CN116765000A - Sorting assembly line robot based on artificial intelligence - Google Patents
Sorting assembly line robot based on artificial intelligence Download PDFInfo
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- CN116765000A CN116765000A CN202311010150.6A CN202311010150A CN116765000A CN 116765000 A CN116765000 A CN 116765000A CN 202311010150 A CN202311010150 A CN 202311010150A CN 116765000 A CN116765000 A CN 116765000A
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- rod
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- connecting rod
- support
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- 238000013473 artificial intelligence Methods 0.000 title claims abstract description 15
- 239000000463 material Substances 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 20
- 230000008569 process Effects 0.000 abstract description 17
- 230000002950 deficient Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of sorting robots, and aims at the technical problem of low sorting efficiency caused by the fact that materials are moved for a plurality of times in a long distance in the sorting process of the robots in the prior art, in particular to an artificial intelligence-based sorting assembly line robot, which comprises a robot body and a detection camera; the robot comprises a robot body, a station switching mechanism and a material clamping jaw, wherein the material clamping jaw is arranged at the movable end of the robot body; the robot comprises a robot body, wherein a movable end of the robot body is provided with a storage device and a bearing device, the bearing device comprises an outer cylinder, an inner cylinder is rotatably arranged in the outer cylinder, at least two containing holes are formed in the inner cylinder, the storage device is arranged at the containing holes, and a first linear driver for driving the storage device to extend is arranged on the outer cylinder; the invention realizes the continuity of the robot sorting procedure and solves the problem of low sorting efficiency caused by long-distance material movement for many times in the robot sorting process.
Description
Technical Field
The invention relates to the technical field of sorting robots, in particular to an artificial intelligence-based sorting assembly line robot.
Background
The sorting of the bearings is a quality control means, and the bearings with better quality and meeting the standard are separated from the bearings with poor quality and not meeting the standard through strict sorting and screening, so that defective products are guaranteed to be not used on a production line, and the occurrence of equipment failure or defective product production caused by bearing quality problems is avoided.
Patent: CN202210054909.X discloses a parallel robot for bearing letter sorting, carries out image shooting through detecting the camera, carries out surface quality analysis by the computer and judges it, and according to the judgement result control parallel robot drives electromagnetic chuck and absorbs and sort unqualified bearing to replace former manual work letter sorting.
However, this patent still has a problem in that, since the robot is required to take out and place the unqualified bearings at the collection point during the bearing sorting process, a certain distance still exists between the grabbing point and the collection point during the sorting process of the robot, the time difference generated during the single unqualified bearing sorting process may not be large, but the time difference generated during the sorting process of the unqualified bearings for several times is continuously enlarged, and finally the sorting efficiency is affected.
Disclosure of Invention
In view of the above, the invention aims to provide an artificial intelligence-based sorting assembly line robot, which solves the technical problem of low sorting efficiency caused by long-distance material movement for many times in the sorting process of the robot in the prior art.
Based on the above purpose, the invention provides an artificial intelligence-based sorting assembly line robot, which comprises a robot body and a detection camera;
the material clamping jaw is arranged at the movable end of the robot body, and a station switching mechanism for driving the material clamping jaw to move in position is arranged at the movable end of the robot;
the bearing device comprises an outer cylinder, the outer cylinder is fixedly arranged at the movable end of the robot body, an inner cylinder is rotatably arranged in the outer cylinder, at least two containing holes are formed in the inner cylinder, the containing devices are arranged at the containing holes, the number of the containing devices corresponds to the number of the containing holes, the containing devices in different containing holes correspondingly support bearings with different sizes, a first elastic element for driving the containing devices to be positioned in the containing holes is arranged at the top of the inner cylinder, and a first linear driver for driving the containing devices to extend out is arranged on the outer cylinder;
the storage device comprises a support rod, a plurality of bearings can be sleeved on the support rod, an anti-falling mechanism is arranged on the support rod, and the anti-falling mechanism is used for preventing the bearings from falling out of the end parts of the support rod.
Preferably, the material clamping jaw is provided with two sliding plates including the support frame on the support frame symmetry, is provided with the rack on the sliding plate, still is provided with second rotary actuator on the support frame, and the output of second rotary actuator is provided with the gear, and the gear meshes with the rack of two sliding plates simultaneously, and two sliding plates carry out the opposite direction and remove when second rotary actuator drive gear rotates, still fixedly on the sliding plate is provided with splint, and splint and bearing's contact surface is provided with the sheet rubber.
