CN211279609U - Robot automatic sorting system - Google Patents

Abstract

The utility model discloses an automatic sorting system of robot, include: peripheral device, handling device, weighing device, conveyor, garbage collection device and control system. Wherein: the peripheral device surrounds the working area of the whole system, all the working devices of the system are arranged in the peripheral device according to relative positions, and the conveying device is used for conveying the injection molding products to the weighing device for weighing and conveying the injection molding products from the weighing device to the conveying device or the waste collecting device; the weighing device is used for weighing the injection molding product; the conveying device is used for conveying the weighed qualified products to the next working procedure; and the control system controls all devices to act in the weighing process. The utility model discloses an automatic sorting system of robot has replaced the overall arrangement of traditional single process manual sorting, has realized automatic weighing and differentiateed effectively, simple structure, save space, flexible operation is convenient, uses manpower sparingly, efficient, the rate of accuracy is high.

Description

Robot automatic sorting system

Technical Field

The utility model relates to an automatic control technical field especially relates to an automatic sorting system of robot.

Background

At present, after an injection molding machine on the market molds products, workpieces are automatically ejected out, the formed workpieces and a stub bar directly drop in a fixed collecting box, then the workpieces in the collecting box are manually sorted and placed on a weighing device for weighing, and a worker reads data displayed on the weighing device and judges whether the weight of the workpieces is in a qualified range. If the workpiece is qualified, manually conveying the workpiece to the next procedure; if not, the workpiece is manually placed into a waste collection box, and the weighing and sorting processes of the injection molding workpiece are completed. The process of judging whether the product is qualified or not through manual sorting and reading of the display data not only consumes time and is low in efficiency, but also is easy to cause data reading errors, and finally influences judgment on whether the product is qualified or not; moreover, the way of manually recording data is complicated, and data storage, query and tracing are inconvenient; in addition, as labor costs continue to rise, this approach invisibly increases personnel costs to the enterprise.

SUMMERY OF THE UTILITY MODEL

In order to solve the defects of the prior art, the utility model aims to provide an automatic robot sorting system.

In order to achieve the above purpose, the present invention is realized by the following technical solutions:

a robotic automated sorting system comprising: the device comprises a peripheral device, a carrying device, a weighing device, a conveying device, a waste collecting device and a control system; wherein:

the peripheral device surrounds the working area of the whole system, and all the working devices of the system are arranged in the peripheral device according to relative positions;

the conveying device is used for conveying the injection molding products from the injection molding machine to the weighing device for weighing, and conveying the injection molding products from the weighing device to the conveying device or the waste collecting device;

the weighing device is used for weighing the injection molding product;

the conveying device is used for conveying the weighed qualified product to the next procedure;

the waste collecting device is used for collecting unqualified products after weighing;

and the control system controls all devices to act in the weighing process.

The carrying device consists of a carrying robot and a gripper; the base of the transfer robot is fixedly arranged on a robot mounting seat arranged at the top of the injection molding machine, and a supporting seat is arranged below the robot mounting seat so as to ensure the mounting stability of the transfer robot; and the other end of the carrying robot is arranged together with the gripper through a quick change disc.

The gripping device comprises a gripping handle, a weighing device and a clamping device, wherein the gripping handle is provided with a sucker, a pneumatic finger clamp and a profiling block, the sucker and the pneumatic finger clamp are used for sucking and clamping injection molding pieces so as to fix the injection molding pieces, the profiling block is used for accurately positioning the injection molding pieces and preventing the injection molding pieces from moving in the process of carrying the injection molding pieces or placing the injection molding pieces to the weighing device so as to ensure the carrying process or the placing stability.

The weighing device is provided with a weighing tray and a platform scale, the weighing tray is arranged above the platform scale and can ascend or descend under the action of a power mechanism, and therefore injection molded parts to be weighed leave the platform scale or fall on the platform scale.

