CN216937189U - Multifunctional sorting system based on visual identification - Google Patents
Multifunctional sorting system based on visual identification Download PDFInfo
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- CN216937189U CN216937189U CN202220451231.4U CN202220451231U CN216937189U CN 216937189 U CN216937189 U CN 216937189U CN 202220451231 U CN202220451231 U CN 202220451231U CN 216937189 U CN216937189 U CN 216937189U
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Abstract
The utility model discloses a multifunctional sorting system based on visual identification, which relates to the technical field of sorting equipment and comprises a rack; the transfer mechanism comprises a tray, and the tray is arranged on the rack; the sorting mechanism comprises a mechanical arm and a clamping part, the clamping part is connected with the mechanical arm and comprises a slide rail, a first clamping jaw, a second clamping jaw and a driving assembly, the first clamping jaw and the second clamping jaw are in sliding fit with the slide rail, the driving assembly is respectively connected with the first clamping jaw and the second clamping jaw, and the driving assembly is used for driving the first clamping jaw and the second clamping jaw to move along the slide rail; the industrial personal computer is respectively electrically connected with the mechanical arm and the driving assembly and is used for driving the mechanical arm and the driving assembly to sort the materials to be sorted based on the recognition result of visual recognition of the materials to be sorted. Through the setting of industrial computer and arm, the industrial computer is according to the visual identification result to treating the letter sorting material on the tray, then control arm and drive assembly action, and then promote the letter sorting efficiency of treating the letter sorting material.
Description
Technical Field
The utility model relates to the technical field of sorting equipment, in particular to a multifunctional sorting system based on visual identification.
Background
With the rapid development of manufacturing industry, the classification work of aquatic products becomes important content which cannot be lacked in the manufacturing links of enterprises. At present, the packing target and the material object that china's packing mechanical equipment was faced generally are big, medium and small size article, and main application object is mostly the commodity circulation trade, but sorting equipment can not carry out quick response and accurate snatching the material of treating the letter sorting according to the shape, the size of the material of treating the letter sorting, can not treat the material of letter sorting based on visual identification and sort, sorting equipment's multipurpose is not strong, its suitability is needed further to be reinforceed, the device is got to current clamp simultaneously, it is low to press from both sides the synchronism of in-process clamping jaw, the material of treating the letter sorting of centre gripping on the clamping jaw is easy to take place the slope, there is the problem that the clamping is insecure to take off the clamp easily, and then lead to the problem of letter sorting inefficiency.
Therefore, how to provide a multifunctional sorting system which can sort materials to be sorted based on visual identification and can improve the synchronism of clamping jaws is a problem which needs to be solved urgently by technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
In view of this, the present invention provides a multifunctional sorting system based on visual identification, which aims to solve one of the problems in the background art, and the multifunctional sorting system is used for sorting materials to be sorted based on visual identification, and can improve the synchronism of clamping jaws, thereby improving the sorting efficiency of the multifunctional sorting system.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a vision recognition based multi-function sortation system comprising:
a machine frame, a plurality of guide rails and a plurality of guide rails,
the transfer mechanism comprises a tray, the tray is arranged on the rack, and the tray is used for temporarily storing materials to be sorted;
the sorting mechanism comprises a mechanical arm and a clamping part, the clamping part is connected with the mechanical arm, the clamping part comprises a slide rail, a first clamping jaw, a second clamping jaw and a driving assembly, the first clamping jaw and the second clamping jaw are in sliding fit with the slide rail, the driving assembly is respectively connected with the first clamping jaw and the second clamping jaw, and the driving assembly is used for driving the first clamping jaw and the second clamping jaw to move along the slide rail so as to realize that the first clamping jaw and the second clamping jaw are matched together to clamp and release the material to be sorted;
the industrial computer is respectively electrically connected with the mechanical arm and the driving assembly, and is used for driving the mechanical arm and the driving assembly right to sort the materials to be sorted based on the recognition result of the vision recognition of the materials to be sorted.
