CN115781644B

CN115781644B - Intelligent sorting manipulator

Info

Publication number: CN115781644B
Application number: CN202310069576.2A
Authority: CN
Inventors: 梁子欢; 刘木新; 刘敬盛
Original assignee: Guangdong Haode Cnc Equipment Co ltd
Current assignee: Guangdong Haode Cnc Equipment Co ltd
Priority date: 2023-02-07
Filing date: 2023-02-07
Publication date: 2023-04-11
Anticipated expiration: 2043-02-07
Also published as: CN115781644A

Abstract

The invention discloses an intelligent sorting mechanical arm, which relates to the technical field of sheet material production devices and comprises the following components: the mechanical arm main part, the mechanical arm main part includes multiaxis robotic arm, visual identification system and information processing system, and multiaxis robotic arm sets up in one side of assembly line and sorts the sheet material on the assembly line, and visual identification system sets up in multiaxis robotic arm's bottom, and information processing system sets up at multiaxis robotic arm's top, and multiaxis robotic arm, visual identification system are connected with information processing system electricity respectively. This multiaxis robotic arm can remove along the assembly line, discerns a plurality of little panels through the vision recognition system, through information processing system's processing back for multiaxis robotic arm sorts little panel, and multiaxis robotic arm is more nimble, and the accuracy of letter sorting improves greatly, has liberated the productivity, has reduced the human cost, has improved letter sorting efficiency, and the volume is also smaller, has practiced thrift the space.

Description

Intelligent sorting manipulator

Technical Field

The invention relates to the technical field of plate production devices, in particular to an intelligent sorting mechanical arm.

Background

At present, the blanking mode of the plate materials on the market is to push the processed plate materials onto a belt through a cutting machine. However, this method has the following problems: the plate is easy to be pushed away in the process of pushing the plate onto the belt, or the phenomenon of stacking the front plate and the rear plate occurs, so that the position of the plate is changed; for the subsequent operation of sorting the plate materials on the belt, because the plate material position changes in the previous material pushing process, sorting errors can be caused, and the problem of low plate material sorting precision exists. Therefore, there is a need for an intelligent sorting robot that at least partially solves the problems of the prior art.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In order to at least partially solve the problem that sorting can be mistaken due to the fact that the position of a plate material changes in the process of pushing the plate material in the front, and therefore sorting precision of the plate material is low, the invention provides an intelligent sorting mechanical arm, which comprises: the mechanical arm main body comprises a multi-axis mechanical arm, a visual recognition system and an information processing system, the multi-axis mechanical arm is arranged on one side of the production line and sorts the plates on the production line, the visual recognition system is arranged at the bottom of the multi-axis mechanical arm, the information processing system is arranged at the top of the multi-axis mechanical arm, and the multi-axis mechanical arm and the visual recognition system are respectively and electrically connected with the information processing system;

multiaxis robotic arm is including removing frame portion, flexible arm mechanism, it includes inboard frame foundation, removal drive division, carrier bar to remove frame portion, inboard frame foundation sets up and sorts the panel on the assembly line in one side of assembly line, it sets up on inboard frame foundation to remove drive division, the carrier bar is including bearing base, Y axle beam pole, bearing base sets up on removing drive division, Y axle beam pole sets up on bearing base, flexible arm mechanism sets up on Y axle beam pole remove drive division and information processing system electricity and be connected.

According to the intelligent sorting mechanical arm disclosed by the embodiment of the invention, the telescopic arm mechanism comprises a lifting part, a telescopic arm body and a bottom rotating part, the lifting part comprises a fixed frame plate, a Y-axis driving motor, a Z-axis driving air cylinder and a Y-axis lifting seat, the fixed frame plate is slidably arranged on a Y-axis beam rod and moves along the Y-axis direction, the Y-axis lifting seat is slidably arranged on the fixed frame plate and moves along the Z-axis direction, the Y-axis driving motor is arranged on the fixed frame plate and is meshed and connected with a Y-axis rack on the Y-axis beam rod through a Y-axis gear, so that the fixed frame plate moves along the Y-axis direction on the Y-axis beam rod, the Z-axis driving air cylinder is arranged on the fixed frame plate and is used for driving the Y-axis lifting seat to move along the Z-axis direction, a supporting plate is arranged at the upper end of the Y-axis lifting seat, a rod of the Z-axis driving air cylinder is connected with a buffer mechanism on the supporting plate, the telescopic arm body is arranged at the bottom of the Y-axis lifting seat, and the bottom rotating part is arranged at the bottom of the telescopic arm body.

