CN212418770U - Thrust wheel sorting system - Google Patents
Thrust wheel sorting system Download PDFInfo
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- CN212418770U CN212418770U CN202023197498.5U CN202023197498U CN212418770U CN 212418770 U CN212418770 U CN 212418770U CN 202023197498 U CN202023197498 U CN 202023197498U CN 212418770 U CN212418770 U CN 212418770U
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- 238000013459 approach Methods 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a thrust wheel letter sorting system, the system includes: district and letter sorting robot are accomplished in a thrust wheel letter sorting of district is treated to thrust wheel for with the thrust wheel from the thrust wheel treat the letter sorting district letter sorting to the district is accomplished in thrust wheel letter sorting, letter sorting robot includes letter sorting manipulator and vision module, and the vision module is configured into: the sorting manipulator is controlled to be close to and identify the model specifications of the thrust wheels, the sorting robot accurately identifies and positions the thrust wheels to be sorted through the vision module, the fixed thrust wheels are sorted from the thrust wheel waiting sorting area to the thrust wheel sorting completion area through the sorting manipulator, the models and the positions of the thrust wheels can be quickly identified and confirmed, the sorting is grabbed, and the efficient unmanned sorting of the thrust wheels of different models is realized.
Description
Technical Field
The utility model relates to a thrust wheel letter sorting technical field specifically relates to a thrust wheel letter sorting system.
Background
The thrust wheels are used in engineering machinery products such as excavators, and a certain number of thrust wheels are installed on the crawler frame according to rules, so that the crawler frame has the functions of bearing, guiding and limiting lateral movement of the crawler. The thrust wheel supplied materials mode is that wooden tray stacks, and it is put irregularly on the tray, by the manual work with the help of fork truck, and the whole support is transported and is gone up the assembly line, and the assembly line workman carries and assembles according to different variety demand thrust wheel quantity differences. When the assembly line switches the thrust wheel that the variety needs other models, carry new thrust wheel by artifical fork truck and target in place, cause the assembly line limit in process of goods more, can't accomplish the firm of different model thrust wheels snatch and switch the letter sorting fast, and be unsuitable for switching the higher production environment of variety frequency.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a thrust wheel letter sorting system, this thrust wheel letter sorting system visual identification confirms the model and the position of thrust wheel, firmly snatchs the thrust wheel, realizes the high-efficient unmanned letter sorting of different model thrust wheels.
In order to achieve the above object, the utility model provides a thrust wheel letter sorting system, the system includes:
a region to be sorted of the supporting wheel;
a supporting wheel sorting completion area; and
the sorting robot is used for sorting the thrust wheels from the thrust wheel to-be-sorted area to the thrust wheel sorting completion area;
wherein the sorting robot includes:
a robot body;
the sorting mechanical arm extends out of the robot body and comprises a plurality of magnetic suckers for magnetically grabbing the thrust wheels, and the distance between the magnetic suckers can be adjusted; and
a vision module configured to:
controlling the sorting mechanical arm to approach and identify the model specification of the thrust wheel;
and controlling the robot body and moving the thrust wheels to corresponding areas of the thrust wheel sorting completion area according to the model specifications.
In some embodiments, the vision module comprises:
the vision collector is arranged on the sorting mechanical arm and is used for positioning and identifying the thrust wheel; and
a controller configured to:
acquiring a thrust wheel identification signal of the vision collector;
and controlling the sorting manipulator to move and sort the recognized thrust wheels to corresponding areas of the thrust wheel sorting completion area according to the thrust wheel recognition signals.
In some embodiments, the vision collector is a camera; or the thrust wheel is provided with a thrust wheel information tag, and the vision collector is a tag identifier for identifying the thrust wheel information tag.
In some embodiments, the sorting robot includes a gripper connecting base mounted on the robot body, a gripper fixing assembly extends from the gripper connecting base, and the vision collector is mounted on the gripper connecting base.
In some embodiments, the gripper connecting seat comprises a robot connecting section fixedly mounted on the robot body and a sucker connecting section connected with the gripper fixing component, and a buffer connecting piece for damping is arranged between the robot connecting section and the sucker connecting section.
