CN217555161U

CN217555161U - Automatic sorting composite robot and production line

Info

Publication number: CN217555161U
Application number: CN202221603443.6U
Authority: CN
Inventors: 陈宇青; 俞雷; 赵海州
Original assignee: Xian Jiaotong Liverpool University
Current assignee: Xian Jiaotong Liverpool University
Priority date: 2022-06-24
Filing date: 2022-06-24
Publication date: 2022-10-11
Anticipated expiration: 2032-06-24

Abstract

The utility model discloses an automatic compound robot of letter sorting and production line belongs to the robotechnology field. This automatic compound robot of letter sorting includes: the mobile platform can automatically carry out plane movement; the tray module is arranged on the moving platform and comprises a conveying mechanism, a plurality of material boxes and an inclined sliding plate, the inclined sliding plate is obliquely arranged below a blanking area of the conveying mechanism, and the plurality of material boxes are arranged on the conveying mechanism at intervals; the arm, set up in on the moving platform, can be right material in the workbin is sorted, can increase the quantity that bears of material through a plurality of workbins, and after the material in the workbin was sorted, conveying mechanism carried the workbin to the blanking district, and the workbin drops and along the below of slope slide landing to conveying mechanism, improves the carrying capacity of robot, reduces the number of times that comes and goes production line to storage area, practices thrift the electric quantity, improves production efficiency.

Description

Automatic sorting composite robot and production line

Technical Field

The utility model relates to the technical field of robot, especially, relate to an automatic compound robot of letter sorting and production line.

Background

The automatic sorting is an important task of the composite robot, and the efficiency of the automatic sorting directly affects the completion of various indexes of 'quality, cost and delivery date' in the manufacturing industry.

The composite Mobile cooperative Robot is composed of an Autonomous Mobile Robot (Autonomous Mobile Robot-AMR) combined with a cooperative Robot arm and a relevant clamp. The AMR of the cooperative robot is matched, so that the robot can move autonomously on a production line, the automation of automatic sample picking and transportation from the production line to a storage area is realized, the related work flow is simplified, and the production line is helped to improve the efficiency.

However, constrained by the range of motion of the cooperating robot arms, the number of sortable compound robots can sort from production line to storage area on a single trip is limited. In order to widen the motion range of the cooperative robot arm, a method of extending the end effector may be adopted, but the effect of this method is not ideal. Even if the compound robot is fully carried, the number of samples that can be processed is limited, which greatly reduces the work efficiency of the compound robot.

To this end, it is desirable to provide an automatic sorting compound robot and a production line to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic compound robot of letter sorting and production line improve the carrying capacity volume of robot, reduce and come and go production line to storage area frequency, not only can practice thrift the electric quantity, can improve production efficiency moreover.

In order to realize the purpose, the following technical scheme is provided:

an automated sortation compounding robot, comprising:

the mobile platform can automatically carry out plane movement;

the tray module is arranged on the moving platform and comprises a conveying mechanism, a plurality of material boxes and an inclined sliding plate, the inclined sliding plate is obliquely arranged below a blanking area of the conveying mechanism, and the plurality of material boxes are arranged on the conveying mechanism at intervals;

the mechanical arm set up in on the moving platform, can be right the material in the workbin is sorted.

As an alternative to the automatic sorting compound robot, the tray module includes a first mounting frame and a second mounting frame provided on the moving platform, the second mounting frame is located below the first mounting frame, the conveying mechanism is provided in the first mounting frame, and the inclined slide plate is provided in the second mounting frame.

As the alternative of automatic sorting composite robot, first mounting bracket includes horizontal support body and first vertical support body, conveying mechanism includes conveyer belt and two at least live-rollers, and is a plurality of the workbin is located on the conveyer belt, the live-roller rotate set up in on the horizontal support body, the conveyer belt is around locating the live-roller.

As an alternative of the automatic sorting composite robot, the conveying mechanism further comprises a driving motor, the driving motor is fixedly arranged on the first vertical frame body, and an output rotating shaft of the driving motor is in transmission connection with the rotating roller.