According to the intelligent sorting manipulator provided by the embodiment of the invention, the telescopic arm body comprises a movable arm rod and a telescopic driving part, the movable arm rod is slidably arranged at the bottom of the Y-axis lifting seat and moves along the X-axis direction, the telescopic driving part comprises a first vertical motor module, a first driving wheel and a plurality of first driven wheels, the first driving wheel is arranged at one corner of the movable arm rod, the first vertical motor module is arranged on the movable arm rod and is connected with the first driving wheel, the plurality of first driven wheels are arranged at the rest three corners of the movable arm rod, belt bodies are sleeved on the first driving wheel and the plurality of first driven wheels, the middle part of one side of each belt body is fixedly connected with the bottom of the Y-axis lifting seat, the bottom rotating part is slidably arranged at the bottom of the movable arm rod, and the other side of the belt body is fixedly connected with the bottom rotating part.

According to the intelligent sorting manipulator provided by the embodiment of the invention, a first clamping plate group is arranged on the outer side of the Y-axis lifting seat, the first clamping plate group comprises a first outer clamping plate and a first inner clamping plate, a plurality of first clamping teeth are arranged in a first inner clamping groove of the first inner clamping plate, a second clamping plate group is arranged on the bottom rotating part, the second clamping plate group comprises a second outer clamping plate and a second inner clamping plate, a plurality of second clamping teeth are arranged in a second inner clamping groove of the second inner clamping plate, the belt body penetrates through the first inner clamping groove and the second inner clamping groove, and the first clamping teeth and the second clamping teeth are respectively clamped with the belt body.

According to the intelligent sorting mechanical arm disclosed by the embodiment of the invention, the bottom rotating part comprises a first bottom bearing plate, a second vertical motor module, a second driving wheel, a second driven wheel, a second bottom bearing plate and a plurality of adsorption blocks, the first bottom bearing plate is slidably arranged at the bottom of the Y-axis lifting seat, the second vertical motor module is arranged on one side of the first bottom bearing plate, the second driving wheel and the second driven wheel are arranged at the bottom of the first bottom bearing plate, the second vertical motor module is connected with the second driving wheel, the second bottom bearing plate is arranged at the bottom of the second driven wheel, and the adsorption blocks are arranged at the bottom of the second bottom bearing plate.

According to the intelligent sorting manipulator provided by the embodiment of the invention, the output end of the Y-axis driving motor is internally provided with the sealing module, the sealing module comprises two sealing baffle disc sleeves and a middle rotating sleeve group, the two sealing baffle disc sleeves are respectively arranged at two sides of the middle rotating sleeve group, one sealing baffle disc sleeve is close to the Y-axis gear, the other sealing baffle disc sleeve is far away from the Y-axis gear, the output shaft of the Y-axis driving motor penetrates through the middle rotating sleeve group, the sealing baffle disc sleeves comprise a plurality of C-shaped baffle disc plates, the C-shaped baffle disc plates are provided with a plurality of T-shaped holes, the middle rotating sleeve group is provided with a plurality of inner screw holes, T-shaped screws are arranged in the T-shaped holes, and the T-shaped screws are connected with the inner screw holes.

According to the intelligent sorting manipulator provided by the embodiment of the invention, the middle rotating sleeve group comprises an outer fixing sleeve, an inner rotating sleeve and an inner sliding mechanism, a plurality of inner screw holes are uniformly distributed on an outer arm of the outer fixing sleeve, so that the sealing baffle disc sleeve is connected with the outer fixing sleeve, the inner rotating sleeve is positioned in the outer fixing sleeve and is in sliding connection with the sealing baffle disc sleeve, the inner sliding mechanism is arranged among the outer fixing sleeve, the inner rotating sleeve and the sealing baffle disc sleeve in a sliding manner, and the output shaft penetrates through the inner rotating sleeve and is fixedly connected with the inner rotating sleeve.

According to the intelligent sorting manipulator provided by the embodiment of the invention, the inner arm of the outer fixed sleeve is provided with the first circumferential groove, the inner arm of the inner rotary sleeve is provided with the second circumferential groove and the two third circumferential grooves, the second circumferential groove is positioned between the two third circumferential grooves and corresponds to the first circumferential groove, the inner arm of the C-shaped sleeve baffle plate is provided with the first C-shaped raised line, the first inner circumferential arm of the first C-shaped raised line is provided with the second C-shaped raised line, the second inner circumferential arm of the first C-shaped raised line is provided with the fourth circumferential groove, the second C-shaped raised line is connected in the third circumferential groove in a sliding mode, and the inner sliding mechanism is respectively connected in the first circumferential groove, the second circumferential groove and the fourth circumferential groove in a sliding mode.