In some embodiments, the grasping fixture assembly includes:
the sucker connecting base is connected with the gripper connecting base;
and the magnetic sucker is arranged on the sucker connecting seat.
In some embodiments, the magnetic chuck is an electromagnet, and/or a magnetic clamping groove for accommodating the thrust wheel is formed in the magnetic chuck.
In some embodiments, the grasping and fixing assembly includes two magnetic suction cups distributed at intervals.
In some embodiments, the robot body comprises:
a machine base; and
and the mechanical arm is arranged on the machine base and can move between the region to be sorted of the thrust wheels and the region for finishing sorting of the thrust wheels.
In some embodiments, the machine base is arranged on the moving guide rail and moves along the moving guide rail, the bearing wheel to-be-sorted area is provided with trays to be sorted, which are sequentially arranged along the length direction of the moving guide rail and are used for bearing the bearing wheels, and the bearing wheel sorting completion area is provided with trays to be sorted, which are sequentially arranged along the length direction of the moving guide rail and are used for bearing the bearing wheels.
Through the technical scheme, the utility model provides a pair of thrust wheel letter sorting system, this system adopt letter sorting robot, thrust wheel to wait to sort district and thrust wheel letter sorting completion district, wherein letter sorting robot waits to sort thrust wheel through the accurate discernment location of vision module to wait to sort district letter sorting to thrust wheel letter sorting completion district with fixed thrust wheel from thrust wheel through the letter sorting manipulator. The type and the position of the thrust wheel can be quickly identified and confirmed, and the thrust wheel can be grabbed and sorted, so that the efficient unmanned sorting of the thrust wheels with different types can be realized.
Other features and advantages of the present invention will be described in detail in the detailed description which follows.
Drawings
Fig. 1 is a schematic perspective view of a sorting system for a track roller according to an embodiment of the present invention, showing a sorting robot, a waiting-to-be-sorted area for the track roller, and a sorting completion area for the track roller;
fig. 2 is a schematic view of a part of the structure of the sorting robot in the thrust wheel sorting system according to the embodiment of the present invention, showing the gripper connecting seat, the gripping and fixing assembly, the vision collector and the spacing adjustment structure;
FIG. 3 is a left side view of the structure of FIG. 2 showing the gripper attachment base, the gripper fixation assembly, the vision collector and the spacing adjustment structure;
fig. 4 is a schematic structural diagram of a sorting process of the sorting system for the bogie wheels according to the embodiment of the present invention, which shows a goods shelf, a forklift, a fence, a sorting robot, a bogie wheel waiting-sorting area, and a bogie wheel sorting completion area; and
fig. 5 is a schematic perspective view of a middle distance adjusting structure of a thrust wheel sorting system according to an embodiment of the present invention, which shows an interval adjusting rod, an interval adjusting seat and an adjusting driving element.
Description of the reference numerals
Detailed Description
The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to the schematic structural diagram of the supporting wheel sorting system shown in fig. 1 to 5, the utility model provides a supporting wheel sorting system, the system includes: a supporting wheel waiting sorting area 100, a supporting wheel sorting completion area 200 and a sorting robot 300.
Specifically, a thrust wheel waiting sorting zone 100; a supporting wheel sorting completion area 200; and a sorting robot 300 for sorting the bogie wheels from the bogie-wheel waiting-for-sorting area 100 to the bogie-wheel sorting completion area 200;
wherein the sorting robot 300 includes a robot body 310; a sorting robot 320 extended from the robot body 310, the sorting robot 320 including a plurality of magnetic suction cups 22 for magnetically grasping the thrust wheels, a space between the plurality of magnetic suction cups 22 being adjustable; and a vision module configured to: controlling the sorting manipulator 320 to approach and identify the model specification of the thrust wheel; the robot body 310 is controlled and the track roller is moved to a corresponding area of the track roller sorting completion area 200 according to the model specification.
