CN213034625U

CN213034625U - Mechanical arm capable of intelligently identifying, sorting and arranging

Info

Publication number: CN213034625U
Application number: CN202020966418.9U
Authority: CN
Inventors: 郑广成
Original assignee: Suzhou Chien Shiung Institute of Technology
Current assignee: Suzhou Chien Shiung Institute of Technology
Priority date: 2020-06-01
Filing date: 2020-06-01
Publication date: 2021-04-23
Anticipated expiration: 2030-06-01

Abstract

An intelligent recognition, sorting and arrangement mechanical arm, comprising: the device comprises a mechanical arm, a first conveyor belt, a visual detection system and a second conveyor belt, wherein the visual detection system is arranged right above the first conveyor belt; the first conveyor belt and the second conveyor belt are arranged adjacently; the mechanical arm is arranged on one side, far away from the first conveyor belt, of the second conveyor belt; the lower part of the mechanical arm is provided with a support frame; a base is arranged at the upper part of the supporting frame; the upper part of the base is hinged with a first joint of the mechanical arm; the end part of the first joint of the mechanical arm is hinged with the second joint of the mechanical arm; the end part of the second joint of the mechanical arm is hinged with the clamping jaw arm; a rotating shaft is arranged at the lower part of the clamping claw arm; and a pneumatic clamping device is arranged at the lower part of the rotating shaft. The requirements of flow line production are better met, the product quality is guaranteed, and meanwhile, the production cost is controlled.

Description

Mechanical arm capable of intelligently identifying, sorting and arranging

Technical Field

The utility model belongs to the technical field of the assembly line letter sorting, specifically, relate to a robotic arm of intelligent recognition letter sorting range.

Background

At present, in factory production, after processes such as mixed injection molding, mixed shot blasting and the like are finished, mixed products of different models need to be sorted out, the traditional sorting mode is manual sorting and machine screening, manual sorting is usually only performed on products with small quantity and light weight, the flow line production is not facilitated, and the efficiency is low; mechanical screening uses a great deal of vibration to the product that volume is big, the quality is heavier usually, separates the product of different specifications, can cause the damage to the product like this at vibrations in-process, influences product quality, also the comparatively advanced letter sorting equipment of enterprise purchase of some, and purchase cost is high, and simultaneously, equipment is inside complicated usually, also increases maintenance and cost of maintenance.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: the utility model aims at providing a robotic arm of intelligent recognition letter sorting range, only need according to actual production needs, type corresponding information, then will type data and actually collect data and compare, need not complicated algorithm, can reject the wastrel automatically; classifying products of different models or specifications; and arranging the classified products according to a certain rule. The requirements of flow line production are better met, the product quality is guaranteed, and meanwhile, the production cost is controlled.

The technical scheme is as follows: the utility model provides a robotic arm of intelligent recognition, letter sorting, range, include: the device comprises a mechanical arm, a first conveyor belt, a visual detection system and a second conveyor belt, wherein the visual detection system is arranged right above the first conveyor belt; the first conveyor belt and the second conveyor belt are arranged adjacently; the mechanical arm is arranged on one side, far away from the first conveyor belt, of the second conveyor belt; the lower part of the mechanical arm is provided with a support frame; a base is arranged at the upper part of the supporting frame; the upper part of the base is hinged with a first joint of the mechanical arm; the end part of the first joint of the mechanical arm is hinged with the second joint of the mechanical arm; the end part of the second joint of the mechanical arm is hinged with the clamping jaw arm; a rotating shaft is arranged at the lower part of the clamping claw arm; and a pneumatic clamping device is arranged at the lower part of the rotating shaft. The mechanical arm with intelligent identification sorting and arrangement of the utility model only needs to input corresponding information according to actual production needs, then input data is compared with actually collected data, no complex algorithm is needed, and defective products can be automatically removed; classifying products of different models or specifications; and arranging the classified products according to a certain rule. The requirements of flow line production are better met, the product quality is guaranteed, and meanwhile, the production cost is controlled.