Further, the driving assembly comprises a first driving motor, a first rack, a second rack and a gear;
one end of the first rack is fixedly connected with the first clamping jaw, the other end of the first rack faces the second clamping jaw, and the second clamping jaw is provided with a first through hole for the first rack to pass through;
one end of the second rack is fixedly connected with the second clamping jaw, the other end of the second rack faces the first clamping jaw, and the first clamping jaw is provided with a second through hole for the second rack to pass through;
the gear is arranged between the first rack and the second rack, the gear is meshed with the first rack and the second rack simultaneously, and the first driving motor drives the gear to rotate.
Further, the arm includes X axle linear mechanism, Y axle linear mechanism, Z axle linear mechanism and mounting panel, X axle linear mechanism with frame fixed connection, Y axle linear mechanism set up with slidable X axle linear mechanism is last, Z axle linear mechanism set up with slidable Y axle linear mechanism is last, the mounting panel set up with slidable Z axle linear mechanism is last, the slide rail is fixed to be set up on the mounting panel.
Further, Z axle rectilinear mechanism includes Z axle slide rail, mount pad and second driving motor, the mount pad slidable ground sets up Y axle rectilinear mechanism is last, the fixed setting of Z axle slide rail is in on the mount pad, second driving motor fixes on the mount pad, the mounting panel slidable install on the Z axle slide rail, second driving motor is used for driving the mounting panel is followed the Z axle slide rail slides.
Further, this multi-functional letter sorting system based on visual identification still includes a plurality of letter sorting section of thick bamboo, and is a plurality of letter sorting section of thick bamboo is the annular around locating the below of tray.
Further, the bottom of each sorting cylinder is provided with a gravity sensor.
Further, the transfer mechanism still includes revolving stage, pivot, support frame, rotation motor and axis of rotation, the revolving stage is fixed in the frame, the one end of pivot with the revolving stage is connected, the other end of pivot with the support frame is connected, the axis of rotation sets up on the support frame, rotate the motor with the pivot is connected, the tray with pivot fixed connection.
Further, the bottom of tray is provided with gravity sensor.
According to the technical scheme, compared with the prior art, the multifunctional sorting system based on the visual identification is provided, through the arrangement of the industrial personal computer and the mechanical arms, the industrial personal computer controls the mechanical arms and the driving assembly to act according to the visual identification result of the materials to be sorted on the tray, so that the first clamping jaw and the second clamping jaw grab the materials to be sorted and clamp the materials to be sorted to a specified fixed point to release the materials to be sorted, the sorting work of the materials to be sorted is finished, meanwhile, the gears are meshed with the first rack and the second rack respectively, the synchronism of the first clamping jaw and the second clamping jaw can be improved, and the sorting efficiency of the materials to be sorted is further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic diagram of the internal structure of a multifunctional sorting system based on visual identification provided by the utility model;
FIG. 2 is a schematic diagram of the overall structure of the multifunctional sorting system based on visual recognition provided by the utility model;
FIG. 3 is a schematic structural view of the robot arm and the grasping section according to the present invention;
FIG. 4 is a schematic structural view of the gripping part according to the present invention;
FIG. 5 is a schematic view of the clamping unit of the present invention from another perspective;
FIG. 6 is a schematic structural diagram of a transfer mechanism according to the present invention;
fig. 7 is a schematic structural diagram of the transfer mechanism provided by the present invention in another view.
Wherein: 1 is a frame; 2 is a feeding port; 3 is a sorting cylinder; 4 is a tray; 5 is a clamping part; 51 is a slide rail; 52 is a first jaw; 53 is a second jaw; 54 is a driving component; 541 is a first driving motor; 542 is a first rack; 543 is a second rack; 544 is a gear; 6 is an X-axis linear mechanism; 7 is a Y-axis linear mechanism; 8 is a Z-axis linear mechanism; 81 is a Z-axis slide rail; 82 is a mounting seat; 83 is a second driving motor; 9 is a mounting plate; 10 is a rotating table; 11 is a rotating shaft; 12 is a supporting frame; 13 is a rotating motor; and 14 is a rotating shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-7, an embodiment of the present invention discloses a multifunctional sorting system based on visual identification, including: frame 1, transfer mechanism, letter sorting mechanism and industrial computer.