Specifically, one structure of the weighing device is as follows: the weighing device is provided with a weighing tray and an air cylinder, the weighing device is provided with the weighing tray and the air cylinder, the weighing tray is installed at the uppermost end of the weighing device, and a positioning hole, a molded surface or a profiling block is arranged for positioning and fixing the injection molding piece; the weighing tray is characterized in that positioning pins are arranged below four corners of the weighing tray and fixedly connected through a connecting plate, a positioning sleeve matched with the positioning pins is arranged above the air cylinder, the positioning pins are inserted into the positioning sleeve to realize positioning of the weighing tray, and the air cylinder moves up and down to drive the weighing tray to automatically lift, so that space is saved.

Wherein, conveyor adopts the conveyer belt mode to transport the qualified injection molding of weighing to next process.

The control system is provided with a plurality of control units, and the control units control all devices of the automatic weighing system to act so as to complete the automatic weighing and sorting process of the injection molded parts.

The control system is further provided with a touch screen, the touch screen is installed on the fence of the peripheral device, and an operator can set data parameters and observe weighing display data.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model provides a to injection moulding product's an automatic sorting system of robot has replaced the overall arrangement of traditional single process manual sorting, has realized automatic weighing and differentiateed effectively, simple structure, save space, the flexible operation is convenient, uses manpower sparingly, efficient, the rate of accuracy is high.

Drawings

Fig. 1 is a schematic perspective view of the overall system of the present invention;

FIG. 2 is a schematic perspective view of the peripheral device of the present invention;

fig. 3 is a schematic perspective view of the carrying device of the present invention;

fig. 4 is a schematic perspective view of the gripper of the present invention;

FIG. 5 is a schematic view of the connection of the suction cup and the gimbal according to the present invention;

FIG. 6 is a schematic view of the connection of the air finger clip and the universal frame according to the present invention;

FIG. 7 is a schematic view of the three-dimensional structure of the dummy block and the gimbal according to the present invention;

fig. 8 is a schematic three-dimensional structure view of the weighing tray of the present invention;

fig. 9 is a schematic perspective view of the weighing apparatus of the present invention;

fig. 10 is a schematic perspective view of the conveying device of the present invention;

fig. 11 is a partially enlarged schematic view of a rotary rod of the conveying device according to the present invention;

fig. 12 is a schematic perspective view of the waste collecting device of the present invention.

In the figure: 1-peripheral device, 2-carrying device, 3-weighing device, 4-conveying device, 5-waste collecting device, 6-control system, 7-robot mounting seat, 8-supporting seat, 11-safety door, 21-carrying robot, 22-gripper, 221-section bar frame, 222-corner frame, 223-fixing plate, 224-universal frame, 2241-fixing block, 2242-universal rod, 2243-universal fixing support, 225-suction cup, 226-air finger clamp, 227-profiling block, 23-quick-change disk, 31-weighing tray, 311-positioning pin, 312-connecting plate, 313-sensor support, 314-photoelectric sensor, 315-L-shaped connecting plate, 32-air cylinder, 33-air cylinder fixing block, 34-platform scale, 35-instrument panel, 36-electromagnetic valve, 37-base, 38-proximity switch, 41-bracket, 42-anchor, 43-support rod, 44-rotating rod, 45-mounting plate, 46-conveyor belt, 47-conveyor belt terminal shield, 48-motor, 51-waste recovery frame, 52-waste recovery slide plate, 53-U-shaped mounting block and 61-touch screen.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 to 12, the utility model provides an automatic robot sorting system, including: the device comprises a peripheral device 1, a carrying device 2, a weighing device 3, a conveying device 4, a waste collecting device 5 and a control system 6; wherein:

the peripheral device 1 surrounds the working area of the whole system, and all working devices of the system are arranged in the peripheral device according to relative positions; in addition, the inside of the area can be integrated and added with corresponding product functions according to the actual needs of customers, such as: the functions of modules such as product laser coding, automatic assembly, visual inspection and the like can be integrated into the system, and the system has strong openness and diversity;

the conveying device 2 is used for conveying the injection molding products from the injection molding machine to the weighing device 3 and conveying the injection molding products from the weighing device 3 to the conveying device 4 or the waste collecting device 5;

the weighing device 3 is used for weighing the injection molding product;

the conveying device 4 is used for conveying the weighed qualified products to the next procedure;

the waste collecting device 5 is used for collecting the weighed unqualified products;

the control system 6 controls all device actions in the weighing process.