Preferably, the support frame is provided with a second linear actuator, the second linear actuator is arranged between the two sliding plates, and the output end of the second linear actuator is provided with an inner support type clamping jaw for supporting the inner ring surface of the bearing.
Preferably, the station switching mechanism comprises a fixing frame, the fixing frame is fixedly arranged at the movable end of the robot body, a driving rod is rotatably arranged on the fixing frame, the supporting frame is rotatably arranged on the fixing frame, the fixing frame is fixedly connected with the driving rod, a third rotary driver is arranged on the fixing frame, and the output end of the third rotary driver is connected with the driving rod.
Preferably, the fixed first gear that is provided with on the mount, first gear and actuating lever coaxial setting, rotatable be provided with the dwang on the support frame, fixed be provided with the second gear on the dwang to second gear and first gear engagement are provided with the interlock pole on the splint, are provided with the fork on the support frame, and the fork is in the sliding plate lateral surface, and the interlock pole runs through the fork and rather than swing joint, is connected through the hold-in range transmission between dwang and the interlock pole.
Preferably, the anti-falling mechanism comprises an expansion assembly, the expansion assembly is arranged in the support rod, the working end of the expansion assembly is positioned at the bottom end of the support rod, at least two connecting rod groups are arranged around the bottom end of the support rod, each connecting rod group comprises a first connecting rod and a second connecting rod, the first connecting rod is hinged to the working end of the expansion assembly, the second connecting rod is hinged to the bottom end of the support rod, the end parts of the first connecting rod and the second connecting rod are hinged, the expansion assembly is used for controlling the folding angle of the first connecting rod and the second connecting rod, the end parts of the second connecting rod are hinged to a support plate, the support plate is in a folding state through a second elastic element and is in elastic connection with the second connecting rod, the support plate is parallel to the end face of the support rod, at the moment, the support plate can only be turned away from one side of the first connecting rod, and the distance from the axis of the support rod to the outer edge of the support plate is greater than half of the inner diameter of the bearing.
Preferably, the expansion assembly comprises a movable rod, the movable rod is arranged in the support rod in a sliding mode, the bottom end of the movable rod penetrates through the bottom end of the support rod and is hinged to the first connecting rod of the connecting rod group, a third elastic element is sleeved on the movable rod and used for pushing the movable rod to move upwards along the support rod, and a third linear driver used for pushing the movable rod to descend is arranged at the top end of the support rod.
Preferably, the outside of bracing piece is fixed and is provided with the fixed plate, and the outside of bracing piece still slides and is provided with the flitch, is provided with fourth elastic element between flitch and the fixed plate, is the accommodation site of bearing between flitch and the backup pad, and the position that is close to the backup pad is "clamp and gets the position", and fourth elastic element is used for promoting the bearing that the cover was established on the bracing piece for press from both sides to get and have the bearing all the time on the position.
The invention has the beneficial effects that:
according to the invention, the station switching mechanism drives the material clamping jaw to transfer the position of the bearing, the computer selects the corresponding storage device according to the transferred bearing size to collect, the supporting rod of the corresponding storage device is inserted into the inner ring of the bearing after extending, the storage device drives the bearing to be transferred into the containing hole, so that the sorting temporary storage work of the bearing is completed, the continuity of the sorting procedure of the robot is realized, and the problem of low sorting efficiency caused by long-distance material movement for many times in the sorting process of the robot is solved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only of the invention and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the receiving and carrying apparatus of the present invention;
FIG. 4 is a cross-sectional view taken along the direction A-A of FIG. 3;
FIG. 5 is a schematic perspective view of FIG. 4;
FIG. 6 is a schematic perspective view of a material jaw according to the present invention;
FIG. 7 is a front view of the material jaw of the present invention;
fig. 8 is a front view of the storage device of the present invention;
FIG. 9 is a cross-sectional view in the B-B direction of FIG. 8;
fig. 10 is an enlarged view at C of fig. 9.
