CN217434358U

CN217434358U - Novel sorting robot

Info

Publication number: CN217434358U
Application number: CN202221632652.3U
Authority: CN
Inventors: 田雨欣; 李雪琴; 申琳; 张芹; 颜宝恒; 黄智康; 林羽芊
Original assignee: Guangxi University of Science and Technology
Current assignee: Guangxi University of Science and Technology
Priority date: 2022-06-28
Filing date: 2022-06-28
Publication date: 2022-09-16
Anticipated expiration: 2032-06-28

Abstract

The utility model discloses a novel sorting robot, which comprises a workbench, wherein a conveying mechanism is arranged on the workbench; the image acquisition device is arranged on the workbench through a support piece and is positioned right above the conveying mechanism; the manipulator is rotatably arranged on the workbench; the lower end part of the manipulator is provided with a gripper; and the controller is respectively electrically connected with the manipulator and the image acquisition device. After the positioning of the object is completed, the third mechanical arm moves downwards to be close to the object to be grabbed, the third mechanical arm presses downwards, the rack moves upwards, the two grabbing hands are driven to be close to each other through the incomplete gear, and then the object is grabbed tightly. And then the rack is moved to a place to be placed, the rack is pressed downwards by a third mechanical arm to move upwards, the sliding rod slides to the right side of the square-shaped slideway, and then the third mechanical arm is lifted upwards to move the rack downwards under the action of gravity, so that the gripper is driven to loosen the gripped object.

Description

Novel sorting robot

Technical Field

The utility model belongs to the technical field of the robot, a novel letter sorting robot is related to.

Background

With the continuous development of electronic commerce, a large number of packages need to be classified, and efficient sorting and classification of the packages is an important task. The letter sorting of parcel often needs a large amount of manpowers, and the human cost is high, and appears sorting mistake easily, and the people still can work efficiency reduce after long-time work, and the error rate improves, causes the low of whole letter sorting efficiency. There is therefore a need for a device that efficiently and automatically performs sorting tasks.

In order to solve the problem, the utility model provides a novel letter sorting machine people.

SUMMERY OF THE UTILITY MODEL

For solving the problem that exists among the background art, the utility model provides a novel letter sorting robot.

In order to realize the purpose, the utility model discloses a technical scheme as follows: the workbench is provided with a conveying mechanism;

the image acquisition device is arranged on the workbench through a support piece and is positioned right above the conveying mechanism;

the manipulator is rotatably arranged on the workbench; the lower end part of the manipulator is provided with a gripper;

and the controller is respectively electrically connected with the manipulator and the image acquisition device.

Further, the manipulator comprises a hinge column, a first mechanical arm, a second mechanical arm and a third mechanical arm which are sequentially hinged;

the hinged column is rotatably arranged on the workbench;

and the lower end of the third mechanical arm is provided with a gripper.

Further, the lower part of the third mechanical arm is of a cavity structure, and the lower end of the third mechanical arm is open; a driving assembly, a limiting piece and a sliding rod are arranged in a cavity of the third mechanical arm;

the sliding rod penetrates through the driving assembly in a sliding mode and is connected with the limiting piece in a sliding mode;

the hand grip is mounted on the drive assembly.

Further, the drive assembly comprises a rack, an incomplete gear;

two opposite side surfaces of the rack are provided with limit grooves; limiting blocks are symmetrically arranged on the inner walls, opposite to each other, in the cavity of the third mechanical arm, and the two limiting blocks are respectively in sliding fit with the corresponding limiting grooves; tooth parts are arranged on the two side surfaces of the rack without the limiting grooves; a limiting hole is formed in the rack and is in sliding fit with the sliding rod;

2 incomplete gears are arranged and are meshed with corresponding tooth parts; be equipped with 2 pivots in the third arm, two incomplete gears are all rotated and are installed in the pivot that corresponds.

Furthermore, there are 2 tongs, fix respectively on corresponding incomplete gear.

Furthermore, a pressing plate is arranged at the lower end of the rack.