The integral structure of the rack 1 is a box body structure, a feeding opening 2 is formed in the side face of the box body, an automatic lifting door is installed at the feeding opening 2, a plurality of sorting cylinders 3 are placed at the bottom of the box body, and a gravity sensor is arranged at the bottom of each sorting cylinder 3;
the transfer mechanism comprises a tray 4, the tray 4 is arranged on the rack 1, the tray 4 is used for temporarily storing materials to be sorted, the tray 4 is arranged above the sorting cylinders 3, in the embodiment, preferably, a gravity sensor is arranged at the bottom of the tray 4, the sorting cylinders 3 are four, the four sorting cylinders 3 are arranged in a 2 x 2 square structure, and the tray 4 is arranged right above the central position of the square structure formed by the four sorting cylinders 3;
the sorting mechanism comprises a mechanical arm and a clamping part 5, the clamping part 5 is connected with the mechanical arm, the clamping part 5 comprises a slide rail 51, a first clamping jaw 52, a second clamping jaw 53 and a driving assembly 54, the first clamping jaw 52 and the second clamping jaw 53 are in sliding fit with the slide rail 51, the driving assembly 54 is respectively connected with the first clamping jaw 52 and the second clamping jaw 53, and the driving assembly 54 is used for driving the first clamping jaw 52 and the second clamping jaw 53 to move along the slide rail 51 so as to realize that the first clamping jaw 52 and the second clamping jaw 53 are matched together to clamp and release materials to be sorted;
an industrial personal computer (not shown in the figure) is respectively electrically connected with the mechanical arm and the driving assembly 54, the industrial personal computer is used for driving the mechanical arm and the driving assembly 54 to sort the materials to be sorted based on the recognition result of visually recognizing the materials to be sorted, wherein the CCD camera is arranged at the top of the rack 1, the industrial personal computer sends the images collected by the CCD camera to a server, the server can be a server of an Ali recognition system in the prior art, the server can process the images, the process belongs to the prior art, the server feeds back the processing result to the industrial personal computer, the industrial personal computer controls the mechanical arm and the driving assembly 54 to act according to the processing result, the actions of the mechanical arm and the driving assembly 54 can refer to the mature technology in the prior art according to the processing result, and the description is omitted here.
In the present embodiment, preferably, the driving assembly 54 includes a first driving motor 541, a first rack 542, a second rack 543, and a gear 544;
one end of the first rack 542 is fixedly connected with the first clamping jaw 52, the other end of the first rack 542 faces the second clamping jaw 53, and the second clamping jaw 53 is provided with a first through hole for the first rack 542 to pass through;
one end of the second rack 543 is fixedly connected to the second jaw 53, the other end of the second rack 543 faces the first jaw 52, and the first jaw 52 has a second through hole for the second rack 543 to pass through;
the gear 544 is disposed between the first rack 542 and the second rack 543, the gear 544 is simultaneously engaged with the first rack 542 and the second rack 543, the first driving motor 541 drives the gear 544 to rotate, by driving the first driving motor 541, the gear 544 can drive the first jaw 52 and the second jaw 53 to move toward or away from each other at the same time, thereby realizing the clamping or releasing of the materials to be sorted on the tray 4, simultaneously engaging with the first rack 542 and the second rack 543 through the gear 544, and the synchronism of the first clamping jaw 52 and the second clamping jaw 53 can be ensured, and the phenomenon that when the first clamping jaw 52 and the second clamping jaw 53 are out of synchronism, so that clamping is carried out, the phenomenon that the materials to be sorted incline and are separated from each other between the first clamping jaw 52 and the second clamping jaw 53 is easily caused, and the sponge is arranged on the inner sides of the first clamping jaw 52 and the second clamping jaw 53, so that the materials to be sorted can be smoothly and stably grabbed by any irregular materials.
