CN212241059U

CN212241059U - Temporary storage device for bolt sorting

Info

Publication number: CN212241059U
Application number: CN202021368030.5U
Authority: CN
Inventors: 翟大庆; 石磊; 翟志余
Original assignee: Sichuan Guoruan Science & Technology Development Co ltd
Current assignee: Sichuan Guoruan Technology Group Co Ltd
Priority date: 2020-07-13
Filing date: 2020-07-13
Publication date: 2020-12-29
Anticipated expiration: 2030-07-13

Abstract

The utility model discloses a temporary storage device for bolt sorting, which comprises a sorting manipulator, an image acquisition element and a controller; the image acquisition element is arranged in a material waiting area and used for acquiring accessory image data of the material waiting area; the sorting manipulator is arranged at a position close to the area to be taken and used for clamping accessories of the area to be taken; the data input end of the controller is connected with the image acquisition element, the control output end of the controller is connected with the sorting manipulator, and the controller is used for receiving the accessory image data acquired by the image acquisition element and converting the accessory image data into accessory position information to control the grabbing position of the sorting manipulator. The problem that the action flexibility is relatively poor and the degree of accuracy is lower is got to the clamp that present manipulator exists can be solved to above-mentioned scheme.

Description

Temporary storage device for bolt sorting

Technical Field

The utility model relates to a bolt letter sorting technical field especially relates to a temporary storage device for bolt letter sorting.

Background

To facilitate the use of bolts, it is often necessary to sort out the disordered bolt accessories in order, arrange them in order, and fit them with corresponding washer and nut accessories.

In the bolt sorting process, the bolt material boxes on the goods shelf are transferred to the sorting conveying line through the storing and taking mechanical arm, and then the bolt material boxes are conveyed to the material-waiting area of the sorting mechanical arm through the sorting conveying line so as to be grabbed by the sorting mechanical arm.

However, the existing manipulator is fixed in action in the process of clamping materials, and the materials are conveyed to a fixed position one by one through intermittent movement of a conveying line so as to be clamped by the manipulator; therefore, the gripping action of the robot arm is poor in flexibility and low in accuracy.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a temporary storage device to solve the problem that the action flexibility is relatively poor and the degree of accuracy is lower of pressing from both sides the clamp that present manipulator exists.

In order to solve the above problem, the utility model adopts the following technical scheme:

a temporary storage device for bolt sorting comprises a sorting manipulator, an image acquisition element and a controller; the image acquisition element is arranged in a material waiting area and used for acquiring accessory image data of the material waiting area; the sorting manipulator is arranged at a position close to the area to be taken and used for clamping accessories of the area to be taken; the data input end of the controller is connected with the image acquisition element, the control output end of the controller is connected with the sorting manipulator, and the controller is used for receiving the accessory image data acquired by the image acquisition element and converting the accessory image data into accessory position information to control the grabbing position of the sorting manipulator.

Optionally, the number of the image acquisition elements is multiple, and the multiple image acquisition elements are arranged in an array manner right above the material area to be taken.

Optionally, the image capture element is a camera or a video camera.

Optionally, the temporary storage device further comprises a temporary storage table; the temporary storage table comprises a material table and at least two supporting parts arranged on the material table at intervals, the two adjacent supporting parts are located at opposite positions, and a space for accommodating a fork supporting arm is formed between the two adjacent supporting parts; the material platform is located in the material area to be taken.

Optionally, the staging platform further comprises a transport mechanism; the material platform is arranged on the conveying mechanism and can be driven by the conveying mechanism to move along the feeding direction of the conveying mechanism; the supporting parts are arranged at intervals along the feeding direction of the conveying mechanism.

Optionally, the conveying mechanism comprises a feeding table and a driving mechanism; the material platform is arranged on the feeding platform in a sliding mode and is connected with the driving mechanism, and the driving mechanism can drive the material platform to move in a reciprocating mode along the feeding direction of the conveying mechanism.

Optionally, a guide rail is arranged on the feeding table, and the guide rail extends along the feeding direction of the conveying mechanism; the material platform is provided with the slider, just the slider seted up with the spout of guide rail adaptation, the slider passes through the spout is ridden and is located on the guide rail, and follow the extending direction of guide rail with guide rail sliding fit.

Optionally, the driving mechanism comprises a driving motor, a gear and a rack; the rack is arranged on the feeding table and extends along the feeding direction of the conveying mechanism; the driving motor is arranged on the material table, the gear is arranged on an output shaft of the driving motor, and the gear is meshed with the rack.