Furthermore, the limiting piece comprises a clip-shaped slideway, a first baffle and a second baffle;

the number of the square-shaped slideways is 2, and the square-shaped slideways are symmetrically arranged on the inner walls of the two sides of the third mechanical arm; 2 clip-shaped slideways are respectively connected with the two ends of the slide bar in a sliding way;

the clip-shaped slideway comprises an inner ring and an outer ring; a first limiting hole is formed in the arc-shaped position of the lower end of the inner ring of the clip-shaped slideway; a second limiting hole is formed in the arc-shaped position of the right upper end of the inner ring of the clip-shaped slide way;

one end of the first baffle is rotatably arranged in the third mechanical arm; the other end of the first baffle passes through the first limiting hole and extends into a position between the outer ring and the inner ring; the first baffle is positioned on the left side of the first limiting hole; the first baffle is connected with the inner wall of the third mechanical arm through a first torsion spring;

one end of the second baffle is rotatably arranged in the third mechanical arm, and the other end of the second baffle passes through the second limiting hole and extends into a position between the inner ring and the outer ring; the second baffle is positioned on the right side of the second limiting hole; and the second baffle is connected with the inner wall of the third mechanical arm through a second torsion spring.

Further, the support member comprises a vertical rod and a horizontal rod;

the number of the vertical rods is 2, and the vertical rods are respectively fixed on two sides of the workbench;

the cross rod is arranged between the two vertical rods; the image acquisition device is arranged in the middle of the cross rod.

Compared with the prior art, the utility model discloses following beneficial effect has: the conveying mechanism conveys the object to the lower part of the image acquisition device, the image acquisition device acquires images of the object and then conveys the acquired images to the controller, and the controller controls the action of the manipulator to complete the positioning, grabbing and classifying and placing work of the object. After the positioning of the object is completed, the third mechanical arm moves downwards to be close to the object to be grabbed, the third mechanical arm presses downwards, the rack moves upwards, the two grabbing hands are driven to be close to each other through the incomplete gear, and then the object is grabbed tightly. And then the rack is moved to a place to be placed, the rack is pressed downwards by a third mechanical arm to move upwards, the sliding rod slides to the right side of the square-shaped slideway, and then the third mechanical arm is lifted upwards to move the rack downwards under the action of gravity, so that the gripper is driven to loosen the gripped object.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the connection between the rack and the limiting block;

fig. 3 is a partial cross-sectional view of the present invention;

FIG. 4 is a schematic structural view of the middle clip-shaped slideway of the present invention;

FIG. 5 is a schematic view of a first baffle plate according to the present invention;

FIG. 6 is a schematic diagram of the second baffle structure of the present invention

Fig. 7 is a schematic view of the image collector of the present invention.

In the figure: 1. a work table; 2. supporting legs; 3. a transport mechanism; 4. a vertical rod; 5. a cross bar; 6. an image acquisition device; 7. a mounting base; 8. a first robot arm; 9. a second robot arm; 10. a third mechanical arm; 11. a gripper; 12. an incomplete gear; 13. pressing a plate; 14. a rack; 15. a limiting groove; 16. a limiting hole; 17. a slide bar; 18. a clip-shaped slideway; 19. a first baffle plate; 20. a second baffle; 21. a limiting block; 22. a rotating shaft; 23. an illuminating lamp.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, 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.

As shown in fig. 1-7, the technical solution adopted by the present invention is as follows: a novel sorting robot comprises a workbench 1, an image acquisition device 6, a manipulator, a gripper 11 and a controller.

The controller is respectively electrically connected with the image acquisition device 6 and the manipulator. The gripper 11 is provided on the robot hand 11. The controller controls the action of the manipulator to complete the positioning, grabbing and classifying placement of the objects.

Four support legs 2 are installed at the bottom of the workbench 1. The left part of the workbench 1 is provided with a through groove, and a conveying mechanism 3 is arranged in the through groove. The transport mechanism 3 may transport the objects to be sorted to the image acquisition device 6 and then to the gripper 11.

The image acquisition device 6 is arranged on the workbench 1 through a support member and is positioned right above the conveying mechanism 3. The supporting piece comprises a vertical rod 4 and a cross rod 5. There are 2 montants 4, respectively fixed mounting in the both sides of workstation 1, and horizontal pole 5 fixed mounting is between two montants 4. The image acquisition device 6 is arranged in the middle of the cross rod 5. The image capturing device 6 can capture images of objects passing in the vicinity thereof.

Be equipped with light 23 on the image acquisition device 6, light 23 can provide sufficient light, and then is favorable to image acquisition device 6 to gather the higher image of quality.

The manipulator comprises a hinge column, a first mechanical arm 8, a second mechanical arm 9 and a third mechanical arm 10 which are sequentially hinged. The hinge column is provided with a first servo motor for controlling the action of the hinge column. The first robot arm 8 is provided with a second servo motor for controlling the first robot arm 8.