As an alternative of the automatic sorting composite robot, the conveying mechanism further comprises a protective cover, the protective cover is arranged on the first vertical frame body, and the driving motor is located in the protective cover.

As an alternative scheme of the automatic sorting composite robot, the first mounting frame further comprises guardrail frame bodies, the guardrail frame bodies are arranged on two opposite sides of the horizontal frame body, and the conveying belts are located between the guardrail frame bodies.

As an alternative of the automatic sorting compound robot, the second mounting frame includes a second vertical frame body and an inclined frame body, and the inclined slide plate is provided to the inclined frame body.

As an alternative of the automatic sorting composite robot, the automatic sorting composite robot further comprises a mounting seat, the mounting seat is arranged on the second vertical frame body, and the lower end of the mechanical arm is mounted on the mounting seat.

As an alternative of the automatic sorting composite robot, the automatic sorting composite robot further comprises a hanging plate, wherein the hanging plate is arranged on the first vertical frame body, and a demonstrator of the mechanical arm is hung on the hanging plate.

A production line comprises a plurality of production lines and the automatic sorting and compounding robot, wherein the automatic sorting and compounding robot moves to and from the production lines.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model provides an automatic sorting composite robot, which arranges the tray module and the mechanical arm on a mobile platform capable of moving on a plane, and realizes the reciprocating movement of the tray module and the mechanical arm among a plurality of production lines; can place a plurality of workbins on conveying mechanism, the arm can sort the operation to the material in the workbin, and after the material in the workbin was sorted out, conveying mechanism carried the workbin to the blanking district, and the workbin drops and along the below of slope slide landing to conveying mechanism, can increase the quantity of bearing of material through a plurality of workbins, improves the carrying capacity of robot, reduces the number of times that comes and goes production line to storage area, practices thrift the electric quantity, improves production efficiency.

The utility model provides a production line can increase the quantity that bears of material through setting up a plurality of workbins, improves the capacity of robot, reduces the number of times that comes and goes production line to storage area, practices thrift the electric quantity, improves production efficiency.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a schematic view of a first visual angle structure of an automatic sorting compound robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a second view angle of the automatic sorting composite robot in the embodiment of the present invention

Fig. 3 is a schematic structural view of the tray module, the mounting seat and the hanging plate in the embodiment of the present invention.

Reference numerals are as follows:

1. a mobile platform; 2. a tray module; 3. a mechanical arm; 4. a mounting seat; 5. hanging the plate;

21. a conveying mechanism; 211. a conveyor belt; 212. a drive motor; 213. a protective cover; 22. a material box; 23. a tilting slide plate; 24. a first mounting bracket; 241. a horizontal shelf body; 242. a first vertical frame body; 243. a guardrail frame body; 25. a second mounting bracket; 251. a second vertical frame body; 252. inclining the frame body;

31. a demonstrator.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are usually placed when used, and are only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the indicated device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to 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.

Reference will now be made in detail to the 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 functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present invention, and should not be construed as limiting the present invention.

The composite Mobile cooperative Robot is composed of an Autonomous Mobile Robot (Autonomous Mobile Robot-AMR) combined with a cooperative Robot arm and a relevant clamp. The AMR has high sensitivity, can intelligently screen the most effective way to reach the destination, easily bypasses barriers, automatically transports across layers, efficiently and safely finishes work, and optimizes productivity. The cooperative robot can accurately grab, recognize, load and unload materials and the like. Through adopting compound robot, just can realize the material and transport automation between workshop, board, the production line. The composite robot can transport and grab products of various specifications, moves among different stations, and greatly reduces the dependence of production lines on manual material transportation and loading and unloading. The expanded functions are suitable for the fields of fast food consumption, warehouse logistics, industrial manufacturing, 3C precision production and the like.