Optionally, the buffer device further comprises a transition table disposed adjacent to the sorting manipulator; the table-board of transition platform is provided with the magnetic adsorption region.

Optionally, the magnetic attraction area is an area provided with an electromagnet or a permanent magnet.

The utility model discloses a technical scheme can reach following beneficial effect:

the utility model discloses a temporary storage table system, which can collect the accessory image data of accessories such as bolts in the material box of the material waiting area through the image collecting element arranged in the material waiting area and transmit the collected accessory image data to a controller; the controller can receive accessory image data acquired by the image acquisition element, convert the accessory image data into accessory position information, and further control the grabbing position of the manipulator according to the accessory position information, so that the manipulator can accurately move to the position where the accessory is located to complete grabbing action; consequently, compare in prior art, improved the flexibility and the degree of accuracy that the accessory was snatched to the letter sorting manipulator effectively.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is a schematic structural diagram of a temporary storage apparatus disclosed in an embodiment of the present invention (a transition table is omitted in the figure);

fig. 2 is a schematic structural diagram of a temporary storage table disclosed in an embodiment of the present invention;

fig. 3 is a side view of a staging platform according to an embodiment of the present invention;

fig. 4 is a schematic view of a matching structure of the material box and the supporting part disclosed in the embodiment of the present invention;

fig. 5 is a schematic structural diagram of a driving mechanism disclosed in an embodiment of the present invention;

fig. 6 is a schematic view of a matching structure of a guide rail and a slider according to an embodiment of the present invention;

description of reference numerals:

100-material table, 110-supporting part, 120-sliding block, 130-material box,

200-driving motor, 210-gear, 220-rack,

300-feeding table, 310-guide rail, 320-supporting leg, 321-adjusting foot and 330-connecting beam

400-image acquisition element, 410-gantry,

500-sorting robot.

Detailed Description

To make the purpose, technical solution and advantages of the present invention clearer, the following will combine the embodiments of the present invention and the corresponding drawings to clearly and completely describe the technical solution of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 6, an embodiment of the present invention discloses a temporary storage device for bolt sorting, which includes a sorting robot 500, an image capturing element 400 and a controller.

The image acquisition element 400 is arranged in the material waiting area and used for acquiring accessory image data of the material waiting area; the sorting manipulator 500 is disposed at a position adjacent to the material waiting area, and is used for clamping the accessories of the material waiting area.

The data input end of the controller is connected with the image acquisition element 400 and is used for receiving the accessory image data acquired by the image acquisition element 400 and converting the accessory image data into accessory position information containing accessory angles and position coordinates through a visual processing algorithm program built in the controller.

The control output end of the controller is connected with the sorting manipulator 500, so that the controller can control the sorting manipulator 500 to move to the grabbing position according to the accessory position information obtained by conversion to grab the corresponding accessory.

Therefore, compared with the existing mechanical arm, the temporary storage device disclosed by the utility model enables the picking position of the sorting mechanical arm 500 to be adjusted in real time when the sorting mechanical arm 500 picks bolt accessories at different positions in the material box 130 of the material region to be picked respectively through the cooperative matching of the image acquisition element 400 and the sorting mechanical arm 500, thereby effectively improving the flexibility and accuracy of picking accessories by the sorting mechanical arm 500; and, avoided the intermittent type formula of transfer chain to remove the adjustment of the accessory position of treating the material area of getting, improved letter sorting manipulator 500's work efficiency.

As shown in fig. 1, there are a plurality of image capturing elements 400, and the plurality of image capturing elements 400 are arranged in an array manner directly above the material to be taken, so that the coverage of the image capturing elements 400 for capturing image data can be effectively increased, and the method is particularly suitable for a working condition where the material to be taken has a plurality of material boxes 130.

The image capturing element 400 may be a functional device such as a 2D camera, a 3D camera, or a camera; meanwhile, in order to facilitate the arrangement of the image collecting element 400, the gantry 410 may be disposed in the material waiting area, so that the image collecting element 400 is disposed at a beam of the gantry 410 and the image collecting range of the image collecting element 400 covers the material waiting area.

The temporary storage device disclosed by the embodiment of the utility model also comprises a temporary storage table; as shown in fig. 2 and 3, the temporary storage table includes a material table 100 and at least two supporting portions 110 disposed on the material table 100 at intervals, and two adjacent supporting portions 110 are located at opposite positions, and a space for accommodating a fork arm is formed between the two adjacent supporting portions 110; the material table 100 is located in the material area to be taken.