A third servo motor for controlling the movement of the second robot arm 9 is mounted on the second robot arm 9.

A fourth servo motor for controlling the movement of the third robot arm 10 is mounted on the third robot arm 10. The first servo motor, the second servo motor, the third servo motor and the fourth servo motor are all electrically connected with the controller.

The hinged column is rotatably arranged on the workbench 1 through a mounting seat 7. The mounting seat 7 is fixed on the right side edge of the workbench 1. The robot arm can thus be rotated relative to the table 1.

The lower end of the manipulator is provided with a gripper 11. Under the action of the manipulator, the gripper 11 can grip the laid-down object.

The lower end of the third robot arm 10 is open, and the lower portion of the third robot arm 10 is a cavity structure. A driving assembly, a limiting piece, a gripper 11 and a sliding rod 17 are arranged in a cavity of the third mechanical arm 10.

The drive assembly includes a rack 14, a partial gear 12.

The two opposite side surfaces of the rack 14 are provided with limiting grooves 15, the inner walls of the cavities of the third mechanical arm 10, which are opposite to each other, are symmetrically provided with limiting blocks 21, and the two limiting grooves 15 are respectively in sliding fit with the corresponding limiting blocks 21. The upper part of the rack 14 is provided with a limiting hole 16, a sliding rod 17 is connected in the limiting hole 16 in a sliding manner, and the sliding rod 17 can move left and right along the limiting hole 16. The rack 14 is provided with teeth on opposite sides. A pressure plate 13 is mounted at the bottom of the rack 14.

The partial gears 12 are 2 and are respectively meshed with the corresponding tooth parts. The third mechanical arm 10 is internally and fixedly provided with 2 rotating shafts 22. The two partial gears 12 are rotatably mounted on the corresponding shafts 22, respectively. The two hand grips 11 are respectively fixed on the corresponding tooth-missing parts of the incomplete gear 12.

The two side walls of the third mechanical arm 10 and the parts corresponding to the two grippers 11 are provided with openings. The gripper 11 passes through the corresponding gap and extends out of the third mechanical arm 10.

The third mechanical arm 10 moves downwards to enable the pressing plate 13 to be placed on an object to be grabbed, the third mechanical arm 10 presses downwards to enable the rack 14 to move upwards along the limiting block 21, and the rack 14 drives the incomplete gear 12 to rotate, so that the two grippers 11 are close to each other, and the object is grabbed tightly. When the gripped object needs to be put down, the third mechanical arm 10 is lifted, the rack 14 moves downwards under the action of gravity, and then the incomplete gear 12 is driven to rotate, so that the two grippers 11 move back to back, and the gripped object is released.

The limiting member comprises a clip-shaped slideway 18, a first baffle plate 19 and a second baffle plate 20.

The number of the clip-shaped slideways 18 is 2, and the clip-shaped slideways are symmetrically arranged on the inner walls of two sides of the third mechanical arm 10. One end of the sliding rod 17 is in limit sliding connection with one of the clip-shaped slideways 18, and the other end thereof passes through the limit hole 16 and is in limit sliding connection with the other clip-shaped slideway 18.

The clip-shaped slideway 18 is formed by enclosing an inner ring and an outer ring, wherein the inner ring is arranged obliquely relative to the outer ring. Thus, when the slide bar 17 moves from the right side of the clip 18 to the highest position of the clip 18, the slide bar 17 will then enter the left side of the clip 18.

The lower extreme arc department of the inner ring of the slide 18 that returns to the shape has seted up first spacing hole, and the left side in first spacing hole is in the left side of outer loop minimum, and is in the left side of inner ring minimum. A second limiting hole is formed in the arc-shaped position of the right upper end of the inner ring of the clip-shaped slide way 18.

One end of the first baffle plate 19 is rotatably installed on the inner wall of the third mechanical arm 10, and the other end of the first baffle plate 19 passes through the first limiting hole and extends into the space between the inner ring and the outer ring of the clip-shaped slideway 18. The first shutter 19 is connected to the inner wall of the third mechanical arm 10 by a first torsion spring.

In the initial state, the first shutter 19 is positioned on the left side of the first stopper hole. The first baffle 19 can only rotate anticlockwise, namely rotate towards the right side of the first limit hole, and the clearance between the first baffle 19 and the inner wall of the outer ring is not enough to allow the slide bar 17 to pass through. At this time, the first torsion spring is in an initial state and does not have elastic potential energy.