The utility model aims at providing a thrust wheel letter sorting system to solve the problem that can't quick discernment and firmly snatch the thrust wheel when thrust wheel letter sorting in-process assembly line switches the thrust wheel type, in current thrust wheel letter sorting system, the thrust wheel supplied materials mode generally is that wooden tray stacks, it puts irregularly on the tray, generally by the manual work with the help of fork truck, the assembly line is transported to whole support, the assembly line workman carries and assembles according to different variety demand thrust wheel quantity differences. When the assembly line switches the thrust wheel that the variety needs other models, carry new thrust wheel by artifical fork truck and target in place again, cause the assembly line limit in process of goods more, can't accomplish the fast switch-over letter sorting of different model thrust wheels. And due to the characteristics of the shape and the material of the thrust wheel, when the thrust wheel is fixed by the negative pressure sucker, the problem of infirm grabbing caused by incomplete attachment of the sucker adsorption surface and the thrust wheel is easy to occur. Therefore, in order to solve the above problems, the inventor has continuously thought and innovated and designed the utility model discloses a thrust wheel sorting system to the model and the position of thrust wheel are discerned and confirmed fast, and firmly snatch the thrust wheel, realize the high-efficient unmanned letter sorting of different model thrust wheels.
In the supporting wheel sorting system, as shown in fig. 1 and 4, after the supporting wheel waiting sorting area 100, the supporting wheel sorting completion area 200 and the sorting robot 300 complete the sorting process of the supporting wheels, after the supporting wheels receive materials, an industrial-grade hand-held data acquisition terminal (PDA) can be used for receiving the materials, after receiving the materials, a forklift can be used for placing the receiving material trays on the shelves 10 and warehousing the receiving material trays in a warehouse management system (WMWS), according to an assembly line production plan or an instruction given by a production management system (MES), the supporting wheels to be sorted are transferred to the supporting wheel sorting system in the fence 30 through the forklift 20, wherein the trays 4 to be sorted in the supporting wheel waiting sorting area 100 can be stacked in multiple layers.
Specifically, the supporting wheel waiting sorting area 100 can be used for placing the tray 4 to be sorted, which is loaded by the supporting wheels, and the supporting wheels are irregularly placed on the tray. The supporting wheel sorting completion area 200 may be used to place sorting completion trays 5, wherein the supporting wheels after sorting may be placed on the sorting completion trays 5. A sorting robot 300 for sorting the supporting wheels from the supporting wheel waiting sorting area 100 to the supporting wheel sorting completion area 200 may be disposed between the supporting wheel waiting sorting area 100 and the supporting wheel sorting completion area 200, wherein the sorting robot 300 may include a robot body 310, a sorting robot hand 320, and a vision module; the robot body 310 may be an articulated robot, which may be a five-axis robot or a six-axis robot for driving the sorting robot 320, and the sorting robot 300 has a high degree of freedom such that the sorting robot 320 can freely move in the areas of the track wheel waiting-to-be-sorted area 100 and the track wheel sorting completion area 200. The vision module may extend from the sorting robot 320 or from the robot body 310, and the vision module may move along with the sorting robot 320 and approach the track roller to identify the track roller, and control the sorting robot 300 to sort the track roller to a corresponding area of the track roller sorting completion area 200 according to the model specification of the track roller according to the identification signal.
The existing supporting wheel sorting system adopts a plurality of sensors to identify and position, the complexity of the equipment increased by the method is low in reliability, and the supporting wheels of different models cannot be identified and positioned, so that the sorting efficiency is influenced. In order to improve the visual identification efficiency, reduce the equipment complexity caused by various mechanical positioning modes and ensure the identification reliability, the inventor carries out optimization design on the visual module of the thrust wheel. Specifically, in some embodiments, the vision module comprises: a vision collector 330 and a controller; the vision collector 330 is arranged on the sorting manipulator 320 and used for positioning and identifying the thrust wheels; and a controller configured to: acquiring a thrust wheel identification signal of the vision collector 330; and controlling the sorting manipulator 320 to move and sort the identified track wheels into the corresponding areas of the track wheel sorting completion area 200 according to the track wheel identification signals.
Specifically, as shown in fig. 1 and 3, the installation manner of the vision collector 330 may be various, wherein the vision collector 330 may be fixedly installed on the sorting manipulator 320, and the collection area is the same as the direction in which the sorting manipulator 320 captures the thrust wheel, so as to facilitate the vision collection of the thrust wheel. The vision collector 330 may also be pivotally mounted on the sorting manipulator 320, and the pivoting angle thereof may be controlled by a controller, so as to conveniently adjust the angle of the collection area, increase the area of the collection area, and improve the vision collection efficiency.