Therefore, through the supporting parts 110 arranged on the material table 100 at intervals, a space for accommodating the fork supporting arm is formed between two adjacent supporting parts 110; after the fork supporting arm of the storing and taking manipulator lifts and transfers the material box 130 from the goods shelf to the position of the material platform 100, the fork supporting arm can be arranged between the two adjacent supporting parts 110, so that the two opposite sides of the bottom surface of the material box 130 are respectively and stably arranged on the two adjacent supporting parts 110, the fork supporting arm can be conveniently moved out, and the smooth and stable completion of the discharging work is ensured.

Moreover, as shown in fig. 4, the top surface and the inner side surface of two adjacent supporting portions 110 may further be matched with the stepped structures on two opposite sides of the bottom surface of the material tank 130, the top surface of the supporting portion 110 abuts against the shoulder surface of the stepped structure, and the inner side surface of the supporting portion 110 abuts against the side surface of the stepped structure, so that the material tank 130 placed on the supporting portion 110 may be limited by the two adjacent supporting portions 110, the placing stability of the material tank 130 is improved, and particularly, the material tank 130 and the material table 100 may be prevented from moving relatively in the conveying and moving process of the material table 100.

In order to make the material table 100 move back and forth between the storage manipulator of the warehouse and the sorting manipulator 500 of the sorting area, the temporary storage table disclosed by the embodiment of the invention can also comprise a conveying mechanism; the material platform 100 is arranged on the conveying mechanism, and the material platform 100 can be driven by the conveying mechanism to move along the feeding direction of the conveying mechanism, so that the reciprocating movement of the material platform 100 is controlled by the conveying mechanism, the unloading of the storing and taking manipulator is facilitated, and the material platform 100 is moved to an area to be taken for the sorting manipulator 500 to sort and take materials.

Moreover, as shown in fig. 2, the supporting parts 110 are arranged at intervals along the feeding direction of the conveying mechanism, so that the storing and taking manipulator can be positioned at one side of the conveying mechanism for discharging, and the occupied space is saved; in addition, the limiting effect of the supporting part 110 on the material box 130 in the feeding direction of the conveying mechanism is also ensured, the material box 130 is prevented from moving relatively in the moving process of the material table 100, and the stable feeding of the material box 130 is facilitated.

The conveying mechanism disclosed by the embodiment of the utility model can comprise a feeding table 300 and a driving mechanism; the material table 100 is slidably disposed on the feeding table 300, and the material table 100 is connected to a driving mechanism, which can drive the material table 100 to reciprocate along the feeding direction of the conveying mechanism.

Specifically, as shown in fig. 5, as one structure of the driving mechanism, it may include a driving motor 200, a gear 210, and a rack 220; the rack 220 is arranged on the feeding table 300 and extends along the feeding direction of the conveying mechanism; the driving motor 200 is arranged on the material table 100, the gear 210 is arranged on an output shaft of the driving motor 200, and the gear 210 is meshed with the rack 220; the driving motor 200 may be a stepping motor or a servo motor.

In the process that the driving motor 200 drives the gear 210 to rotate forwards or reversely, the gear 210 can shift the rack 220, so that the gear 210 moves forwards or backwards along the extension setting direction of the rack 220, the material platform 100 is driven and controlled to move back and forth along the extension setting direction of the rack 220, and the control of the material platform 100 to move back and forth is realized; in addition, compared with conveying mechanisms such as a conveyor belt, the driving mechanism also has the advantages of stable and accurate movement control.

Of course, the driving mechanism may also be a telescopic moving mechanism such as an air cylinder, a hydraulic cylinder or an electric rod, so that the material table 100 is controlled to reciprocate along the table top of the feeding table 300 by the telescopic moving mechanism, so that the material table 100 can move between the storing and taking manipulator of the warehouse and the sorting manipulator 500 of the sorting area; the embodiment of the utility model provides a do not restrict conveying mechanism's kind structure.

It is easy to understand that, in order to better ensure the stability of the reciprocating movement of the material table 100 along the feeding table 300, a guide rail 310 may be provided on the feeding table 300, and the guide rail 310 extends along the feeding direction of the conveying mechanism; the material platform 100 is provided with the slider 120, and the slider 120 sets up the spout with guide rail 310 adaptation, the slider 120 rides on guide rail 310 through the spout, and along guide rail 310's extending direction and guide rail 310 sliding fit, thereby can play the guide effect to the reciprocating motion of material platform 100 through guide rail 310, avoid material platform 100 to follow pay-off platform 300 reciprocating motion in-process and take place the skew, and then improved material platform 100 reciprocating motion's stability.