In this embodiment, preferably, the carrying device 2 is composed of two parts, namely a carrying robot 21 and a gripper 22; the carrying robot 21 is an ABB brand IRB6650S-125 type six-axis robot, a base of the six-axis robot is fixedly arranged on a robot mounting seat 7 arranged at the top of the injection molding machine, and a supporting seat 8 is arranged below the robot mounting seat 7 so as to ensure the mounting stability of the six-axis robot; the other end of the six-axis robot is installed with the gripper 22 through a quick-change disc 23; the gripper 22 drives the workpiece to realize a three-dimensional space track by the movement of the six-axis robot, and simultaneously realizes the automatic weighing of the product by matching with the complementation of the external weighing device 3.

In particular, said hand grip 22 comprises: section bar frame 221, angle bracket 222, fixing plate 223, universal bracket 224, suction cup 225, gas finger clamp 226 and profiling block 227; the section frame 221 is a square frame made of long-strip sections and is fixedly connected through the corner bracket 222; the fixing plate 223 is divided into an L-shaped structure and a T-shaped structure, and the L-shaped fixing plates are installed at four corners of the profile frame 221, and the T-shaped fixing plates are installed at middle positions of two ends of the profile frame 221 to reinforce the profile frame.

The upper end of gimbal 224 is for having the fixed block 2241 of circular through-hole, the articulated upper end of connecting in the gimbal 2242 of the vertical direction of its below of fixed block 2241, the square universal fixed bolster 2243 that has the circular hole is inserted to the lower extreme of gimbal 2242 and is locked in order to realize two parts fixed connection through lock nut, universal fixed bolster 2243 is fixed in on the section bar frame 221 of tongs 22, in order to realize gimbal 224 with the fixed connection of the section bar frame 221 of tongs 22. A cylindrical sucker joint at the lower end of the sucker 225 is inserted into and penetrates through a circular through hole of the fixing block 2241 of the universal frame 224, and is locked by a locking nut to prevent the sucker from falling off; the cylindrical rod at the lower end part of the air finger clamp 226 is inserted into and penetrates through the circular through hole of the fixing block 2241 of the universal frame 224, and is locked by a locking nut to prevent the air finger clamp from falling off; the lower end of the profiling block 227 is provided with a cylindrical block which is inserted into and penetrates through a circular through hole of the fixing block 2241 of the universal frame 224, and the cylindrical block is locked by a locking nut to prevent the cylindrical block from falling off; the suction disc 225 and the gas finger clamp 226 are used for fixing and clamping an injection molding piece together, so that the injection molding piece is prevented from falling off from the hand grip 22 due to unstable gripping, the suction disc 225 has a negative pressure detection function, if the injection molding piece is not sucked, an error can be reported in time, the profiling block 227 is used for accurately positioning the injection molding piece, the injection molding piece is prevented from shifting in the process of carrying the injection molding piece or placing the injection molding piece to the weighing device 3, the carrying process and the placing stability are guaranteed, and the angles of the square block, the gas finger clamp and the suction disc can be adjusted through the universal frame.

Here, it should be noted that: to the injection moulding product of different grade type, a transfer robot can carry out the snatching of multiple product and weigh through switching different tongs, has increased the flexibility, the cost is reduced.