The reference numerals in the figures are:
1-a robot body;
2-a material clamping jaw; 2 A-A support frame; 2a 1-a rotating rod; 2a 2-forks; 2 b-a sliding plate; 2b 1-rack; 2 c-a second rotary drive; 2c 1-gear; 2 d-splints; 2d 1-a linkage rod; 2 e-a second linear drive; 2 f-inner support type jaws;
3-station switching mechanism; 3 A-A fixing frame; 3a 1-a driving rod; 3 b-a third rotary drive; 3 c-a first gear; 3 d-a second gear; 3 e-synchronous belt;
4-a storage device; 4 a-supporting rods; 4a 1-a fixing plate; 4a 2-pushing plate; 4a 3-fourth elastic elements; 4 b-an anti-drop mechanism; 4 c-linkage; 4c 1-a first link; 4c 2-a second link; 4 d-an expansion assembly; 4d 1-a movable rod; 4d 2-a third elastic element; 4d 3-a second linear drive; 4 e-supporting plate; 4 f-a second elastic element;
5-carrying means; 5 A-An outer cylinder; 5 b-an inner barrel; 5b 1-receiving holes; 5b 2-a first elastic element; 5 c-a first linear drive; 5 d-a first rotary drive;
6-bearing.
Detailed Description
The present invention will be further described in detail with reference to specific embodiments in order to make the objects, technical solutions and advantages of the present invention more apparent.
It is to be noted that unless otherwise defined, technical or scientific terms used herein should be taken in a general sense as understood by one of ordinary skill in the art to which the present invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
Example 1
Because the unqualified bearings 6 are required to be taken out and placed at the collecting points by the robot in the process of sorting the bearings 6, a certain distance still exists between the grabbing points and the collecting points in the process of sorting by the robot, the time difference generated in the process of sorting the unqualified bearings 6 singly is probably not large, but the time difference generated when sorting the unqualified bearings 6 for a plurality of times is continuously enlarged, and finally the sorting efficiency is influenced; in order to solve the technical problem that sorting efficiency is low due to the fact that materials are moved for a plurality of times in the sorting process of a robot, as shown in fig. 1 to 4, the following preferable technical scheme is provided:
an artificial intelligence-based sorting pipeline robot comprises a robot body 1 and a detection camera (not shown in a detection camera diagram), wherein the detection camera is arranged at the movable end of the robot body 1;
the robot further comprises a material clamping jaw 2, wherein the material clamping jaw 2 is arranged at the movable end of the robot body 1, and a station switching mechanism 3 for driving the material clamping jaw 2 to move in position is arranged at the movable end of the robot;
the movable end of the robot body 1 is further provided with a containing device 4 and a bearing device 5 for collecting the bearings 6, the bearing device 5 comprises an outer cylinder 5a, the outer cylinder 5a is fixedly arranged at the movable end of the robot body 1, an inner cylinder 5b is arranged inside the outer cylinder 5a, the outer cylinder 5a is rotatably connected with the inner cylinder 5b, a plurality of containing holes 5b1 are formed in the inner cylinder 5b in a surrounding mode, the containing holes 5b1 are three but not limited to the three, the containing devices 4 are arranged at the containing holes 5b1, the number of the containing devices 4 corresponds to the number of the containing holes 5b1, the containing devices 4 positioned at different containing holes 5b1 correspondingly support bearings 6 with different sizes, a first elastic element 5b2 for driving the containing devices 4 to be positioned inside the containing holes 5b1 is arranged at the top of the inner cylinder 5b, the first elastic element 5b2 is a spring but not limited to the same, a first linear driver 5c for driving the containing devices 4 to extend out is arranged on the inner cylinder 5b in a surrounding mode, the first linear driver 5c is a cylinder or a motor is not limited to rotate, and the first linear driver 5d is not limited to drive the first linear driver 5a rotates;
the storage device 4 comprises a support rod 4a, a plurality of bearings 6 can be sleeved on the support rod 4a, an anti-falling mechanism 4b is arranged on the support rod 4a, and the anti-falling mechanism 4b is used for preventing the bearings 6 from falling out of the end parts of the support rod 4a.