Further, the type of the vision collector 330 is optimally designed, and in one embodiment, the vision collector 330 can visually photograph the thrust wheel for a camera. The vision collector 330 may also be a tag identifier for identifying a track roller information tag, wherein the track roller is provided with the track roller information tag, and the tag identifier identifies the track roller information tag. The vision collector 330 transmits the photos or the identification information to the controller, compares the photos or the identification information with standard supporting wheels in a system library through the controller, confirms the model of the supporting wheels, controls the sorting manipulator 320 through the controller to grab and sort the photos or the identification information and moves the photos or the identification information into a corresponding area of the supporting wheel sorting completion area 200, and the sorting process is unmanned operation and is efficient and reliable.
The inventor optimally designs the gripping components of the sorting robot 300, as shown in fig. 2 and 3, in one embodiment, the sorting robot 320 may include a gripper connecting base 1 installed on the robot body 310, the gripper connecting base 1 may directly extend with a gripping fixing component 2, and the vision collector 330 may be installed on the gripper connecting base 1. For example, in an embodiment, as shown in fig. 2, the gripper connecting seat 1 includes a robot connecting section 11 fixedly mounted on the robot body 310 and a suction cup connecting section 12 connected to the gripper fixing component 2, and a buffer connecting member 13 for damping is disposed between the robot connecting section 11 and the suction cup connecting section 12, where the buffer connecting member may be one or more groups of buffer springs or a combination of buffer springs and damping rubber columns, and a specific structure of the buffer connecting member 13 is not limited herein. Vibration of the fixed end of the supporting wheel in the sorting process can be reduced through the buffer connecting piece 13, and the problem of falling off of the supporting wheel caused by vibration is reduced.
Further, the structure of the grabbing fixture assembly 2 is optimally designed, and in one embodiment, the grabbing fixture assembly 2 may include a suction cup connection seat 21 and a magnetic suction cup 22, wherein the suction cup connection seat 21 is connected with the gripper connection seat 1; and the magnetic sucker 22 is arranged on the sucker connecting seat 21 and is used for fixing the thrust wheel in a magnetic attraction way.
As shown in fig. 3, the suction cup connection seats 21 are connected to the gripper connection seats 1, wherein the number of the suction cup connection seats 21 may be 1, or two or more, each suction cup connection seat 21 is provided with a magnetic suction cup 22, wherein the magnetic chuck 22 is an electromagnet, the thrust wheel is made of cast iron and can be fixed by the magnetic chuck 22 by magnetic attraction, the vision module identifies the thrust wheel and then moves the magnetic chuck 22 to the position of the thrust wheel to be sorted by the controller, and controls the magnetic chuck 22 to be electrified, at this time, the electric energy is converted into magnetic energy to magnetically attract and fix the thrust wheel, the sorting robot 300 moves the sorting manipulator 320 to the corresponding area of the thrust wheel sorting completion area 200, then control magnetic chuck 22 outage, magnetic chuck 22 loses magnetic attraction, is accomplished the letter sorting by the thrust wheel whereabouts of magnetism absorption to completion tray 5 in the letter sorting, controls the convenience, and letter sorting is efficient.
In an embodiment, the magnetic chuck 22 can be L-shaped, and is magnetically attracted and fixed with the top and one side of the circumference of the thrust wheel during magnetic property, or as shown in fig. 3, the magnetic chuck 22 is provided with a magnetic attraction slot 3 for accommodating the thrust wheel, wherein the magnetic attraction slot 3 has a magnetic attraction force therein, and is magnetically attracted with the top and two sides of the circumference of the thrust wheel, so as to facilitate precise and stable magnetic attraction and fixation of the corresponding thrust wheel.