In this embodiment, preferably, the weighing device 3 includes: the weighing device comprises a weighing tray 31, an air cylinder 32, an air cylinder fixing block 33, a platform balance 34, an instrument panel 35, an electromagnetic valve 36 and a base 37; the weighing tray 31 is installed at the uppermost end of the weighing device 3, a square frame is formed by assembling two long-strip profiles and six short-strip profiles, the joints of the long-strip profiles and the short-strip profiles are fixed by using corner brackets, a profiling block is arranged on the frame and used for positioning and fixing injection-molded parts, the upper end surface of the upper weighing tray 31 is connected with the photoelectric sensor 314 through a sensor bracket 313, and the photoelectric sensor 314 is used for detecting injection-molded parts to be weighed; an L-shaped detection plate 315 is arranged on the side surface of the weighing tray 31, and a proximity switch 38 matched with the L-shaped detection plate 315 for use is arranged on a mounting seat of a base 37 below the L-shaped detection plate 315 and used for detecting the type of the weighing tray 31; cylinder fixed block 33 passes through corner bracket fixed mounting and is in the upper end at four angles of the square mount pad of base 37 top, cylinder 32 is installed the side of cylinder fixed block 33, four angles below of tray 31 of weighing is provided with locating pin 311 and through connecting plate 312 fixed connection, through with locating pin 311 inserts realize in the locating sleeve that the cylinder 32 top set up the location of tray 31 of weighing, and pass through cylinder 32 up-and-down motion and then drive the automatic rising of tray 31 of weighing saves space. The platform scale 34 and the instrument panel 35 are used in a matching manner, and specifically include: the platform balance 34 is arranged in the middle of the square mounting seat above the base 37 and used for weighing injection-molded parts placed on the weighing tray 31, the instrument panel 35 is arranged at the side end of the square mounting seat above the base 37 and used for displaying weighing data, and the base of the base 37 is fixed on the ground through screws.

During weighing, the electromagnetic valve 36 arranged above the base of the base 37 controls the air cylinders 32 to act, at the beginning, the four air cylinders 32 extend out, the four positioning pins 311 below the weighing tray 31 are inserted into the positioning sleeves arranged above the air cylinders 32, the hand grips 22 place injection moldings on the weighing tray 31, then the weighing tray 31 falls along with the air cylinders 32 until the weighing tray 31 falls on the upper surface of the platform balance 34, then the air cylinders 32 continue to fall until the four positioning pins 311 are separated from the positioning sleeves, at this time, the weighing tray 31 falls on the platform balance 34 and has no support to prevent the weighing data from being influenced, and then weighing can be started.

In this embodiment, the conveyor 4 preferably transports the weighed injection-molded parts to the next process step by means of a conveyor belt. The conveying device 4 comprises brackets 41, feet 42, supporting rods 43, rotating rods 44, a mounting plate 45, a conveyor belt 46, a conveyor line terminal shield 47 and a motor 48, wherein the supporting rods 43 are fixedly connected together through angle brackets to form a square supporting frame body of the conveying device 4, six feet 42 are mounted at the lower end of the supporting rods 43 in the vertical direction, four brackets 41 are mounted at four corners of the square supporting frame body to further fixedly support the supporting frame body, the conveyor belt 46 is mounted at the middle position of the uppermost supporting rod 43, and two rotating rods 44 are mounted on the supporting rods 43 at two sides of the conveyor belt 46 through the mounting plate 45 and are positioned below the conveyor belt 46 to be in contact connection with the conveyor belt 46, so as to assist in supporting the conveyor belt 46 and prevent the conveyor belt 46 from being too loose; the conveyor line terminal shield 47 is mounted directly above the conveyor 46 on the side near the motor 48 to prevent the hand from reaching the enclosure, and the motor 48 is mounted on the side of the support bar 43 of the conveyor 46 to control the movement of the conveyor 46.

In this embodiment, preferably, the scrap collecting device 5 includes a scrap collecting rack 51, a scrap collecting sliding plate 52, and a U-shaped mounting block 53, where the scrap collecting rack 51 is constructed by a plurality of profile frames, and a certain gradient is formed above the scrap collecting rack, so that injection molded parts can be conveniently recovered from the top to the bottom of the scrap collecting sliding plate 52 by sliding down, the scrap collecting sliding plate 52 is a rectangular slot with an opening at the bottom end, and the scrap collecting rack 51 and the scrap collecting sliding plate 52 are fixedly mounted together by the U-shaped mounting block 53; when the injection molding piece is unqualified in weighing, the carrying device 2 carries the injection molding piece from the weighing device 3 to the waste collecting device 5 for recycling, and then the unqualified product is taken away from the waste collecting device 5 manually for further treatment.