In this embodiment, the mechanical arm includes an X-axis linear mechanism 6, a Y-axis linear mechanism 7, a Z-axis linear mechanism 8 and a mounting plate 9, the X-axis linear mechanism 6 is fixedly connected to the frame 1, the Y-axis linear mechanism 7 is slidably disposed on the X-axis linear mechanism 6, the Z-axis linear mechanism 8 is slidably disposed on the Y-axis linear mechanism 7, the mounting plate 9 is slidably disposed on the Z-axis linear mechanism 8, and the slide rail 51 is fixedly disposed on the mounting plate 9. The X-axis linear mechanism 6, the Y-axis linear mechanism 7 and the Z-axis linear mechanism 8 form a three-coordinate system structure, so that the mounting plate 9 can be driven to act in space, and the first clamping jaw 52 and the second clamping jaw 53 are driven to move.
In this embodiment, specifically, the Z-axis linear mechanism 8 includes a Z-axis slide rail 81, a mounting seat 82, and a second driving motor 83, the mounting seat 82 is slidably disposed on the Y-axis linear mechanism 7, the Z-axis slide rail 81 is fixedly disposed on the mounting seat 82, the second driving motor 83 is fixed on the mounting seat 82, the mounting plate 9 is slidably mounted on the Z-axis slide rail 81, and the second driving motor 83 is configured to drive the mounting plate 9 to slide along the Z-axis slide rail 81. In other embodiments, the second driving motor 83 may also be an air cylinder, and the mounting plate 9 is controlled to move on the Z-axis slide rail 81 by the air cylinder.
In this embodiment, the transfer mechanism further includes a rotating platform 10, a rotating shaft 11, a supporting frame 12, a rotating motor 13 and a rotating shaft 14, the rotating platform 10 is fixed on the frame 1, one end of the rotating shaft 11 is connected with the rotating platform 10, the other end of the rotating shaft 11 is connected with the supporting frame 12, the rotating shaft 14 is arranged on the supporting frame 12, the rotating motor 13 is connected with the rotating shaft 11, and the tray 4 is fixedly connected with the rotating shaft 11.
In the above embodiment, still be provided with the display, the display is connected with industrial computer, the gravity sensor of 3 below letter sorting section of thick bamboo, the gravity sensor and the CCD camera electricity of tray 4 below respectively, and the display is used for showing the weight of the material of waiting to sort on tray 4, the weight of the material of holding in each letter sorting section of thick bamboo 3 and having sorted, the operational aspect of the portion 5 of pressing from both sides and the material picture information that tray 4 waited to sort.
The multifunctional sorting system based on visual identification disclosed by the utility model is further explained by the working principle as follows:
firstly, materials (aquatic products) to be sorted are conveyed to a tray through a feeding mechanism from a feeding port, an industrial personal computer controls an automatic lifting door to close the automatic lifting door at the moment, a CCD camera photographs the materials to be sorted on the tray, after the photographing is finished, the materials are distinguished according to the types of the materials to be sorted, a plurality of sorting cylinders are respectively used for containing aquatic products of different types, when the materials to be sorted are of the same type, a gravity sensor arranged on the tray weighs the materials to be sorted, an industrial personal computer drives a rotating table to rotate, the tray is further driven to turn to the sorting cylinders corresponding to the aquatic products, and a rotating shaft rotates under the driving of a rotating motor, so that the aquatic products in the tray are poured into the corresponding sorting cylinders; when the material of waiting to sort is multiple kind, the industrial computer controls the action of mechanical arm, the action of first clamping jaw of simultaneous control and second clamping jaw, press from both sides the aquatic products on the tray according to kind difference clamp and carry to the top that corresponds a letter sorting section of thick bamboo, and release aquatic products in the letter sorting section of thick bamboo of below through the action of first clamping jaw and second clamping jaw, sort one by one with this circulation to the material of waiting to sort on the tray, the back is accomplished in the letter sorting, weigh the aquatic products in the letter sorting section of thick bamboo through the gravity sensor of letter sorting section of thick bamboo below, weigh and directly pack after accomplishing.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A multifunctional sorting system based on visual identification, comprising:
a machine frame, a plurality of guide rails and a plurality of guide rails,
the transfer mechanism comprises a tray, the tray is arranged on the rack, and the tray is used for temporarily storing materials to be sorted;
the sorting mechanism comprises a mechanical arm and a clamping part, the clamping part is connected with the mechanical arm, the clamping part comprises a slide rail, a first clamping jaw, a second clamping jaw and a driving assembly, the first clamping jaw and the second clamping jaw are in sliding fit with the slide rail, the driving assembly is respectively connected with the first clamping jaw and the second clamping jaw, and the driving assembly is used for driving the first clamping jaw and the second clamping jaw to move along the slide rail so as to realize that the first clamping jaw and the second clamping jaw are matched together to clamp and release the material to be sorted;
the industrial computer is connected with arm and drive assembly electricity respectively, the industrial computer is used for based on right the material of treating the letter sorting carries out visual identification's recognition result drive arm and drive assembly are right the material letter sorting of treating the letter sorting.