Specifically, the bearings 6 are transported by a conveyor belt or placed on a working disc, image shooting, feature extraction, mode recognition and other steps are performed by a detection camera arranged at the movable end of the robot body 1, and finally a visual detection device mounted on a computer outputs a judgment result to judge whether a material is defective or not and outputs a corresponding judgment result;
when the judging result shows that the detected bearing 6 has defects, the material clamping jaw 2 at the movable end of the robot body 1 fixes the bearing 6, then the station switching mechanism 3 starts to work, the station switching mechanism 3 drives the material clamping jaw 2 to transfer the position of the bearing 6, the computer selects the corresponding containing device 4 according to the size of the transferred bearing 6 to collect the bearing 6, the first rotary driver 5d drives the inner cylinder 5b to rotate, so that the corresponding containing device 4 and the transferred bearing 6 are positioned at the coaxial position, the first linear driver 5c starts to work, the output end of the first linear driver 5c pushes the containing device 4 to stretch out, the supporting rod 4a of the containing device 4 is inserted into the inner ring of the bearing 6 after stretching out, the anti-dropping mechanism 4b at the end part of the supporting rod 4a can avoid the situation that the bearing 6 is dropped out, and the sorting and temporary storage work of the bearing 6 is completed after the containing device 4 drives the bearing 6 to be transferred into the containing hole 5b 1;
when the bearing 6 on the support rod 4a of the storage device 4 is fully sleeved, the temporary storage bearing 6 needs to be subjected to the same transfer operation, the material clamping jaw 2 is driven to move to the accommodating hole 5b1 corresponding to the inner barrel 5b through the station switching mechanism 3 in the transfer operation of the bearing 6, the first linear driver 5c starts to work, the output end of the first linear driver 5c pushes the storage device 4 to stretch out, the bearing 6 sleeved on the support rod 4a is positioned at the working end of the material clamping jaw 2 after the support rod 4a of the storage device 4 stretches out, after the material clamping jaw 2 finishes fixing the bearing 6, the anti-falling mechanism 4b stops limiting the bearing 6 so as to ensure that the station switching mechanism 3 can smoothly take out the bearing 6 sleeved on the support rod 4a when the material clamping jaw 2 is driven to move, and then the material clamping jaw 2 is driven by the movable end of the robot body 1 to place the defective bearing 6 at a collecting point.
Example two
Since the plurality of bearings 6 can be smoothly taken out when they are close to each other or the outer walls of the bearings 6 are shielded by other objects, and the self-posture of the bearings 6 can be changed after the position transfer of the bearings 6 is completed, the bearings 6 can be ensured to be at the extending points of the corresponding receiving devices 4, as shown in fig. 7 and 8, and the embodiment is basically the same, further:
the material clamping jaw 2 comprises a support frame 2a, sliding plates 2b are arranged on the support frame 2a, two sliding plates 2b are symmetrically arranged on the support frame 2a, the sliding plates 2b are in sliding connection with the support frame 2a, a rack 2b1 is arranged on the sliding plates 2b, a second rotary driver 2c is further arranged on the support frame 2a, the second rotary driver 2c is fixedly connected with the support frame 2a, the second rotary driver 2c is a servo motor but not limited to the servo motor, a gear 2c1 is arranged at the output end of the second rotary driver 2c, the gear 2c1 is meshed with the racks 2b1 of the two sliding plates 2b at the same time, the two sliding plates 2b move oppositely when the gear 2c1 is driven by the second rotary driver 2c to rotate, a clamping plate 2d is fixedly arranged on the sliding plate 2b, and a rubber sheet is arranged on the contact surface of the clamping plate 2d and a bearing 6;
the support frame 2a is provided with a second linear driver 2e, the second linear driver 2e is positioned between the two sliding plates 2b, the second linear driver 2e is an air cylinder or an electric push rod, and the output end of the second linear driver 2e is provided with an inner supporting type clamping jaw 2f used for supporting the inner ring surface of the bearing 6;
the station switching mechanism 3 comprises a fixed frame 3a, the fixed frame 3a is fixedly arranged at the movable end of the robot body 1, a driving rod 3a1 is arranged on the fixed frame 3a, the driving rod 3a1 is rotatably connected with the fixed frame 3a, a supporting frame 2a is rotatably arranged on the fixed frame 3a, the fixed frame 3a is fixedly connected with the driving rod 3a1, a third rotary driver 3b is arranged on the fixed frame 3a, the third rotary driver 3b is a rotary cylinder but is not limited to the rotary cylinder, and the output end of the third rotary driver 3b is connected with the driving rod 3a 1;
the fixed frame 3a is provided with a first gear 3c2c1, the first gear 3c2c1 is coaxially arranged with the driving rod 3a1, the first gear 3c2c1 is fixedly connected with the fixed frame 3a, the support frame 2a is provided with a rotating rod 2a1, the rotating rod 2a1 is rotatably connected with the support frame 2a, the rotating rod 2a1 is sleeved with a second gear 3d2c1, the second gear 3d2c1 is fixedly connected with the rotating rod 2a1, the second gear 3d2c1 is meshed with the first gear 3c2c1, the clamping plate 2d is provided with a linkage rod 2d1, the support frame 2a is provided with a fork frame 2a2, the fork frame 2a2 is positioned on the outer side face of the sliding plate 2b, the linkage rod 2d1 penetrates through the fork frame 2a2 and is movably connected with the fork frame 2a, the specific linkage rod 2d1 can be connected with the fork frame 2a2 through an oilless bushing, and the rotating rod 2a1 is in transmission connection with the linkage rod 2d1 through a synchronous belt 3 e.