According to the intelligent sorting mechanical arm disclosed by the embodiment of the invention, the inner sliding mechanism comprises a plurality of sliding spheres and a plurality of guide pieces, the sliding spheres are arranged between two adjacent guide pieces, each guide piece comprises a first guide clamping seat, a second guide clamping seat and a guide clamping spring, a first guide groove and a spring clamping cylinder are respectively arranged at two ends of each first guide clamping seat, a second guide groove and a spring clamping groove are respectively arranged at two ends of each second guide clamping seat, the spring clamping cylinders are inserted into the spring clamping grooves, the guide clamping springs are arranged in the spring clamping cylinders and abut against the spring clamping grooves, the sliding spheres are arranged between the adjacent first guide grooves and the adjacent second guide grooves, and guide protruding blocks in sliding connection with the peripheral grooves are respectively arranged on the first guide clamping seats and the second guide clamping seats.

Compared with the prior art, the invention at least comprises the following beneficial effects:

the invention provides an intelligent sorting manipulator which comprises a manipulator main body, wherein the manipulator main body comprises a multi-axis manipulator arm, a visual recognition system and an information processing system, and the multi-axis manipulator arm, the visual recognition system and the information processing system are electrically connected; specifically, install multiaxis robotic arm in the inboard of assembly line, and then this multiaxis robotic arm can remove along the assembly line, discern a plurality of little panels through the visual identification system who installs in multiaxis robotic arm bottom, and then through information processing system's processing back, make multiaxis robotic arm carry out corresponding letter sorting with little panel, multiaxis robotic arm here compares the arm among the prior art more nimble, the accuracy of letter sorting improves greatly, the productivity has been liberated, the human cost is reduced, the efficiency of letter sorting is improved, and compare the volume also less with the arm among the prior art, the space has been practiced thrift.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of an intelligent sorting manipulator according to the present invention.

FIG. 2 is a schematic diagram of the structure of the pipeline of the present invention.

Fig. 3 is a schematic structural view of the robot main body according to the present invention.

Fig. 4 is a partial structural view of the elevating part of the present invention.

Fig. 5 is a partial structural schematic diagram of a multi-axis robot arm according to the present invention.

Fig. 6 is a structural bottom view of the bottom rotating part in the present invention.

Fig. 7 is a partial structural view of the bottom rotating part in the present invention.

Fig. 8 is a schematic structural view of a first clamping plate group in the present invention.

Fig. 9 is a schematic structural view of a Y-axis driving motor according to the present invention.

Fig. 10 is a schematic structural view of a sealing module according to the present invention.

Fig. 11 is a schematic view of a part of the internal structure of the sealing module according to the present invention.

Fig. 12 is an exploded view of the sealing module of the present invention.

Fig. 13 is a schematic view of the structure of the guide member of the present invention.

Fig. 14 is a schematic view of a partially exploded structure of the sealing module of the present invention.

FIG. 15 is an enlarged view of the structure of FIG. 11 at A according to the present invention.

FIG. 16 is an enlarged view of the structure at B in FIG. 11 according to the present invention.

Fig. 17 is an enlarged view of the structure of fig. 11 at C according to the present invention.

Detailed Description

The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can practice the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

As shown in fig. 1 to 3, the present invention provides an intelligent sorting robot, comprising: the mechanical arm main body 100 is characterized in that the mechanical arm main body 100 is arranged on one side of the assembly line 200 and sorts the plates 500 on the assembly line 200, the feeding mechanism 300 is arranged at the front end of the assembly line 200, the stacked plates are moved to the assembly line 200 through the feeding mechanism 300, then the plates are divided through the sawing mechanism 400 on the assembly line 200, one large plate is divided into a plurality of small plates 500, then the small plates 500 are conveyed to the mechanical arm main body 100 through the belt conveying mechanism, and after the small plates 500 are moved to the position below the mechanical arm main body 100, the mechanical arm main body 100 sorts the small plates 500 and moves the small plates 500 to the conveying frame 600 for subsequent sorting.