When the sliding rod 17 pushes the first baffle 19 to rotate, the gap between the first baffle 19 and the inner wall of the outer ring is larger and larger, so that the sliding rod 17 bypasses the first baffle 19. The first torsion spring is stretched to have elastic potential energy, and the first torsion spring is reset, so that the first baffle plate 19 is driven to reset. The slide bar 17 now moves to the lowest outer ring of the clip-shaped slide 18 and to the right of the lowest inner ring.

One end of the second baffle 20 is rotatably mounted on the inner wall of the third mechanical arm 10, and the other end of the second baffle 20 passes through the second limiting hole and extends into the space between the inner ring and the outer ring of the clip-shaped slideway 18. The second shutter 20 is connected to the inner wall of the third robot arm 10 by a second torsion spring.

In the initial state, the second baffle 20 is located at the right side of the second limiting hole, so that the second baffle 20 can only rotate counterclockwise, and at this time, the gap between the second baffle 20 and the inner wall of the outer ring is not enough for the slide bar 17 to pass through. At this time, the second torsion spring is in an initial state and does not have elastic potential energy.

When the sliding rod 17 pushes the second baffle 20 to rotate counterclockwise, the gap between the second baffle 20 and the inner wall of the outer ring is larger and larger, so that the sliding rod 17 bypasses the second baffle 20. At this time, the second torsion spring is stretched to have elastic potential energy, and the second torsion spring is reset, thereby driving the second baffle 20 to reset.

The working principle is as follows: when it is required to use, the image pickup device 6, the robot, and then the transfer mechanism 3 are started. The conveying mechanism 3 conveys the objects to be sorted, moves the objects to be sorted below the image acquisition device 6, and the image acquisition device 6 acquires images of the passing objects and conveys the acquired images to the controller. The controller operates the manipulator according to the image result.

The robot is moved over the object to be grasped. The third robot arm 10 is then moved downwardly so that the platen 13 is placed over the object to be gripped, with the slide bar 17 at the lowermost end of the clip 18. The third mechanical arm 10 is pressed downwards, so that the rack 14 moves upwards along the limiting block 21, the rack 14 drives the incomplete gear 12 to rotate, the two grippers 11 are close to each other, and the object is gripped. The slide bar 17 now slides up the right side of the clip slide 18. As the rack 14 moves up, the 2 grippers 11 get closer to the object to be gripped.

When the sliding rod 17 moves to the second baffle 20, in the process that the sliding rod 17 pushes the second baffle 20 to rotate anticlockwise, the gap between the second baffle 20 and the inner wall of the outer ring is larger and larger until the sliding rod 17 passes through the gap, and at this time, the sliding rod 17 does not slide downwards along the left side of the clip-shaped slideway 18. At this point the 2 grippers 11 have grasped the object and the third robot arm 10 stops applying downward force. The second torsion spring is stretched to have elastic potential energy, and the second torsion spring is reset, thereby driving the second baffle 20 to reset. At this time, the slide bar 17 moves downward along the right side of the clip-shaped slide 18 under the action of gravity, and when moving to the second stop 20, the second stop 20 stops the slide bar 17 from continuing to slide downward, so as to prevent the rack 14 from continuing to move downward, and thus prevent the gripper 11 from loosening the object.

The robot then moves to move the gripped object over the location to be placed. The third mechanical arm 10 moves downwards, and after an object is placed on a plane to be placed, the third mechanical arm is pressed downwards, so that the pressing plate 13 pushes the rack 14 to move upwards, the sliding rod 17 is pushed to continue to slide upwards in the clip-shaped slideway 18, and when the sliding rod 17 moves to the highest point of the clip-shaped slideway 18, the sliding rod 17 is positioned on the left side of the highest point of the inner ring. When the third mechanical arm 10 is lifted up, the slide bar 17 is located at the highest point of the outer ring and at the left side of the opposite high point of the inner ring, so that the slide bar 17 enters the left side of the clip-shaped slideway 18 and then moves downwards along the left side of the clip-shaped slideway 18. At the same time, the rack 14 moves downward under the action of gravity, and then drives the incomplete gear 12 to rotate, so that the two grippers 11 move back and forth, and further the gripped object is released. And finishing the sorting work once.