Further, the above-mentioned robotic arm of intelligent recognition, letter sorting, range, pneumatic clamping device's includes: the clamping device comprises a clamping hand fixing plate, a left clamping hand, a right clamping hand, a turnover motor, a left turnover shaft, a right turnover shaft, a left fixing pad and a right fixing pad, wherein the clamping hand fixing plate is arranged at the lower part of the rotating shaft; the left clamping hand and the right clamping hand are arranged at the lower part of the clamping hand fixing plate; the overturning motor is arranged on the side of the left clamping hand; one end part of the left turning shaft is provided with the inside of a left clamping hand; the left fixing pad is hinged with one end of the left turning shaft, which is far away from the left clamping hand; one end of the right turnover shaft is arranged inside the right tong; and one end of the right overturning shaft, which is far away from the right clamping hand, is hinged with the right fixing pad. Through starting clamping device centre gripping article to corresponding operation, reasonable in design, the simple operation.

Further, foretell robotic arm of intelligent recognition, letter sorting, range, the base upper end is provided with the roating seat, the roating seat can drive first joint and carry out the plane rotation. The structure design is simple, and the manufacture and the use are easy.

Further, foretell robotic arm of intelligent recognition, letter sorting, range, be provided with first gear in the pivot of upset motor, the one end that left fixed bolster was kept away from in the pivot of turning left is provided with the second gear, second gear and first gear cooperation are connected, just first gear and second gear all set up the inside at left tong. Reasonable design, simple and easy operation.

Further, foretell robotic arm of intelligent recognition, letter sorting, range, the one end that right fixed bolster was kept away from to right trip shaft is provided with the bearing, just the bearing sets up the inside at right tong. The operation is smooth and stable, and the speed is ensured.

Further, the working method of the mechanical arm for intelligent identification, sorting and arrangement is as follows:

1) inputting the product information into a central processing unit, wherein the input information comprises: the front image, the back image, the axial direction and the conveying belt direction of the product are displayed;

2) the product passes through visual inspection system on first conveyer belt to gather the image information of product through visual inspection system, the image information transmission of gathering is compared the analysis with the input information to central processing unit, and its image information who gathers includes: the product is printed on the upper picture, the angle between the axial direction of the product and the direction of the conveyor belt and the position coordinate of the product;

3) and the conclusion data of the comparison between the acquired information and the input information is transmitted to the controller of the mechanical arm, and the controller controls the mechanical arm to operate: a) when the product is right side up. According to the product coordinate, the clamping jaw moves to the position above the product, meanwhile, the plane rotation is the same as the axial direction of the product, the clamping jaw is lifted after downwards clamping the product, the direction of the clamping jaw is the same as that of a second conveyor belt of the product conveyor belt, the plane rotation is carried out above the second conveyor belt, and the clamping jaw is downwards placed on the product; b) when the reverse side of a product is upward, the clamping jaw moves to the upper side of the product according to the product coordinate, meanwhile, the plane rotation is the same as the axial direction of the product, the clamping jaw is lifted after clamping the product downwards, the overturning motor rotates to overturn the product for 180 degrees, meanwhile, the plane rotation enables the direction of the clamping jaw to be the same as the direction of a second conveyor belt of the product conveyor belt, and the clamping jaw is placed down to the lower side of the product.

Above-mentioned technical scheme can find out, the utility model discloses following beneficial effect has: the mechanical arm with intelligent identification sorting and arrangement of the utility model only needs to input corresponding information according to actual production needs, then input data is compared with actually collected data, no complex algorithm is needed, and defective products can be automatically removed; classifying products of different models or specifications; and arranging the classified products according to a certain rule. The requirements of flow line production are better met, the product quality is guaranteed, meanwhile, the production cost is controlled, and the method has high popularization value.

Drawings

Fig. 1 is a schematic structural view of a robot arm of the intelligent recognition sorting arrangement of the present invention;

FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;

fig. 3 is a schematic structural view of a sorting system of a mechanical arm and a working method for intelligent recognition sorting arrangement according to the present invention;

fig. 4 is a schematic view of the sorting method flow of the mechanical arm and the working method of the intelligent recognition sorting arrangement of the present invention.