The manipulator main body 100 comprises a multi-axis manipulator 1, a vision recognition system and an information processing system 101, wherein the multi-axis manipulator 1, the vision recognition system and the information processing system 101 are electrically connected, so that the manipulator main body 100 can be used for intelligently sorting; specifically, the multi-axis mechanical arm 1 is installed on the inner side of the assembly line 200, so that the multi-axis mechanical arm 1 can move along the assembly line 200, a plurality of small plates 500 are intelligently identified through a visual identification system (not shown) installed at the bottom of the multi-axis mechanical arm 1, the small plates 500 with different sizes are identified, and the problem that sorting errors occur and accordingly plate sorting precision is low is solved; and then through the processing back of information processing system 101 for multiaxis robotic arm 1 carries out corresponding letter sorting with little panel 500, and multiaxis robotic arm 1 compares the arm among the prior art more nimble here, and the accuracy of letter sorting improves greatly, has liberated the productivity, has reduced the human cost, has improved letter sorting efficiency, and compares the volume with the arm among the prior art also less, has practiced thrift the space, is favorable to the economic development of enterprise.

Exemplary Multi-Axis Robotic arm

As shown in fig. 3 to 9, in some embodiments of the present invention, a specific structure of a multi-axis robot 1 is provided, where the multi-axis robot 1 includes a movable frame part 2 and a telescopic arm mechanism 3, where the movable frame part 2 further includes an inner frame seat 21, a movable driving part 22, and a carrying beam 23, the inner frame seat 21 is installed inside the production line 200, the movable driving part 22 is installed on the inner frame seat 21, the movable driving part 22 is electrically connected to the information processing system 101, so that the information processing system 101 can start the movable driving part 22 to move along the inner frame seat 21, the movable driving part 22 is installed with the carrying beam 23, the carrying beam 23 includes a carrying base 230 and a Y-axis beam rod 231, the carrying base 230 is installed on the movable driving part 22, and the Y-axis beam rod 231 on the carrying beam 23 can drive the telescopic arm mechanism 3 to move along the X-axis, and the telescopic arm mechanism 3 can sort the small sheet 500 below.

Exemplary Telescopic arm mechanism

Specifically, some embodiments of the present invention provide specific structures of the telescopic arm mechanism 3, and the telescopic arm mechanism 3 of the structure includes a lifting portion 31, a telescopic arm body 32, and a bottom rotating portion 33;

further, the lifting part 31 further includes a fixed frame plate 311, a Y-axis driving motor 312, a Z-axis driving cylinder 313 and a Y-axis lifting seat 314, wherein the fixed frame plate 311 is mounted on the Y-axis beam rod 231 through a Y-axis slide rail 316 and moves along the Y-axis direction, and the Y-axis lifting seat 314 is slidably mounted on the fixed frame plate 311 and moves along the Z-axis direction the Y-axis driving motor 312 is mounted on the fixed frame plate 311 and is engaged with a Y-axis rack 318 on the Y-axis beam rod 231 through a Y-axis gear 317, so that the fixed frame plate 311 moves on the Y-axis beam rod 231 along the Y-axis direction;

when the Y-axis driving motor 312 is started, the Y-axis gear 317 of the Y-axis driving motor 312 is engaged with the Y-axis gear 318 of the Y-axis slide rail 316, so that the Y-axis driving motor 312 drives the fixed frame plate 311 to reciprocate on the Y-axis beam rod 231 along the Y-axis direction, so as to drive the whole lifting part 31 to move along the Y-axis direction, the Z-axis driving cylinder 313 is mounted on the fixed frame plate 311 and is used for driving the Y-axis lifting seat to move along the Z-axis direction, so that the Z-axis driving cylinder 313 can drive the Y-axis lifting seat 314 to move along the Z-axis direction on the fixed frame plate 311, wherein the upper end of the Y-axis lifting seat 314 is mounted with the supporting plate 315, the buffer mechanism 34 is mounted on the supporting plate 315, the cylinder rod of the Z-axis driving cylinder 313 is connected with the buffer mechanism 34, thereby reducing the load on the Y-axis beam rod and improving the service life of the Y-axis lifting seat 314.