In order to facilitate the fixed thrust wheel of different models of magnetism to inhale all has suitable adsorption plane, guarantees to adsorb safety, carries out optimal design to snatching fixed subassembly, in an embodiment, as shown in fig. 2, snatch fixed subassembly 2 and include two magnetic chuck 22 of interval distribution, and the interval between two magnetic chuck 22 can be adjusted, can set up the interval adjustment structure 6 of adjusting the magnetic chuck 22 interval on the tongs connecting seat 1. For example, as shown in fig. 5, the pitch adjustment structure 6 may include: a spacing adjusting rod 61 and a spacing adjusting seat 62 which are sleeved with each other. The distance adjusting rod 61 can be arranged on the gripper connecting seat 1 of the sorting manipulator; the distance adjusting base 62 can be sleeved on the distance adjusting rod 61, and the two suction cup connecting bases 21 are respectively connected with the corresponding distance adjusting base 62.
In one embodiment, the two spacing adjustment seats 62 may be both movable ends, and the spacing between the two spacing adjustment seats 62 is adjusted by the opposite or opposite movement of the two movable ends. Specifically, the spacing adjustment base 62 as the movable end may be formed in a structure in transmission connection with the spacing adjustment rod 61, and the rotational movement of the spacing adjustment rod 61 is converted into the linear movement of the spacing adjustment base 62. For example, the spacing rod 61 may be a bidirectional screw, and an internal thread is formed in the spacing seat 62, so that the spacing rod 61 is in driving connection with the spacing seat 62. The two movable ends can be driven to approach or move away from each other through the positive and negative rotary motion of the bidirectional screw rod. Meanwhile, the gripper connecting seat 1 is provided with an adjusting driving element 63 in transmission connection with the spacing adjusting rod 61, and the adjusting driving element 63 may be a driving motor and may be in transmission connection with the spacing adjusting rod 61 through the coupling 40. The positive and negative rotation of the spacing adjusting rod 61 is controlled through electric drive, and the position of the spacing adjusting seat 62 is fixed through the braking of the driving motor. The position adjustment of the grabbing adsorption surface of the thrust wheel is realized, and the grabbing stability of different thrust wheels is ensured.
In an embodiment, can be one in two interval regulation seats 62 for the expansion end, another is the stiff end, interval regulation pole 61 is one-way lead screw this moment, interval regulation seat 62 as the expansion end removes the principle the same with interval regulation seat 62 on the two-way lead screw, do not do the repeated description again, interval regulation seat 62 as the stiff end and tongs connecting seat 1 fixed connection and cover are arranged in on one-way lead screw, interval regulation seat 62 does not follow one-way lead screw and removes, through the interval regulation seat 62 removal as the expansion end, realize the interval regulation of two interval regulation seats 62, adjust the interval of the magnetism absorption face of thrust wheel, guarantee the steadiness of snatching different thrust wheels.
Further, in one embodiment, as shown in fig. 1 and 4, the robot body 310 may include: a machine base 3110; and a robot arm 3120 installed on the base 3110 and capable of moving between the track wheel waiting sorting zone 100 and the track wheel sorting completion zone 200. The mechanical arm 3120 may be a multi-joint arm, with a high degree of freedom, and flexibly controls the sorting manipulator 320.
Further, in one embodiment, the base 3110 is disposed on the moving guide 3130 and moves along the moving guide 3130. The base 3110 is mounted on the moving guide 3130 and is movable along the moving guide 3130. The supporting wheel is convenient to grab. The supporting wheel waiting-sorting area 100 is arranged with the trays 4 to be sorted, which are sequentially arranged along the length direction L of the guide rail 3130 and are used to support the supporting wheels, and the supporting wheel sorting completion area 200 is arranged with the sorting completion trays 5, which are sequentially arranged along the length direction L of the guide rail 3130 and are used to support the supporting wheels. The trays 4 to be sorted and the sorted finished trays 5 are placed along the guide direction of the movement track 3130 by the forklift 20, so that the sorting robot 300 can sort the thrust wheels conveniently, and the sorted finished trays 5 can be conveyed to the assembly line side by the forklift 20 after sorting is finished. Wherein, the periphery of the sorting area of the supporting wheels can be provided with a fence 30 for separating and protecting the sorting area of the supporting wheels.