Specifically, the movable end of the robot body 1 drives the material clamping jaw 2 to be positioned above the bearing 6, the inner supporting type clamping jaw 2f and the bearing 6 are coaxially arranged, the second linear driver 2e drives the inner supporting type clamping jaw 2f to be positioned at the inner ring of the bearing 6, the working end of the inner supporting type clamping jaw 2f is opened in an umbrella shape to tightly support the inner edge surface of the bearing 6, then the second linear driver 2e drives the inner supporting type clamping jaw 2f to retract to take out the bearing 6, the bearing 6 is taken out through the inner supporting type clamping jaw 2f, the bearing 6 is positioned between two clamping plates 2d after the bearing 6 is taken out smoothly if a plurality of adjacent bearing 6 exist at the placement point, the second rotary driver 2c drives the gear 2c1 to rotate, the gear 2c1 drives two sliding plates 2b to be close to each other through the rack 2b1, the two sliding plates 2b drive the two clamping plates 2d to be close to each other to fix the bearing 6 through clamping the outer edge surface of the bearing 6, the station switching mechanism 3 starts to work, the output end of the third rotary driver 3b drives the driving rod 3a1 to rotate, the driving rod 3a1 drives the supporting frame 2a to rotate ninety degrees, so that the bearing 6 rotates ninety degrees along the axis of the driving rod 3a1 along with the two clamping plates 2d, the second gear 3d2c1 rotates due to the fact that the bearing 6 is meshed with the first gear 3c 1 while revolving along the driving rod 3a1, the second gear 3d2c1 drives the rotating rod 2a1 to rotate ninety degrees, the rotating rod 2a1 drives the linkage rod 2d1 to rotate ninety degrees through the synchronous belt 3e, the linkage rod 2d1 drives the clamping plates 2d to rotate ninety degrees, and finally the bearing 6 also completes the procedure of rotating ninety degrees under the driving of the two clamping plates 2d, so that the bearing 6 is positioned at a coaxial position with the corresponding storage device 4;
here, it should be explained why the bearing 6 needs to rotate ninety degrees, so that the bearing 6 is located at a position coaxial with the corresponding storage device 4, because the storage device 4 and the carrying device 5 have a certain volume, when the axis of the storage device 4 is perpendicular to the axis of the movable end of the robot and the bearing 6 is guaranteed to rotate ninety degrees along the driving rod 3a1 and then can be located at a position coaxial with the storage device 4, the carrying device 5 and the storage device 4 need to partially extend out of the movable end of the robot body 1, which increases the space required by the material clamping jaw 2 in the process of grabbing the bearing 6, brings inconvenience to the grabbing process of the bearing 6, and avoids the problem that the storage device 4 and the carrying device 5 extend out of the movable end of the robot too much when the axis of the storage device 4 is opposite to the axis of the movable end of the robot, so that ninety degrees of rotation is required to be matched with the corresponding storage device 4 when the bearing 6 rotates ninety degrees along the driving rod 3a 1.