Further, the telescopic arm body 32 includes a moving arm 321 and a telescopic driving portion, where the moving arm 321 is slidably mounted at the bottom of the Y-axis lifting seat 314, so that the moving arm 321 moves at the bottom of the Y-axis lifting seat 314 along the X-axis direction, the telescopic driving portion includes a first vertical motor module 323, a first driving wheel 324 and a plurality of first driven wheels 325, where the moving arm 321 is rectangular and has four corners, the first driving wheel 324 is disposed at one corner of the moving arm 321, the first vertical motor module 323 is mounted on the moving arm 321 and connected to the first driving wheel 324, the plurality of first driven wheels 325 are mounted at the remaining three corners of the moving arm 321, and the belt body 326 is sleeved on the first driving wheel 324 and the plurality of first driven wheels 325, so that when the first vertical motor module 323 drives the first driving wheel 324 to rotate, the first driving wheel 324 drives the belt body 326 to rotate, and further the plurality of first driven wheels 325 also rotate to provide rotation power for the belt body 326;

here, the middle of one side of the belt body 326 is fixedly connected to the bottom of the Y-axis lifting base 314, the bottom rotating part 33 is slidably disposed at the bottom of the moving arm 321, and the other side of the belt body 326 is fixedly connected to the bottom rotating part 33, so that when the belt body 326 rotates, the entire moving arm 321 moves to the Y-axis lifting base 314 in the X-axis direction, and the bottom rotating part 33 moves relative to the moving arm 321, that is, when the moving arm 321 moves to the front end of the X-axis, the bottom rotating part 33 moves to the back end of the X-axis, or when the moving arm 321 moves to the rear end of the X-axis, the bottom rotating part 33 moves to the front end of the X-axis, thereby realizing the sorting and moving of the small plates 500.

Further, in order to realize the connection structure between the belt 326 and the Y-axis lifting seat 314 and the bottom rotating portion 33, here, the first clamping plate set 35 is installed outside the Y-axis lifting seat 314, the first clamping plate set 35 includes a first outer clamping plate 351 and a first inner clamping plate 352, a first inner clamping groove 353 is formed in the first inner clamping plate 352, a plurality of first latches 354 are designed in the first inner clamping groove 353, the belt 326 is inserted in the first inner clamping groove 353, and the belt 326 is clamped by the plurality of first latches 354, so when the belt 326 moves, because the first clamping plate set 35 is fixedly connected with the Y-axis lifting seat 314, the first clamping plate set 35 cannot move at this time, and only the moving arm 321 moves at the bottom of the Y-axis lifting seat 314;

in addition, a second clamping plate group 36 is installed on the bottom rotating portion 33, the second clamping plate group 36 includes a second outer clamping plate 361 and a second inner clamping plate 362, a second inner clamping groove 363 is opened in the second inner clamping plate 362, a plurality of second latches 364 are provided in the second inner clamping groove 363, the belt body 326 is fixed by the plurality of second latches 364 after the belt body 326 is inserted into the second inner clamping groove 363, so when the belt body 326 moves, the second clamping plate group 36 is fixedly installed on the bottom rotating portion 33, at this time, the second clamping plate group 36 moves synchronously along the belt body 326, and the second clamping plate group 36 drives the bottom rotating portion 33 to perform corresponding reciprocating movement along the moving arm rod 321, so as to sort and move the small plate materials 500 to the rear-end conveying rack 600.

Exemplary bottom rotating part

Specifically, in some embodiments of the present invention, a specific structure of the bottom rotating portion 33 is provided, and the bottom rotating portion 33 of the structure includes a first bottom bearing plate 331, a second vertical motor module 332, a second driving wheel 333, a second driven wheel 334, a second bottom bearing plate 335, and a plurality of absorption blocks 336, where the first bottom bearing plate 331 is slidably mounted at the bottom of the Y-axis lifting seat 314, the second vertical motor module 332 is mounted at one side of the first bottom bearing plate 331, the second driving wheel 333 and the second driven wheel 334 are mounted at the bottom of the first bottom bearing plate 331, the second vertical motor module 332 is connected to the second driving wheel 333, and the second bottom bearing plate 335 is mounted at the bottom of the second driven wheel 334, so that the second vertical motor module 332 is activated to drive the second driving wheel 333 to rotate, and the second driven wheel 334 is driven by the second driving wheel 333 to rotate, so that the second bottom bearing plate 335 at the bottom of the second driven wheel 334 rotates, and the plurality of absorption blocks 336 at the bottom of the bottom bearing plate 335 can correspondingly absorb a plurality of small plates 500, and sorting can be understood that a plurality of small pieces 336 can be sorted.