The automatic sorting is an important task of the composite robot, and the efficiency of the automatic sorting directly affects the completion of various indexes of 'quality, cost and delivery date' in the manufacturing industry. AMR of the cooperative robot is matched, the robot can move autonomously on a production line, automatic selection and transportation automation of samples from the production line to a storage area are realized, relevant work flows are simplified, and therefore production line improvement efficiency is facilitated. However, constrained by the range of motion of the cooperating robot arms, the number of sortable compound robots can sort from production line to storage area on a single trip is limited. In order to widen the motion range of the cooperative robot arm, a method of extending the end effector may be adopted, but the effect of the improvement is not ideal. Even if the compound robot is fully carried, the number of samples that can be processed is limited, which greatly reduces the work efficiency of the compound robot. As an important index for measuring AMR transportation capacity, taking the example of a mobile cooperative robot of the promena series, the robot parameters are: battery capacity 48V 52Ah, endurance 6h at 300kg full load, battery life 800 times (DOD 100%), charge time 3h (from 15% to 95%). Therefore, the carrying capacity of the compound mobile cooperative robot is improved, the aim of reducing the frequency of AMR to and from a production line to a storage region is fulfilled, the electric quantity can be saved, and the production efficiency can be improved.

In order to increase the carrying capacity of the robot and reduce the frequency of going to and from the production line to the storage area, the embodiment provides an automatic sorting compound robot, and the details of the embodiment are described in detail below with reference to fig. 1 to 3.

As shown in fig. 1 and 2, the automated sorting complex robot includes a moving platform 1, a tray module 2, and a robot arm 3. The mobile platform 1 can automatically perform planar movement. The tray module 2 is arranged on the mobile platform 1, wherein the tray module 2 comprises a conveying mechanism 21, a plurality of material boxes 22 and an inclined sliding plate 23, the inclined sliding plate 23 is obliquely arranged below a blanking area of the conveying mechanism 21, and the plurality of material boxes 22 are arranged on the conveying mechanism 21 at intervals. The mechanical arm 3 is arranged on the moving platform 1 and can sort the materials in the material box 22.

In short, the automatic sorting composite robot provided by the utility model arranges the tray module 2 and the mechanical arm 3 on the mobile platform 1 which can move on the plane, so as to realize the reciprocating movement of the tray module 2 and the mechanical arm 3 among a plurality of production lines; can place a plurality of workbins 22 on conveying mechanism 21, arm 3 can sort the operation to the material in the workbin 22, after the material sorting in the workbin 22 is accomplished, conveying mechanism 21 carries workbin 22 to the blanking district, workbin 22 drops and along the below of inclined slide plate 23 landing to conveying mechanism 21, can increase the quantity that bears of material through a plurality of workbin 22, the capacity of robot is improved, reduce the number of times of going back and forth production line to storage area, the electric quantity is saved, and the production efficiency is improved.

Further, as shown in fig. 2, the tray module 2 includes a first mounting frame 24 and a second mounting frame 25 disposed on the moving platform 1, the second mounting frame 25 is located below the first mounting frame 24, the conveying mechanism 21 is disposed on the first mounting frame 24, and the inclined sliding plate 23 is disposed on the second mounting frame 25. By providing the first mounting bracket 24 and the second mounting bracket 25, the mounting of the conveying mechanism 21 and the inclined slide plate 23 is facilitated.

Further, as shown in fig. 2 in combination with fig. 3, the first mounting frame 24 includes a horizontal frame body 241 and a first vertical frame body 242, the conveying mechanism 21 includes a conveyor belt 211 and two rotating rollers, the plurality of magazines 22 are located on the conveyor belt 211, the rotating rollers are rotatably disposed on the horizontal frame body 241, and the conveyor belt 211 is wound around the rotating rollers. Specifically, two horizontal support bodies 241 extend along the direction of conveyance and are arranged, the left and right ends of at least two rotating rollers are respectively mounted on the horizontal support bodies 241 through bearings, the conveyor belt 211 is arranged on the rotating rollers, and the rotating rollers drive the conveyor belt 211 to circularly convey the bin 22.