In the figure: 1 mechanical arm, 11 support frames, 12 bases, 121 rotating seats, 13 first joints, 14 second joints, 15 gripper arms, 16 rotating shafts, 17 pneumatic clamping devices, 171 gripper fixing plates, 172 left grippers, 173 right grippers, 174 turnover motors, 1741 first gears, 175 left turnover shafts, 1751 second gears, 176 right turnover shafts, 1761 bearings, 177 left fixing pads, 178 right fixing pads, 2 first conveyor belts, 3 visual detection systems and 4 second conveyor belts.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting 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", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but 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 construed 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 one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. 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 disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

The robot arm for intelligent recognition, sorting and arrangement as shown in fig. 1-4 comprises: the device comprises a mechanical arm 1, a first conveyor belt 2, a visual detection system 3 and a second conveyor belt 4, wherein the visual detection system 3 is arranged right above the first conveyor belt 2; the first conveyor belt 2 is arranged adjacent to the second conveyor belt 4; the mechanical arm 1 is arranged on one side, far away from the first conveyor belt 2, of the second conveyor belt 4; the lower part of the mechanical arm 1 is provided with a support frame 11; a base 12 is arranged at the upper part of the support frame 11; the upper end of the base 12 is provided with a rotating seat 121, and the rotating seat 121 can drive the first joint 13 to perform plane rotation. The upper part of the base 12 is hinged with a first joint 13 of the mechanical arm; the end part of the first joint 13 of the mechanical arm is hinged with a second joint 14 of the mechanical arm; the end part of the second joint 14 of the mechanical arm is hinged with the clamping jaw arm 15; a rotating shaft 16 is arranged at the lower part of the clamping claw arm 15; the lower part of the rotating shaft 16 is provided with a pneumatic clamping device 17. The pneumatic clamping device 17 comprises: the clamping hand fixing plate 171, the left clamping hand 172, the right clamping hand 173, the overturning motor 174, the left overturning shaft 175, the right overturning shaft 176, the left fixing pad 177 and the right fixing pad 178, wherein the clamping hand fixing plate 171 is arranged at the lower part of the rotating shaft 16; the left gripper 172 and the right gripper 173 are disposed at the lower part of the gripper fixing plate 171; the overturning motor 174 is arranged on the side of the left clamping hand 172; one end of the left turning shaft 175 is provided with the inside of the left clamping hand 172; the left fixing pad 177 is hinged with one end of the left turning shaft 175 away from the left clamping hand 172; the one end of right upset axle 176 sets up inside right tong 173, the one end that right upset axle 176 is kept away from right tong 173 is articulated with right fixed bolster 178, the one end that right upset axle 176 is kept away from right fixed bolster 178 is provided with bearing 1761, just bearing 1761 sets up the inside at right tong 173. Be provided with first gear 1741 in the pivot of upset motor 174, the one end that left fixed pad 177 was kept away from to left upset pivot 175 is provided with second gear 1751, second gear 1751 and first gear 1741 cooperation are connected, just first gear 1741 all sets up the inside at left tong 172 with second gear 1751.