Exemplary sealing Module

As shown in fig. 10-17, since the saw cutting mechanism 400 in the assembly line 200 is used for cutting the sheet material, and small particles of impurities such as wood chips are generated during the cutting operation, and the small particles of impurities inevitably enter the Y-axis driving motor 312, in some embodiments of the invention, the sealing module 5 is installed in the output end of the Y-axis driving motor 312, specifically, the sealing module 5 of the structure includes two sealing baffle disc sleeves 51 and a middle rotating sleeve set 52, where the two sealing baffle disc sleeves 51 are respectively installed at two sides of the middle rotating sleeve set 52, one sealing baffle disc sleeve 51 is close to the Y-axis gear 317, and the other sealing baffle disc sleeve 51 is far away from the Y-axis gear 317; the sealing baffle disc sleeve 51 is designed to be multi-section, so the sealing baffle disc sleeve 51 comprises a plurality of C-shaped baffle disc plates 511, the C-shaped baffle disc plates 511 are arranged on the side wall of the middle rotating sleeve group 52, a plurality of T-shaped holes 512 are formed in the C-shaped baffle disc plates, a plurality of inner screw holes 520 are formed in the middle rotating sleeve group 52, T-shaped screws 513 are arranged in the T-shaped holes 512, and the T-shaped screws 513 can be connected with the inner screw holes 520; the middle rotating sleeve 52 can rotate, and the output shaft 310 of the Y-axis driving motor 312 passes through the middle rotating sleeve 52 to be connected with the Y-axis gear 317, and here, the C-shaped sleeve blocking plate can be conveniently mounted on the middle rotating sleeve 52 to achieve a sealing effect, so as to prevent wood chips from entering the Y-axis driving motor 312 to affect the operation of the Y-axis driving motor 312.

Further, in order to realize the rotation of the intermediate rotation set 52, the intermediate rotation set 52 includes an outer fixed sleeve 53, an inner rotation sleeve 54 and an inner sliding mechanism 55, and the inner sliding mechanism 55 drives the inner rotation sleeve 54 to rotate in the outer fixed sleeve 53, so as to reduce the friction force of the inner rotation sleeve 54 in the outer fixed sleeve 53.

The outer fixed sleeve 53 is fixedly connected with the Y-axis driving motor 312, the inner rotating sleeve 54 is installed in the outer fixed sleeve 53 and is slidably connected with the sealing blocking disc sleeve 51, a rotating space is formed among the outer fixed sleeve 53, the inner rotating sleeve 54 and the sealing blocking disc sleeve 51, the inner sliding mechanism 55 is slidably arranged in the rotating space among the outer fixed sleeve 53, the inner rotating sleeve 54 and the sealing blocking disc sleeve 51, grease can be filled in the rotating space, and the friction force of the inner sliding mechanism 55 in the rotating space is further reduced;

the output shaft 310 passes through the inner rotating sleeve 54 and is fixedly connected with the inner rotating sleeve 54, so that the output shaft 310 can drive the inner rotating sleeve 54 to rotate, and the inner rotating sleeve 54 rotates in the outer fixing sleeve 53 through the inner sliding mechanism 55, so that the output shaft 310 can normally rotate to drive the Y-axis gear 317 to rotate.

Further, the outer fixing sleeve 53 is provided with the plurality of inner screw holes 520, so that the sealing baffle disc sleeve 51 is connected with the outer fixing sleeve 53.

Further, in order to realize the movement of the inner sliding mechanism 55 in the rotating space, in some embodiments of the present invention, a first circumferential groove 531 is formed on the inner wall of the outer fixed sleeve 53, and a second circumferential groove 541 and two third circumferential grooves 542 are formed on the inner wall of the inner rotating sleeve 54, where the second circumferential groove 541 is located between the two third circumferential grooves 542 and corresponds to the first circumferential groove 531;

meanwhile, a first C-shaped protruding strip 514 is designed on the inner wall of the C-shaped baffle sleeve plate 511, a second C-shaped protruding strip 515 is designed on the first inner peripheral wall of the first C-shaped protruding strip 514, a fourth circumferential groove 516 is formed on the second inner peripheral wall of the first C-shaped protruding strip 514, and further, when the inner rotating sleeve 54 is installed on the sealing baffle disc sleeve 51, the second C-shaped protruding strip 515 can be slidably connected in the third circumferential groove 542, so that through the design of the structure, the inner sliding mechanism 55 can be slidably connected in the first circumferential groove 531, the second circumferential groove 541 and the fourth circumferential groove 516 respectively.