When the sliding rod 17 moves downwards and moves to the first baffle 19, the first baffle 19 is pushed to rotate anticlockwise, the gap between the first baffle 19 and the inner wall of the outer ring is increased, the sliding rod 17 bypasses the first baffle 19, and after the first baffle 19 of the sliding rod 17, the sliding rod 17 moves to the lowest end of the outer ring of the clip-shaped slideway 18. The first baffle 19 is restored to the initial position under the action of the first torsion spring, and the slide bar 17 is located at the lowest point of the outer ring and at the right side of the lowest point of the inner ring.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. A novel sorting robot is characterized by comprising: the device comprises a workbench (1), wherein a conveying mechanism (3) is arranged on the workbench (1); the image acquisition device (6) is arranged on the workbench (1) through a supporting piece and is positioned right above the conveying mechanism (3); the manipulator is rotatably arranged on the workbench (1); the lower end part of the manipulator is provided with a gripper (11); and the controller is respectively and electrically connected with the manipulator and the image acquisition device (6).

2. The new sorting robot of claim 1, wherein: the manipulator comprises a hinge column, a first mechanical arm (8), a second mechanical arm (9) and a third mechanical arm (10), and the hinge column, the first mechanical arm, the second mechanical arm and the third mechanical arm are sequentially hinged; the hinged column is rotatably arranged on the workbench (1); and a gripper (11) is arranged at the lower end of the third mechanical arm (10).

3. The new sorting robot of claim 2, wherein: the lower part of the third mechanical arm (10) is of a cavity structure, and the lower end of the third mechanical arm is open; a driving assembly, a limiting piece and a sliding rod (17) are arranged in a cavity of the third mechanical arm (10); the sliding rod (17) penetrates through the driving assembly in a sliding mode and is connected with the limiting piece in a sliding mode; the gripper (11) is mounted on the drive assembly.

4. A new sorting robot according to claim 3, characterised in that: the driving assembly comprises a rack (14) and an incomplete gear (12); two opposite side surfaces of the rack (14) are provided with limiting grooves (15); limiting blocks (21) are symmetrically arranged on the inner walls, opposite to each other, in the cavity of the third mechanical arm (10), and the two limiting blocks (21) are respectively in sliding fit with the corresponding limiting grooves (15); tooth parts are arranged on two side surfaces, which are not provided with the limiting grooves (15), of the rack (14); a limiting hole (16) is formed in the rack (14), and the limiting hole (16) is in sliding fit with the sliding rod (17); 2 incomplete gears (12) are arranged and are meshed with corresponding tooth parts; and 2 rotating shafts (22) are arranged in the third mechanical arm (10), and the two incomplete gears (12) are rotatably arranged on the corresponding rotating shafts (22).

5. The new sorting robot of claim 4, wherein: the number of the grippers (11) is 2, and the grippers are respectively fixed on the corresponding incomplete gear (12).

6. The new sorting robot of claim 4, wherein: and a pressing plate (13) is arranged at the lower end of the rack (14).

7. A new sorting robot according to claim 3, characterised in that: the limiting piece comprises a clip-shaped slideway (18), a first baffle (19) and a second baffle (20); 2 of the square-shaped slideways (18) are symmetrically arranged on the inner walls of the two sides of the third mechanical arm (10); 2 clip-shaped slideways (18) are respectively connected with the two ends of the sliding rod (17) in a sliding way; the clip-shaped slideway (18) comprises an inner ring and an outer ring; a first limiting hole is formed in the arc-shaped position of the lower end of the inner ring of the clip-shaped slideway (18); a second limiting hole is formed in the arc-shaped position of the right upper end of the inner ring of the clip-shaped slideway (18); one end of the first baffle (19) is rotatably arranged in the third mechanical arm (10); the other end of the first baffle (19) penetrates through the first limiting hole and extends into a position between the outer ring and the inner ring; the first baffle (19) is positioned at the left side of the first limiting hole; the first baffle (19) is connected with the inner wall of the third mechanical arm (10) through a first torsion spring; one end of a second baffle (20) is rotatably arranged in the third mechanical arm (10), and the other end of the second baffle passes through the second limiting hole and extends into a position between the inner ring and the outer ring; the second baffle (20) is positioned at the right side of the second limiting hole; and the second baffle (20) is connected with the inner wall of the third mechanical arm (10) through a second torsion spring.

8. The new sorting robot of claim 1, wherein: the supporting piece comprises a vertical rod (4) and a cross rod (5); 2 vertical rods (4) are respectively fixed on two sides of the workbench (1); the cross rod (5) is arranged between the two vertical rods (4); the image acquisition device (6) is arranged in the middle of the cross rod (5).