The working method comprises the following steps: 1) the product information is entered into the central processor (entry information includes: front image, back image, axial direction of the product, and direction of the conveyor belt); 2) the product passes through the visual inspection system on first conveyer belt to gather the image information of product through the visual inspection system, the image information transmission of gathering is compared the analysis with the input information to central processing unit, (the image information of gathering includes: the picture of the product on the upper surface, the angle between the axial direction of the product and the direction of the conveyor belt, and the position coordinate of the product); 3) the conclusion data of the comparison between the acquired information and the input information is transmitted to a controller of the mechanical arm, and if the comparison result is that the product is a defective product, the product is ignored; if the comparison result is that the product is qualified, the controller controls the mechanical arm to operate: a) when the product is right side up. According to the product coordinate, the pneumatic clamping device 17 moves to the position above the product, meanwhile, the rotation shaft rotates in the same direction as the axial direction of the product, the pneumatic clamping device 17 is lifted after clamping the product downwards through the left clamping hand 172 and the right clamping hand 173, the product is conveyed to the position above the second conveyor belt 4, the rotation shaft 16 rotates to enable the direction of the product to be the same as the direction of the second conveyor belt 4, and the pneumatic clamping device 17 puts down the product downwards; b) when the reverse side of the product faces upwards, the pneumatic clamping device 17 moves to the position above the product according to the product coordinate, meanwhile, the rotating shaft 16 rotates to the same direction as the axial direction of the product, the pneumatic clamping device 17 downwards clamps the product through the left clamping hand 172 and the right clamping hand 173 and then lifts the product, the overturning motor 174 rotates to overturn the product by 180 degrees, meanwhile, the product is conveyed to the position above the second conveying belt 4, the rotating shaft 16 rotates to enable the direction of the product to be the same as the direction of the second conveying belt 4, and the clamping jaws downwards put down the product.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications can be made without departing from the principles of the present invention, and these modifications should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a robotic arm of intelligent recognition, letter sorting, range, its characterized in that includes: the device comprises a mechanical arm (1), a first conveyor belt (2), a visual detection system (3) and a second conveyor belt (4), wherein the visual detection system (3) is arranged right above the first conveyor belt (2); the first conveyor belt (2) and the second conveyor belt (4) are arranged adjacently; the mechanical arm (1) is arranged on one side, far away from the first conveyor belt (2), of the second conveyor belt (4); a support frame (11) is arranged at the lower part of the mechanical arm (1); a base (12) is arranged at the upper part of the support frame (11); the upper part of the base (12) is hinged with a first joint (13) of the mechanical arm; the end part of the first joint (13) of the mechanical arm is hinged with the second joint (14) of the mechanical arm; the end part of the second joint (14) of the mechanical arm is hinged with the clamping claw arm (15); a rotating shaft (16) is arranged at the lower part of the clamping claw arm (15); and a pneumatic clamping device (17) is arranged at the lower part of the rotating shaft (16).

2. The smart identification, sorting, and ranking robot arm of claim 1 wherein the pneumatic gripping device (17) comprises: the clamping hand fixing plate (171), the left clamping hand (172), the right clamping hand (173), the overturning motor (174), the left overturning shaft (175), the right overturning shaft (176), the left fixing pad (177) and the right fixing pad (178), wherein the clamping hand fixing plate (171) is arranged at the lower part of the rotating shaft (16); the left clamping hand (172) and the right clamping hand (173) are arranged at the lower part of the clamping hand fixing plate (171); the overturning motor (174) is arranged on the side of the left clamping hand (172); one end part of the left turning shaft (175) is provided with the inside of a left clamping hand (172); the left fixing pad (177) is hinged with one end, away from the left clamping hand (172), of the left turning shaft (175); one end of the right overturning shaft (176) is arranged inside the right clamping hand (173); one end of the right overturning shaft (176) far away from the right clamping hand (173) is hinged with a right fixing pad (178).

3. The mechanical arm for intelligent identification, sorting and arrangement according to claim 1, wherein a rotating seat (121) is disposed at an upper end of the base (12), and the rotating seat (121) can drive the first joint (13) to perform plane rotation.

4. The mechanical arm for intelligent identification, sorting and arrangement according to claim 2, wherein a first gear (1741) is arranged on the rotating shaft of the turnover motor (174), a second gear (1751) is arranged at one end, away from the left fixing pad (177), of the left turnover rotating shaft (175), the second gear (1751) is connected with the first gear (1741) in a matching manner, and the first gear (1741) and the second gear (1751) are both arranged inside the left gripper (172).

5. The intelligent recognition, sorting, and alignment robot of claim 2, wherein the end of the right flipping axis (176) away from the right fixed pad (178) is provided with a bearing (1761), and the bearing (1761) is provided inside the right gripper (173).