2. The vision recognition-based multi-functional sortation system according to claim 1, wherein said drive assembly comprises a first drive motor, a first rack, a second rack, and a gear;
one end of the first rack is fixedly connected with the first clamping jaw, the other end of the first rack faces the second clamping jaw, and the second clamping jaw is provided with a first through hole for the first rack to pass through;
one end of the second rack is fixedly connected with the second clamping jaw, the other end of the second rack faces the first clamping jaw, and the first clamping jaw is provided with a second through hole for the second rack to pass through;
the gear is arranged between the first rack and the second rack, the gear is meshed with the first rack and the second rack simultaneously, and the first driving motor drives the gear to rotate.
3. The multifunctional sorting system based on visual identification as claimed in claim 2, wherein the mechanical arm comprises an X-axis linear mechanism, a Y-axis linear mechanism, a Z-axis linear mechanism and a mounting plate, the X-axis linear mechanism is fixedly connected with the rack, the Y-axis linear mechanism is slidably arranged on the X-axis linear mechanism, the Z-axis linear mechanism is slidably arranged on the Y-axis linear mechanism, the mounting plate is slidably arranged on the Z-axis linear mechanism, and the slide rail is fixedly arranged on the mounting plate.
4. The multifunctional sorting system based on visual identification as claimed in claim 3, wherein the Z-axis linear mechanism comprises a Z-axis slide rail, a mounting seat and a second driving motor, the mounting seat is slidably arranged on the Y-axis linear mechanism, the Z-axis slide rail is fixedly arranged on the mounting seat, the second driving motor is fixed on the mounting seat, the mounting plate is slidably arranged on the Z-axis slide rail, and the second driving motor is used for driving the mounting plate to slide along the Z-axis slide rail.
5. The vision recognition-based multi-functional sorting system of claim 1, further comprising a plurality of sorting cartridges annularly arranged around and below the tray.
6. The vision recognition-based multi-functional sorting system of claim 5, wherein the bottom of each sorting drum is provided with a gravity sensor.
7. The multifunctional sorting system based on visual identification as claimed in claim 1, wherein the transfer mechanism further comprises a rotary table, a rotary shaft, a support frame, a rotary motor and a rotary shaft, the rotary table is fixed on the rack, one end of the rotary shaft is connected with the rotary table, the other end of the rotary shaft is connected with the support frame, the rotary shaft is arranged on the support frame, the rotary motor is connected with the rotary shaft, and the tray is fixedly connected with the rotary shaft.
8. The multi-function sorting system based on visual identification according to claim 1 or 7, characterized in that the bottom of the tray is provided with a gravity sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220451231.4U CN216937189U (en) | 2022-03-02 | 2022-03-02 | Multifunctional sorting system based on visual identification |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220451231.4U CN216937189U (en) | 2022-03-02 | 2022-03-02 | Multifunctional sorting system based on visual identification |
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| CN216937189U true CN216937189U (en) | 2022-07-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115781644A (en) * | 2023-02-07 | 2023-03-14 | 广东豪德数控装备股份有限公司 | Intelligent sorting manipulator |
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2022
- 2022-03-02 CN CN202220451231.4U patent/CN216937189U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115781644A (en) * | 2023-02-07 | 2023-03-14 | 广东豪德数控装备股份有限公司 | Intelligent sorting manipulator |
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