Further, the inner sliding mechanism 55 includes a plurality of sliding balls 56 and a plurality of guiding members 57, wherein the sliding balls 56 are installed between two adjacent guiding members 57, and the guiding members 57 include a first guiding holder 571, a second guiding holder 572 and a guiding spring 573, wherein a first guiding groove 574 and a clamping spring cylinder 575 are respectively opened at two ends of the first guiding holder 571, and a second guiding groove 576 and a clamping spring groove 577 are respectively opened at two ends of the second guiding holder 572, and the clamping spring cylinder 575 can be inserted into the clamping spring groove 577, and the guiding spring 573 is installed in the clamping spring cylinder 575 and abuts against the clamping spring groove 577, and the sliding balls 56 are installed between the adjacent first guiding groove 574 and second guiding groove 572, so that the guiding spring 573 can provide elastic force to the first guiding holder 571 and the second guiding holder 572, and the sliding balls 56 are clamped between the first guiding holder 571 and the second guiding holder 574, so that the sliding balls 576, 531 of the sliding balls 56 can slide to the adjacent first guiding holder 541, the second guiding holder 574; furthermore, the first guiding holder 571 and the second guiding holder 572 are both provided with guiding protrusions 578, the guiding protrusions 578 are slidably connected with the fourth circumferential groove 516, and further, through the above structural design, the inner sliding mechanism 55 can rotate well in the above rotating space, so as to prevent the output shaft 310 from being jammed in the middle rotating sleeve 52.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims

1. The utility model provides an intelligence letter sorting manipulator which characterized in that includes: the mechanical arm main body comprises a multi-axis mechanical arm, a visual recognition system and an information processing system, the multi-axis mechanical arm is arranged on one side of the production line and sorts the plates on the production line, the visual recognition system is arranged at the bottom of the multi-axis mechanical arm, the information processing system is arranged at the top of the multi-axis mechanical arm, and the multi-axis mechanical arm and the visual recognition system are respectively and electrically connected with the information processing system;

the multi-axis mechanical arm comprises a movable frame part and a telescopic arm mechanism, wherein the movable frame part comprises an inner frame seat, a movable driving part and a bearing beam, the inner frame seat is arranged on one side of the assembly line, the movable driving part is arranged on the inner frame seat, the bearing beam comprises a bearing base and a Y-axis beam rod, the bearing base is arranged on the movable driving part, the Y-axis beam rod is arranged on the bearing base, the telescopic arm mechanism is arranged on the Y-axis beam rod, and the movable driving part is electrically connected with an information processing system;

the telescopic boom mechanism comprises a lifting part, a telescopic boom body and a bottom rotating part, wherein the lifting part comprises a fixed frame plate, a Y-axis driving motor, a Z-axis driving air cylinder and a Y-axis lifting seat, the fixed frame plate is slidably arranged on a Y-axis beam rod and moves along the Y-axis direction, the Y-axis lifting seat is slidably arranged on the fixed frame plate and moves along the Z-axis direction, the Y-axis driving motor is arranged on the fixed frame plate and is meshed and connected with a Y-axis rack on the Y-axis beam rod through a Y-axis gear, so that the fixed frame plate moves along the Y-axis direction on the Y-axis beam rod, the Z-axis driving air cylinder is arranged on the fixed frame plate and is used for driving the Y-axis lifting seat to move along the Z-axis direction, a supporting plate is arranged at the upper end of the Y-axis lifting seat, an air cylinder rod of the Z-axis driving air cylinder is connected with a buffer mechanism on the supporting plate, the telescopic boom body is arranged at the bottom of the Y-axis lifting seat, and the bottom rotating part is arranged at the bottom of the telescopic boom body.

2. The intelligent sorting manipulator of claim 1, wherein the telescopic arm body comprises a movable arm rod and a telescopic driving portion, the movable arm rod is slidably arranged at the bottom of the Y-axis lifting seat and moves along the X-axis direction, the telescopic driving portion comprises a first vertical motor module, a first driving wheel and a plurality of first driven wheels, the first driving wheel is arranged at one corner of the movable arm rod, the first vertical motor module is arranged on the movable arm rod and connected with the first driving wheel, the first driven wheels are arranged at the three remaining corners of the movable arm rod, a belt body is sleeved on the first driving wheel and the first driven wheels, the middle of one side of the belt body is fixedly connected with the bottom of the Y-axis lifting seat, the bottom rotating portion is slidably arranged at the bottom of the movable arm rod, and the other side of the belt body is fixedly connected with the bottom rotating portion.

