取放置加工设备内，加工设备加工；4) The feeding part grabs the processing raw material from the silo part (3), the silo part (3) perceives the grabbed processing raw material, and the identifier (6) on the feeding part synchronously identifies the processing raw material, and Grab it and place it in the processing equipment, and the processing equipment will process it; 5)加工完成后，给料部抓取加工后的原料，通过识别器(6)进行识别，并和加工内容数据进行比对，确定加工工序的有效；5) After the processing is completed, the feeding part grabs the processed raw material, identifies it through the identifier (6), and compares it with the processing content data to determine the validity of the processing procedure; 6)重复步骤4)-步骤5)，当料仓部(3)内的加工原料全部加工完成后，行走部(2)和加工设备断开连接，并移动至后续加工设备，重复步骤3)-步骤5)，当所有加工内容完成后，进行加工成品的入库。6) Repeat step 4)-step 5), when all the processing raw materials in the silo (3) are processed, the traveling part (2) is disconnected from the processing equipment, and moved to the subsequent processing equipment, repeating step 3) -Step 5), when all the processing contents are completed, the finished product is put into storage. 2.根据权利要求1所述一种产品加工原料甄别柔性自动化工作站，其特征在于：包括行走部(2)、给料部、料仓部(3)，料仓部(3)置于行走部(2)上，给料部置于行走部(2)上，且位于料仓部(3)一侧，所述给料部设置有识别器(6)。2. A kind of flexible automatic workstation for screening raw materials for product processing according to claim 1, characterized in that: it comprises a traveling part (2), a feeding part, and a silo part (3), and the silo part (3) is placed in the traveling part (2), the feeding part is placed on the walking part (2), and is located on one side of the silo part (3), and the feeding part is provided with an identifier (6). 3.根据权利要求1所述一种产品加工原料甄别柔性自动化工作站，其特征在于：所述行走部(2)为箱体结构，底部设置有移动轮和地脚，所述行走部(2)上设置有于加工设备连接的定位组件，所述定位组件为插销、卡扣、磁力吸盘中的任意一种，所述行走部(2)上设置有激光雷达(4)。3. A kind of flexible automatic workstation for product processing raw material screening according to claim 1, characterized in that: the walking part (2) is a box structure, and the bottom is provided with a moving wheel and a foot, and the walking part (2) A positioning assembly connected to the processing equipment is arranged on the upper part, and the positioning assembly is any one of a latch, a buckle and a magnetic suction cup, and a laser radar (4) is arranged on the walking part (2). 4.根据权利要求1所述一种产品加工原料甄别柔性自动化工作站，其特征在于：所述行走部(2)位电机驱动行进，行走部(2)内设置有预加载程序，按设定路线行进，所述行走部(2)内置有控制柜，控制柜内设置有预加载程序的微电脑，所述微电脑和加工设备形成数据交互。4. A kind of flexible automatic workstation for product processing raw material screening according to claim 1, characterized in that: the traveling part (2) is driven by a motor, and the traveling part (2) is provided with a preloading program, which is set according to the set route. For traveling, the traveling part (2) has a built-in control cabinet, and a microcomputer with a preloaded program is arranged in the control cabinet, and the microcomputer and the processing equipment form data interaction. 5.根据权利要求1所述一种产品加工原料甄别柔性自动化工作站，其特征在于：所述微电脑包括实时控制器、非实时控制器；5. a kind of product processing raw material screening flexible automation workstation according to claim 1, is characterized in that: described microcomputer comprises real-time controller, non-real-time controller; 所述实时控制器由CPU、内存、硬盘和实时操作系统组成；The real-time controller is composed of CPU, memory, hard disk and real-time operating system; 所述非实时控制器采用arm或者x86 CPU，Windows、Linux或者安卓操作系统。The non-real-time controller adopts arm or x86 CPU, Windows, Linux or Android operating system. 6.根据权利要求1所述一种产品加工原料甄别柔性自动化工作站，其特征在于：所述给料部为多关节机械臂(1)；6. A kind of flexible automatic workstation for product processing raw material screening according to claim 1, characterized in that: the feeding part is a multi-joint robotic arm (1); 所述机械臂基座固定置于行走部(2)上；The robotic arm base is fixed on the walking part (2); 所述机械臂夹爪(5)上设置有识别器(6)；An identifier (6) is provided on the gripper (5) of the mechanical arm; 所述识别器(6)为金属传感器、X射线探头、激光传感器、条码读头、二维码读头、RFID读头当中的一种或多种；The identifier (6) is one or more of a metal sensor, an X-ray probe, a laser sensor, a barcode reading head, a two-dimensional code reading head, and an RFID reading head; 所述机械臂夹爪(5)由真空吸盘、电磁贴、气缸、电缸中的一种替代。The gripper (5) of the mechanical arm is replaced by one of a vacuum suction cup, an electromagnetic sticker, an air cylinder and an electric cylinder. 7.根据权利要求1所述一种产品加工原料甄别柔性自动化工作站，其特征在于：所述料仓部(3)为容置加工原料的货架；7. A kind of flexible automated workstation for product processing raw material screening according to claim 1, characterized in that: the silo portion (3) is a shelf for accommodating processing raw materials; 所述料仓部(3)设置有显示屏，所述显示屏和行走部(2)内的微电脑形成数据交互，所述显示屏用于调用加载程序；The silo part (3) is provided with a display screen, the display screen and the microcomputer in the walking part (2) form data interaction, and the display screen is used to call the loading program; 所述料仓部(3)为多层设置，每层隔板上等距设置有多个加工原料固定槽，所述固定槽内设置有光电传感器和/或接触开关。The silo portion (3) is multi-layered, and a plurality of processing raw material fixing grooves are equidistantly arranged on each layer of partitions, and photoelectric sensors and/or contact switches are arranged in the fixing grooves. 8.根据权利要求1所述一种产品加工原料甄别柔性自动化工作站，其特征在于：所述料仓部(3)的隔板能够拆卸更换。8 . The flexible automated workstation for screening raw materials for product processing according to claim 1 , wherein the partition plate of the silo portion ( 3 ) can be disassembled and replaced. 9 . 9.根据权利要求1所述一种产品加工原料甄别柔性自动化工作站，其特征在于：所述料仓部包括报警灯、急停开关。9 . The flexible automated workstation for screening raw materials for product processing according to claim 1 , wherein the silo part comprises an alarm light and an emergency stop switch. 10 .
CN202110557897.8A 2021-05-21 2021-05-21 Flexible automatic workstation for discriminating product processing raw materials and discriminating system thereof Pending CN113276128A (en)

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