In this embodiment, preferably, the control system 6 is a PLC programming control system, wherein a plurality of control units and a touch screen 61 are provided, the plurality of control units control all devices of the automatic weighing system to act, so as to complete the automatic weighing and sorting process of the injection molded parts, the touch screen 61 is installed on the fence of the peripheral device 1, and an operator can set data parameters and observe weighing display data through the touch screen 61. For example: the data output unit is used for receiving the weight of the injection molding product transmitted by the weighing device 3 and transmitting the data to the touch screen for displaying; a conveying speed adjusting unit for adjusting the conveying speed of the conveying device; the threshold value setting unit is used for setting the upper limit and the lower limit of weighing; and the storage unit is used for storing data so as to facilitate subsequent data query and tracing.

In this embodiment, the peripheral device 1 is preferably a net enclosure and is provided with a safety door 11 and an opening portion for placing the conveyor 4, the waste collecting device 5 and the control system 6.

The utility model discloses a concrete working process does: switching on a power supply, setting the transmission speed of the conveying device, the upper limit value and the lower limit value of weighing by an operator through the touch screen 61, pressing a start button, opening the injection molding machine after the injection molding machine makes a product and forms the product, enabling the six-axis robot 21 to act, enabling the six-axis robot gripper 22 to extend into the injection molding machine to grip the injection molded product and place the injection molded product on the weighing tray 31, transmitting a signal to the PLC control system 6 by the weighing device 3 to start the weighing device 3 to weigh, transmitting weight data to the PLC control system 6 by the weighing device 3 after weighing is completed, outputting a judgment result to the touch screen 61 by the PLC control system 6 to be displayed, storing the data by the storage unit, informing the six-axis robot 21 to act next step, if the injection molded product is qualified, gripping the injection molded product by the six-axis robot gripper 22 and placing the injection molded product on the conveying belt 46 of, the six-axis robotic gripper 22 grabs the injection molded product and places it in the scrap collecting device 5.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. A robotic automated sorting system, comprising: a peripheral device (1), a carrying device (2), a weighing device (3), a conveying device (4) and a waste collecting device (5);

wherein:

the peripheral device (1) surrounds the working area of the whole system, and all the working devices of the system are arranged in the peripheral device according to relative positions;

the conveying device (2) is used for conveying the injection molding products from the injection molding machine to the weighing device (3) for weighing, and conveying the injection molding products from the weighing device (3) to the conveying device (4) or the waste collecting device (5);

the weighing device (3) is used for weighing the injection molding product;

the conveying device (4) is used for conveying the weighed qualified products to the next procedure;

the waste collecting device (5) is used for collecting unqualified products after weighing.

2. A robotic automated sorting system according to claim 1, characterised in that the handling device (2) is formed of two parts, a handling robot (21) and a gripper (22); wherein, the base of the transfer robot (21) is fixedly arranged on a robot mounting seat (7) arranged at the top of the injection molding machine, and a supporting seat (8) is arranged below the robot mounting seat (7); the other end of the transfer robot (21) is attached to the gripper (22).

3. A robotic automatic sorting system according to claim 2, characterised in that the other end of the handling robot (21) is mounted with the gripper (22) by means of a quick change disc (23).

4. A robotic automated sorting system according to claim 3, characterised in that the gripper (22) is provided with a suction cup (225), a pneumatic finger grip (226) and a profiling block (227), wherein the suction cup (225) and the pneumatic finger grip (226) are adapted to suck and grip, respectively, in order to fix injection moulded parts, and the profiling block (227) is adapted to position injection moulded parts accurately.

5. The robotic automatic sorting system according to claim 1, wherein the weighing device (3) is provided with a weighing tray (31) and a platform scale, the weighing tray (31) being arranged above the platform scale and being capable of being raised or lowered by a power mechanism in order to carry the injection molded parts to be weighed away from or onto the platform scale.

6. The robotic automated sorting system according to claim 1, wherein the conveyor means (4) transports the injection molded parts that are qualified for weighing to the next process step by means of a conveyor belt.

7. The automatic robot sorting system according to claim 1, further comprising a control system (6), wherein a plurality of control units are disposed in the control system (6), and the control units control all devices of the automatic weighing system to act, so as to complete the automatic weighing and sorting process of the injection molded parts.

8. A robotic automatic sorting system according to claim 7, characterized in that the control system (6) is further provided with a touch screen (61), the touch screen (61) being mounted on the enclosure of the peripheral device (1), the operator being able to set data parameters and observe the weighing display data.

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