Example III
In order to solve the technical problem of temporary storage and collection of the bearing 6, as shown in fig. 4, 5, 8, 9 and 10, the first embodiment is basically the same as the first embodiment, and further:
the anti-falling mechanism 4b comprises an expansion component 4d, the inside of the support rod 4a is of a hollow structure, the expansion component 4d is arranged in the support rod 4a, the working end of the expansion component 4d is positioned at the bottom end of the support rod 4a, a plurality of connecting rod groups 4c are arranged around the bottom end of the support rod 4a, the connecting rod groups 4c are three, each connecting rod group 4c comprises a first connecting rod 4c1 and a second connecting rod 4c2, the first connecting rod 4c1 is hinged to the working end of the expansion component 4d, the second connecting rod 4c2 is hinged to the bottom end of the support rod 4a, the end part of the first connecting rod 4c1 is hinged to the end part of the second connecting rod 4c2, the expansion component 4d is used for controlling the folding angle of the first connecting rod 4c1 and the second connecting rod 4c2, the end part of the second connecting rod 4c2 is hinged to the support plate 4e, the support plate 4e is elastically connected with the second connecting rod 4c2 through a second elastic element 4f, the second elastic element 4f is a spring but not limited to the spring, the expansion component 4d is in a non-working state, the connecting rod groups 4c is in a folded state, the end of the connecting rod 4c is in a state and the inner diameter of the support plate 4e is parallel to the inner diameter of the support plate 4e, and the support plate 4e is far from the outer side than the side of the support plate 4a side of the support plate 4c, and the support plate 4c is parallel to the inner diameter of the side of the support plate 4c, and the side of the support plate 4c is far from the side than the inner diameter of the side of the support plate 4c, and the side of the support plate 4c is;
the expansion assembly 4d comprises a movable rod 4d1, the movable rod 4d1 is slidably arranged in the support rod 4a, the bottom end of the movable rod 4d1 penetrates through the bottom end of the support rod 4a and is hinged with a first connecting rod 4c1 of the connecting rod group 4c, a third elastic element 4d2 is sleeved on the movable rod 4d1, the third elastic element 4d2 is a spring but is not limited to the spring, the third elastic element 4d2 is used for pushing the movable rod 4d1 to move upwards along the support rod 4a, and a third linear driver 4d3 used for pushing the movable rod 4d1 to descend is arranged at the top end of the support rod 4a;
the outside of the support rod 4a is provided with a fixed plate 4a1, the fixed plate 4a1 is fixedly connected with the support rod 4a, the outside of the support rod 4a is also provided with a pushing plate 4a2, the pushing plate 4a2 is in sliding connection with the support rod 4a, a fourth elastic element 4a3 is arranged between the pushing plate 4a2 and the fixed plate 4a1, the fourth elastic element 4a3 is a spring but not limited to the spring, a containing position of a bearing 6 is arranged between the pushing plate 4a2 and the support plate 4e, the position close to the support plate 4e is a clamping position, and the fourth elastic element 4a3 is used for pushing the bearing 6 sleeved on the support rod 4a, so that the bearing 6 is always arranged on the clamping position;
the outer diameter of the supporting rod 4a and the length of the supporting plate 4e of the accommodating device 4 for bearing the bearings 6 of different types are correspondingly adjusted.
Specifically, the first linear driver 5c starts to work, the output end of the first linear driver 5c pushes the accommodating device 4 to extend, the supporting rod 4a of the accommodating device 4 is inserted into the inner ring of the bearing 6 after extending, and in the process of inserting the supporting rod 4a into the bearing 6, the supporting rod 4e is turned over in the process of sleeving the bearing 6 because the supporting rod 4e can only rotate upwards, and when the bearing 6 sweeps over a plurality of supporting rods 4e positioned at the end part of the supporting rod 4a, the supporting rod 4e carries the second elastic element 4f to push and reset so as to prevent the bearing 6 from falling out of the supporting rod 4a;
when the material clamping jaw 2 needs to take down the bearing 6 from the storage device 4, the output end of the first linear driver 5c pushes the storage device 4 to stretch out, the supporting rod 4a of the storage device 4 stretches out to enable the bearing 6 at the clamping position to be positioned at the working end of the material rack, after the material clamping jaw 2 is fixed, the first linear driver 5c stops pushing the storage device 4, the first elastic element 5b2 arranged on the accommodating hole 5b1 pushes the supporting rod 4a to enable the storage device 4 to retract into the accommodating hole 5b1, in the retracting process, the third linear driver 4d3 completes stretching and retracting actions, the stretching action aims at pushing the plurality of connecting rod groups 4c to enable the connecting rod groups 4c to be in a stretching state, so that the supporting plate 4e cannot release the side wall of the bearing 6, and enable the bearing 6 to be separated from the supporting rod 4a, but because the fourth elastic element 4a3 pushes the bearing 6 on the supporting rod 4a to the clamping position, in order to avoid that the fourth elastic element 4a3 pushes out the rest bearing 6 through the pushing plate 4a2, the supporting rod 4a, the end of the supporting rod 4a is arranged together, the eddy current sensor is arranged on the end of the supporting rod 4a, and the eddy current sensor is prevented from being separated from the other end of the supporting rod 4a, and the eddy current sensor is prevented from being separated from the bearing 6, and the eddy current sensor is immediately inserted into the bearing 6 c, and the end of the bearing 4c is computed, and the end of the bearing 4 is immediately separated from the bearing 6.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the invention (including the claims) is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
The present invention is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omission, modification, equivalent replacement, improvement, etc. of the present invention should be included in the scope of the present invention.