It should be noted that other configurations and functions of the sorting system of the thrust wheel according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail to reduce redundancy.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the present invention within the technical concept of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships that are known based on the drawings, and are only for convenience of description and for simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. A track wheel sorting system, comprising:
a region (100) for the thrust wheel to be sorted;
a thrust wheel sorting completion area (200); and
a sorting robot (300) for sorting the bogie wheels from the bogie wheel to-be-sorted zone (100) to the bogie wheel sorting completion zone (200);
wherein the sorting robot (300) comprises:
a robot body (310);
a sorting robot (320) protruding from the robot body (310), the sorting robot (320) including a plurality of magnetic suction cups (22) for magnetically gripping the thrust wheels, a spacing between the plurality of magnetic suction cups (22) being adjustable; and
a vision module configured to:
controlling the sorting manipulator (320) to approach and identify the model specification of the thrust wheel;
controlling the robot body (310) and moving the bogie wheels to the corresponding areas of the bogie wheel sorting completion area (200) according to the model specifications.
2. The bogie wheel sorting system of claim 1 wherein the vision module comprises:
a vision collector (330) mounted on the sorting manipulator (320) and used for positioning and identifying the thrust wheel; and
a controller configured to:
acquiring a track roller identification signal of the vision collector (330);
controlling the sorting mechanical arm (320) to move and sort the identified thrust wheels into corresponding areas of the thrust wheel sorting completion area (200) according to the thrust wheel identification signals.
3. The bogie wheel sorting system of claim 2 wherein the vision collector (330) is a camera; or the track roller is provided with a track roller information tag, and the visual collector (330) is a tag identifier for identifying the track roller information tag.
4. The bogie sorting system according to claim 2, wherein the sorting manipulator (320) comprises a gripper connecting base (1) mounted on the robot body (310), a gripper fixing assembly (2) extends from the gripper connecting base (1), and the vision collector (330) is mounted on the gripper connecting base (1).
5. The supporting wheel sorting system according to claim 4, wherein the gripper connecting seat (1) comprises a robot connecting section (11) fixedly mounted on the robot body (310) and a suction cup connecting section (12) connected with the gripper fixing component (2), and a buffer connecting piece (13) for damping is arranged between the robot connecting section (11) and the suction cup connecting section (12).
6. The bogie sorting system according to claim 4 wherein the gripping and securing assembly (2) comprises:
the sucker connecting seat (21) is connected with the gripper connecting seat (1);
and the magnetic sucker (22) is arranged on the sucker connecting seat (21).
7. The supporting roller sorting system according to claim 6, wherein the magnetic chuck (22) is an electromagnet, and/or the magnetic chuck (22) is provided with a magnetic clamping groove (3) for accommodating the supporting roller.
8. The bogie sorting system according to claim 6 wherein the gripping and fixing assembly (2) comprises two of said magnetic suction cups (22) spaced apart.
9. The bogie sorting system according to any of the claims 1 to 8 wherein the robot body (310) comprises:
a stand (3110); and
a robot arm (3120) mounted on the base (3110) and movable between the track wheel waiting sorting zone (100) and the track wheel sorting completion zone (200).
10. The supporting wheel sorting system according to claim 9, wherein the machine base (3110) is disposed on and moves along a moving guide (3130), the supporting wheel-to-be-sorted zone (100) is arranged with trays-to-be-sorted (4) arranged in sequence along a guide length direction (L) of the moving guide (3130) and for supporting the supporting wheels, and the supporting wheel sorting completion zone (200) is arranged with trays-to-be-sorted (5) arranged in sequence along the guide length direction (L) of the moving guide (3130) and for supporting the supporting wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023197498.5U CN212418770U (en) | 2020-12-28 | 2020-12-28 | Thrust wheel sorting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023197498.5U CN212418770U (en) | 2020-12-28 | 2020-12-28 | Thrust wheel sorting system |
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| CN212418770U true CN212418770U (en) | 2021-01-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852668A (en) * | 2022-04-20 | 2022-08-05 | 徐州徐工挖掘机械有限公司 | Intelligent loading system for thrust wheels of excavator |
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2020
- 2020-12-28 CN CN202023197498.5U patent/CN212418770U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852668A (en) * | 2022-04-20 | 2022-08-05 | 徐州徐工挖掘机械有限公司 | Intelligent loading system for thrust wheels of excavator |
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