3. The intelligent sorting manipulator according to claim 2, wherein a first clamping plate group is arranged on the outer side of the Y-axis lifting seat, the first clamping plate group includes a first outer clamping plate and a first inner clamping plate, a plurality of first clamping teeth are arranged in a first inner clamping groove of the first inner clamping plate, a second clamping plate group is arranged on the bottom rotating portion, the second clamping plate group includes a second outer clamping plate and a second inner clamping plate, a plurality of second clamping teeth are arranged in a second inner clamping groove of the second inner clamping plate, the belt body is arranged in the first inner clamping groove and the second inner clamping groove in a penetrating manner, and the first clamping teeth and the second clamping teeth are respectively clamped with the belt body.

4. The intelligent sorting manipulator of claim 2, wherein the bottom rotating part comprises a first bottom bearing plate, a second vertical motor module, a second driving wheel, a second driven wheel, a second bottom bearing plate and a plurality of adsorption blocks, the first bottom bearing plate is slidably arranged at the bottom of the Y-axis lifting seat, the second vertical motor module is arranged on one side of the first bottom bearing plate, the second driving wheel and the second driven wheel are arranged at the bottom of the first bottom bearing plate, the second vertical motor module is connected with the second driving wheel, the second bottom bearing plate is arranged at the bottom of the second driven wheel, and the adsorption blocks are arranged at the bottom of the second bottom bearing plate.

5. The intelligent sorting manipulator according to claim 1, wherein a sealing module is arranged in an output end of the Y-axis driving motor, the sealing module includes two sealing retainer sleeves and a middle rotating sleeve group, the two sealing retainer sleeves are respectively arranged on two sides of the middle rotating sleeve group, one of the sealing retainer sleeves is close to the Y-axis gear, the other sealing retainer sleeve is far away from the Y-axis gear, an output shaft of the Y-axis driving motor passes through the middle rotating sleeve group, the sealing retainer sleeves include a plurality of C-shaped retainer plates, the C-shaped retainer plates are provided with a plurality of T-shaped holes, the middle rotating sleeve group is provided with a plurality of internal screw holes, and T-shaped screws are arranged in the T-shaped holes and connected with the internal screw holes.

6. The intelligent sorting manipulator according to claim 5, wherein the intermediate rotating sleeve set comprises an outer fixing sleeve, an inner rotating sleeve and an inner sliding mechanism, a plurality of inner threaded holes are uniformly distributed on the outer fixing sleeve, so that the sealing baffle disc sleeve is connected with the outer fixing sleeve, the inner rotating sleeve is positioned in the outer fixing sleeve and is slidably connected with the sealing baffle disc sleeve, the inner sliding mechanism is slidably arranged among the outer fixing sleeve, the inner rotating sleeve and the sealing baffle disc sleeve, and the output shaft passes through the inner rotating sleeve and is fixedly connected with the inner rotating sleeve.

7. The intelligent sorting manipulator according to claim 6, wherein the inner arm of the outer fixed sleeve is provided with a first circumferential groove, the inner arm of the inner rotating sleeve is provided with a second circumferential groove and two third circumferential grooves, the second circumferential groove is located between the two third circumferential grooves and corresponds to the first circumferential groove, the inner arm of the C-shaped retainer plate is provided with a first C-shaped protrusion, the first inner circumferential arm of the first C-shaped protrusion is provided with a second C-shaped protrusion, the second inner circumferential arm of the first C-shaped protrusion is provided with a fourth circumferential groove, the second C-shaped protrusion is slidably connected in the third circumferential groove, and the inner sliding mechanism is slidably connected in the first circumferential groove, the second circumferential groove and the fourth circumferential groove, respectively.

8. The intelligent sorting manipulator according to claim 7, wherein the inner sliding mechanism includes a plurality of sliding balls and a plurality of guiding members, the sliding balls are disposed between two adjacent guiding members, the guiding members include a first guiding holder, a second guiding holder and a guiding clamping spring, two ends of the first guiding holder are respectively provided with a first guiding groove and a clamping spring cylinder, two ends of the second guiding holder are respectively provided with a second guiding groove and a clamping spring groove, the clamping spring cylinder is inserted into the clamping spring groove, the guiding clamping spring is disposed in the clamping spring cylinder and abuts against the clamping spring groove, the sliding balls are disposed between the adjacent first guiding groove and the adjacent second guiding groove, and the first guiding holder and the second guiding holder are both provided with a guiding protruding block slidably connected with the fourth circumferential groove.