Preferably, as shown in fig. 6, the cross-sectional shape of the sliding groove may be designed to be T-shaped, and accordingly, the cross-sectional shape of the guide rail 310 may be designed to be i-shaped or T-shaped to fit the sliding groove; therefore, the sliding block 120 is embraced by the T-shaped part of the guide rail 310, the sliding block 120 is prevented from being separated from the guide rail 310 in the sliding movement process along the guide rail 310, and the movement stability of the material table 100 is better guaranteed; of course, the sliding groove and the guide rail 310 may also be designed to be in other shapes that are in limit fit, such as a preferred arc shape, and the embodiment of the present invention does not limit the shape structure of the sliding groove and the guide rail 310.

Meanwhile, the number of the guide rails 310 may be two, and the two guide rails 310 are respectively located at two opposite sides of the bottom surface of the material table 100, so that the gravity of the material table 100 can be equally distributed on the guide rails 310 at two sides of the material table, and the stability of the material table 100 in reciprocating movement is better ensured; in order to further ensure the stability of the material table 100 sliding along the guide rails 310, at least two sliders 120 are respectively disposed at positions of the material table 100 corresponding to the two guide rails 310.

Of course, the chute may also be a through-slot structure directly disposed on the material table 100; compared with the manner that the material table 100 is slidably arranged on the guide rail 310 through the sliding block 120, the sliding groove is directly arranged on the material table 100, which not only increases the processing difficulty of the material table 100, but also influences the structural strength of the material table 100; the embodiment of the utility model provides a do not restrict material platform 100 and pay-off platform 300 sliding fit's structure that sets up.

As shown in fig. 2 and 3, in the temporary storage table disclosed in the embodiment of the present invention, at least three support legs 320 may be further disposed on the bottom surface of the feeding table 300, and the feeding table 300 is supported at a desired height by the support legs 320, so that the temporary storage table is suitable for the unloading station height of the access manipulator and the picking station height of the sorting manipulator 500; and, the support legs 320 are located on different straight lines to ensure that the support legs 320 can smoothly support the feeding table 300.

Meanwhile, a connecting beam 330 is arranged between two adjacent supporting legs 320, and two ends of the connecting beam 330 are respectively fixedly connected with the two adjacent supporting legs 320, so that the supporting legs 320 can be reinforced and fixed through the connecting beam 330, and the deformation of the supporting legs 320 is avoided.

Preferably, the bottom ends of the supporting legs 320 are provided with adjusting feet 321, and the heights of the corresponding supporting parts 110 can be respectively adjusted through the adjusting feet 321, so that the height adjustment of the feeding table 300 can be realized, and the horizontal adjustment of the feeding table 300 can also be realized.

In general, the adjusting foot 321 may include a chassis and an adjusting screw, one end of the adjusting screw is rotatably connected to the chassis, and the other end of the adjusting screw is in threaded fit with the threaded hole provided in the supporting leg 320, so that the adjusting screw can move telescopically along the threaded hole of the supporting leg 320 by rotating the adjusting screw, thereby achieving adjustment.

The embodiment of the utility model discloses a supporting part 110's cross sectional shape can design and be squarely to make supporting part 110's top surface and medial surface all can laminate with the support of the ladder structure on the relative both sides of material case 130 bottom surface.

Meanwhile, the supporting part 110 can be a structural part made of an aluminum profile, and compared with a structural part made of stainless steel and other materials, the structural strength of the supporting part 110 is ensured, and the weight of the supporting part 110 can be reduced; preferably, the supporting portion 110 is a hollow structure, so that the weight of the supporting portion 110 can be reduced better, and the manufacturing cost can be saved.

Of course, the supporting portion 110 may also be a structural member made of stainless steel or other materials; the shape of the supporting portion 110 can be adjusted adaptively according to the actual design and use conditions, such as T-shape; it is easy to understand that the supporting portion 110 may be a single-piece bar-shaped beam structure as shown in fig. 2, or may be a multi-segment structure; the embodiment of the present invention does not limit the shape, structure and material of the supporting portion 110.