Illustratively, in this embodiment, the moving platform 1 is an autonomous moving robot, the mechanical arm 3 is a cooperative robot, a motion range of the cooperative robot is composed of a vacant area and an area to be sorted for the parts, the conveying mechanism 21 is located in the area to be sorted for the parts, and a blanking area of the conveying mechanism 21 is located in the vacant area. The size of the area to be sorted of the parts directly influences the carrying capacity of the composite robot. In order to not influence the flexible movement of the recombiner, the top area of the autonomous mobile robot is optimized and distributed, the top area of the autonomous mobile robot is fully utilized, and the cooperative robot is placed at the edge of the autonomous mobile robot; the cooperative robot is limited by the body's range of motion, so there is a range of motion empty zone, which serves as an output channel for the bin 22 that has finished sorting; the remaining area is used to carry the magazine 22. Since the part area of the part to be sorted exceeds the movement range of the cooperative robot, in order to increase the number of parts that can be sorted by the cooperative robot, when the cooperative robot finishes sorting the first bin 22, the conveyor belt 211 is started, the first bin 22 enters the second layer of the tray module 2 above the autonomous mobile robot through the output channel, and the conveyor belt 211 transports the second bin 22, so that the bin 22 is kept in the movement range of the cooperative robot, and the embodiment makes full use of the vertical space of the composite robot.

Further, as shown in fig. 2 and fig. 3, the conveying mechanism 21 further includes a driving motor 212, the driving motor 212 is fixedly disposed on the first vertical frame 242, and an output rotating shaft of the driving motor 212 is in transmission connection with the rotating roller. The rotation of the rotating roller is driven by a driving motor 212, and the driving motor 212 may be, for example and without limitation, a servo motor, a stepping motor, and the like.

As shown in fig. 3, further, the conveying mechanism 21 further includes a protective cover 213, the protective cover 213 is disposed on the first vertical frame 242, and the driving motor 212 is located in the protective cover 213. By arranging the protective cover 213, the situation that the material box 22 is excessively accumulated below the first mounting frame 24 and the material box 22 collides with the driving motor 212 is avoided, and the mechanical failure rate is reduced.

Further, the first mounting frame 24 further includes a guard rail frame body 243, the guard rail frame body 243 is disposed at two opposite sides of the horizontal frame body 241, and the conveyor belt 211 is located between the two guard rail frame bodies 243. The magazine 22 is prevented from falling off the conveyor belt 211, while the guard rail body 243 may also function as a manual hand-propelled robot.

Further, the second mounting frame 25 includes a second vertical frame body 251 and an inclined frame body 252, and the inclined slide plate 23 is disposed on the inclined frame body 252. Specifically, the vertical support body 251 of second is perpendicular to moving platform 1's up end, and the one end of slope support body 252 is connected with the top of the vertical support body 251 of second, and the other end of slope support body 252 is connected with moving platform 1's up end, makes slope support body 252 be in the tilt state, through the height that changes the vertical support body 251 of second, and then adjusts the tilt state of slope support body 252 for workbin 22 can the landing smoothly.

Further, the automatic sorting composite robot further comprises a mounting seat 4, the mounting seat 4 is arranged on the second vertical frame body 251, and the lower end of the mechanical arm 3 is mounted on the mounting seat 4. According to the actual use requirement, the height of the mechanical arm 3 can be adjusted to meet the sorting requirement by changing the height of the mounting seat 4.

Further, the automatic sorting composite robot further comprises a hanging plate 5, the hanging plate 5 is arranged on the first vertical frame body 242, and the demonstrator 31 of the mechanical arm 3 is hung on the hanging plate 5. After the operator finishes the training to arm 3, can hang demonstrator 31 on link plate 5, avoid demonstrator 31 to place at will.

The present embodiment also provides a production line including a plurality of production lines and the above-mentioned automatic sorting compound robot, which shuttles between the plurality of production lines.