Claims (8)
1. An artificial intelligence-based sorting assembly line robot comprises a robot body (1) and a detection camera;
the robot is characterized by further comprising a material clamping jaw (2), wherein the material clamping jaw (2) is arranged at the movable end of the robot body (1), and a station switching mechanism (3) for driving the material clamping jaw (2) to move in position is arranged at the movable end of the robot;
the robot comprises a robot body (1), wherein a containing device (4) and a bearing device (5) for collecting bearings (6) are further arranged at the upper movable end of the robot body (1), the bearing device (5) comprises an outer cylinder (5 a), the outer cylinder (5 a) is fixedly arranged at the movable end of the robot body (1), an inner cylinder (5 b) is rotatably arranged in the outer cylinder (5 a), at least two containing holes (5 b 1) are formed in the inner cylinder (5 b), the containing devices (4) are arranged at the positions of the containing holes (5 b 1), the number of the containing devices (4) corresponds to the number of the containing holes (5 b 1), the containing devices (4) in different containing holes (5 b 1) correspondingly support bearings (6) in different sizes, a first elastic element (5 b 2) for driving the containing devices (4) to be positioned in the containing holes (5 b 1) is arranged at the top of the inner cylinder (5 b), and a first linear driver (5 c) for driving the containing devices (4) to stretch out is arranged on the outer cylinder (5 a);
the storage device (4) comprises a support rod (4 a), a plurality of bearings (6) can be sleeved on the support rod (4 a), an anti-falling mechanism (4 b) is arranged on the support rod (4 a), and the anti-falling mechanism (4 b) is used for preventing the bearings (6) from falling out of the end parts of the support rod (4 a).
2. The sorting assembly line robot based on artificial intelligence according to claim 1, wherein the material clamping jaw (2) comprises a supporting frame (2 a), two sliding plates (2 b) are symmetrically arranged on the supporting frame (2 a), a rack (2 b 1) is arranged on the sliding plates (2 b), a second rotary driver (2 c) is further arranged on the supporting frame (2 a), a gear (2 c 1) is arranged at the output end of the second rotary driver (2 c), the gear (2 c 1) is meshed with the racks (2 b 1) of the two sliding plates (2 b) at the same time, the second rotary driver (2 c) drives the gears (2 c 1) to rotate, two sliding plates (2 b) move oppositely, clamping plates (2 d) are fixedly arranged on the sliding plates (2 b), and rubber sheets are arranged on the contact surfaces of the clamping plates (2 d) and the bearings (6).
3. An artificial intelligence based sorting flow line robot according to claim 2, characterized in that the support frame (2 a) is provided with a second linear drive (2 e), the second linear drive (2 e) being located between two slide plates (2 b), the output end of the second linear drive (2 e) being provided with an inner support type clamping jaw (2 f) for tightening the inner annulus of the bearing (6).
4. The sorting flow line robot based on artificial intelligence according to claim 2, characterized in that the station switching mechanism (3) comprises a fixing frame (3 a), the fixing frame (3 a) is fixedly installed at the movable end of the robot body (1), a driving rod (3 a 1) is rotatably arranged on the fixing frame (3 a), the supporting frame (2 a) is rotatably installed on the fixing frame (3 a), the fixing frame (3 a) is fixedly connected with the driving rod (3 a 1), a third rotary driver (3 b) is arranged on the fixing frame (3 a), and the output end of the third rotary driver (3 b) is connected with the driving rod (3 a 1).