In order to facilitate the turning operation of the grabbing bolt by the sorting manipulator 500, the temporary storage device disclosed by the embodiment of the utility model can also comprise a transition table, and the transition table is arranged at a position adjacent to the sorting manipulator 500; the table-board of transition platform is provided with the magnetic adsorption region.

After the conveying mechanism moves the material box 130 to the area to be taken, the clamping jaw assembly of the sorting manipulator 500 is located at the nut clamping station, so that the nut end of the bolt is clamped, and the bolt is vertically taken out of the bolt hanging disc of the material box 130; then, the sorting manipulator 500 moves the bolt to the magnetic adsorption area of the transition table, so that the screw end of the bolt is adsorbed and fixed on the table top of the transition table, and the clamping jaw assembly is loosened; and then the clamping jaw assembly is rotated to switch the clamping jaw assembly to the screw clamping station, so that the screw of the bolt is clamped, and the clamping jaw assembly is rotated to turn the bolt to an inverted state.

Therefore, the picked bolts can be conveniently turned over by the sorting manipulator 500 through the magnetic adsorption area of the transition table; simultaneously, compare in the structure of seting up the locating hole at the transition platform, the transition platform that is provided with the magnetic adsorption district not only is applicable to the vertical absorption of the bolt of various specification and dimension and fixes, but also has simple structure, the smooth advantage of mesa.

The magnetic adsorption area is an area provided with an electromagnet or a permanent magnet; preferably, the magnetic attraction area is an area provided with an electromagnet, so that the magnetic force of the magnetic attraction area can be switched on and off by switching on and off the electromagnet, and the magnetic force of the magnetic attraction area can be controlled according to the current of the electromagnet.

The utility model discloses what the key description in the above embodiment is different between each embodiment, and different optimization characteristics are as long as not contradictory between each embodiment, all can make up and form more preferred embodiment, consider that the literary composition is succinct, then no longer describe here.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A temporary storage device for bolt sorting is characterized by comprising a sorting manipulator, an image acquisition element and a controller; the image acquisition element is arranged in a material waiting area and used for acquiring accessory image data of the material waiting area; the sorting manipulator is arranged at a position close to the area to be taken and used for clamping accessories of the area to be taken; the data input end of the controller is connected with the image acquisition element, the control output end of the controller is connected with the sorting manipulator, and the controller is used for receiving the accessory image data acquired by the image acquisition element and converting the accessory image data into accessory position information to control the grabbing position of the sorting manipulator.

2. A staging device as in claim 1 wherein said image capturing element is plural and a plurality of said image capturing element arrays are disposed directly above said material area to be removed.

3. A buffer as in claim 2 wherein the image capture element is a camera or a video camera.

4. A buffer as in any of claims 1-3, further comprising a buffer table; the temporary storage table comprises a material table and at least two supporting parts arranged on the material table at intervals, the two adjacent supporting parts are located at opposite positions, and a space for accommodating a fork supporting arm is formed between the two adjacent supporting parts; the material platform is located in the material area to be taken.

5. A buffer as in claim 4 wherein the buffer station further comprises a transport mechanism; the material platform is arranged on the conveying mechanism and can be driven by the conveying mechanism to move along the feeding direction of the conveying mechanism; the supporting parts are arranged at intervals along the feeding direction of the conveying mechanism.

6. A buffer as in claim 5 wherein the conveying mechanism comprises a feed table and a drive mechanism; the material platform is arranged on the feeding platform in a sliding mode and is connected with the driving mechanism, and the driving mechanism can drive the material platform to move in a reciprocating mode along the feeding direction of the conveying mechanism.

7. A buffer device as in claim 6, wherein the feeding table is provided with a guide rail extending along the feeding direction of the feeding mechanism; the material platform is provided with the slider, just the slider seted up with the spout of guide rail adaptation, the slider passes through the spout is ridden and is located on the guide rail, and follow the extending direction of guide rail with guide rail sliding fit.

8. A temporary storage device as defined in claim 7, wherein the drive mechanism includes a drive motor, a gear and a rack; the rack is arranged on the feeding table and extends along the feeding direction of the conveying mechanism; the driving motor is arranged on the material table, the gear is arranged on an output shaft of the driving motor, and the gear is meshed with the rack.

9. A buffer as in any of claims 1-3, further comprising a transition table disposed adjacent to the sorting robot; the table-board of transition platform is provided with the magnetic adsorption region.

10. A buffer as in claim 9 wherein the magnetically attracted regions are regions provided with electromagnets or permanent magnets.