5. The sorting flow line robot based on artificial intelligence according to claim 4, characterized in that a first gear (3 c) (2 c 1) is fixedly arranged on a fixing frame (3 a), the first gear (3 c) (2 c 1) is coaxially arranged with a driving rod (3 a 1), a rotating rod (2 a 1) is rotatably arranged on a supporting frame (2 a), a second gear (3 d) (2 c 1) is fixedly arranged on the rotating rod (2 a 1), the second gear (3 d) (2 c 1) is meshed with the first gear (3 c) (2 c 1), a linkage rod (2 d 1) is arranged on a clamping plate (2 d), a fork frame (2 a 2) is arranged on the supporting frame (2 a), the fork frame (2 a 2) is arranged on the outer side face of a sliding plate (2 b), the linkage rod (2 d 1) penetrates through the fork frame (2) and is movably connected with the fork frame, and the rotating rod (2 a 1) is in transmission connection with the linkage rod (2 d 1) through a synchronous belt (3 e).
6. The sorting flow line robot based on artificial intelligence according to claim 1, wherein the anti-falling mechanism (4 b) comprises an expansion assembly (4 d), the expansion assembly (4 d) is arranged in the support rod (4 a), the working end of the expansion assembly (4 d) is positioned at the bottom end of the support rod (4 a), at least two connecting rod groups (4 c) are arranged around the bottom end of the support rod (4 a), the connecting rod groups (4 c) comprise a first connecting rod (4 c 1) and a second connecting rod (4 c 2), the first connecting rod (4 c 1) is hinged at the working end of the expansion assembly (4 d), the second connecting rod (4 c 2) is hinged at the bottom end of the support rod (4 a), the end of the first connecting rod (4 c 1) is hinged with the end of the second connecting rod (4 c 2), the expansion assembly (4 d) is used for controlling the folding angle of the first connecting rod (4 c 1) and the second connecting rod (4 c 2), the end of the second connecting rod (4 c 2) is hinged with a support plate (4 e), and the support plate (4 e) is in a state of being in which the expansion assembly (4 e) is not parallel to the end face of the support rod (4 c) when the second connecting rod (4 c) is in an elastic state, and the distance from the axis of the supporting rod (4 a) to the outer edge of the supporting plate (4 e) is more than half of the inner diameter of the bearing (6).
7. The sorting flow line robot based on artificial intelligence according to claim 6, wherein the expansion assembly (4 d) comprises a movable rod (4 d 1), the movable rod (4 d 1) is slidably arranged in the support rod (4 a), the bottom end of the movable rod (4 d 1) penetrates through the bottom end of the support rod (4 a) and is hinged to the first connecting rod (4 c 1) of the connecting rod group (4 c), a third elastic element (4 d 2) is sleeved on the movable rod (4 d 1), the third elastic element (4 d 2) is used for pushing the movable rod (4 d 1) to move upwards along the support rod (4 a), and a third linear driver (4 d 3) for pushing the movable rod (4 d 1) to descend is arranged at the top end of the support rod (4 a).
8. The sorting flow line robot based on artificial intelligence according to claim 6, characterized in that the outside of the supporting rod (4 a) is fixedly provided with a fixed plate (4 a 1), the outside of the supporting rod (4 a) is also slidably provided with a pushing plate (4 a 2), a fourth elastic element (4 a 3) is arranged between the pushing plate (4 a 2) and the fixed plate (4 a 1), a holding position of the bearing (6) is arranged between the pushing plate (4 a 2) and the supporting plate (4 e), a position close to the supporting plate (4 e) is a clamping position, and the fourth elastic element (4 a 3) is used for pushing the bearing (6) sleeved on the supporting rod (4 a) so that the bearing (6) is always arranged on the clamping position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311010150.6A CN116765000B (en) | 2023-08-11 | 2023-08-11 | Sorting assembly line robot based on artificial intelligence |
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| CN202311010150.6A CN116765000B (en) | 2023-08-11 | 2023-08-11 | Sorting assembly line robot based on artificial intelligence |
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| CN116765000B CN116765000B (en) | 2024-02-06 |
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