The automatic sorting composite robot can transport and grab products of various specifications, moves between different stations, and reduces dependence of production lines on manual material transportation and loading and unloading. The specific workflow of the automatic sorting task is as follows:

step 1, starting from a charging area, the automatic sorting composite robot reaches a specified feeding point by the mobile platform 1 according to path planning, the first bin is positioned at the nearest end in the motion range of the mechanical arm 3, and the rest bins 22 are sequentially arranged along the conveyor belt 211;

step 2, after the feeding is finished, the mobile platform 1 receives an instruction to reach a production area, the mobile platform 1 sequentially drives the composite robot to reach the production line 1, the production line 2, the accurate position of the production line n is used for accurately grabbing, identifying, loading and unloading materials, and automatic sorting of a first material box is started;

and 3, after the first bin sorting task is completed, starting the conveyor belt 211, and driving the bin 22 to move by the conveyor belt 211. When the first bin approaches the blanking area of the mechanical arm 3 and the conveyor belt 211, the first bin enters the second layer bin storage area of the tray module 2 along the inclined slide plate 23 under the action of gravity;

and 4, the second material box enters the operable range of the mechanical arm 3 along with the conveyor belt 211, the mechanical arm 3 continues to carry out automatic sorting work of the second material box on the production line n, then the mobile platform 1 sequentially drives the composite robot to reach the production line n-1, the production line n-2, the production line 1 specifies the working position, and accurate grabbing, identification, material loading and unloading are carried out. At this time, the automatic sorting task of the feeding area and the production area is completed in the first round (the number of the shown bins is 2, but not limited to 2, and the size of the bins 22 can be expanded according to the size of the actual mobile platform 1);

step 5, if the electric quantity is sufficient at the moment, the composite robot returns to the feeding area, and the step 2-4 is repeated; and if the electric quantity is not enough to support the next round of sorting task, the compound robot returns to the charging area, and the steps 1-4 are repeated.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. An automatic sorting compound robot, comprising:

a mobile platform (1) capable of automatically performing plane movement;

the tray module (2) is arranged on the mobile platform (1), the tray module (2) comprises a conveying mechanism (21), a plurality of work bins (22) and an inclined sliding plate (23), the inclined sliding plate (23) is obliquely arranged below a blanking area of the conveying mechanism (21), and the work bins (22) are arranged on the conveying mechanism (21) at intervals;

the mechanical arm (3) is arranged on the moving platform (1) and can sort the materials in the material box (22).

2. The automated compound sorting robot according to claim 1, wherein the tray module (2) comprises a first mounting frame (24) and a second mounting frame (25) provided on the moving platform (1), the second mounting frame (25) being located below the first mounting frame (24), the conveying mechanism (21) being provided to the first mounting frame (24), the inclined slide (23) being provided to the second mounting frame (25).

3. The automated composite sorting robot according to claim 2, wherein the first mounting frame (24) comprises a horizontal frame body (241) and a first vertical frame body (242), the conveying mechanism (21) comprises a conveyor belt (211) and at least two rotating rollers, a plurality of bins (22) are located on the conveyor belt (211), the rotating rollers are rotatably arranged on the horizontal frame body (241), and the conveyor belt (211) is wound on the rotating rollers.

4. The automatic sorting composite robot according to claim 3, wherein the conveying mechanism (21) further comprises a driving motor (212), the driving motor (212) is fixedly arranged on the first vertical frame body (242), and an output rotating shaft of the driving motor (212) is in transmission connection with the rotating roller.

5. The automated compound sorting robot according to claim 4, wherein the conveying mechanism (21) further comprises a protective cover (213), the protective cover (213) is disposed on the first vertical frame body (242), and the driving motor (212) is located inside the protective cover (213).

6. The automated compound robot of claim 3, wherein the first mounting frame (24) further comprises guard rail frames (243), the guard rail frames (243) being disposed on opposite sides of the horizontal frame (241), and the conveyor belt (211) being located between the two guard rail frames (243).

7. The automated compound sorting robot according to claim 3, wherein the second mounting frame (25) comprises a second vertical frame body (251) and an inclined frame body (252), and the inclined slide plate (23) is provided to the inclined frame body (252).

8. The automated compound sorting robot according to claim 7, further comprising a mounting seat (4), wherein the mounting seat (4) is provided to the second vertical frame body (251), and a lower end of the robot arm (3) is mounted on the mounting seat (4).

9. The automated compound robot sorter according to any of claims 3 to 8, further comprising a hanging plate (5), wherein the hanging plate (5) is disposed on the first vertical frame body (242), and wherein the teach pendant (31) of the robot arm (3) is hung on the hanging plate (5).

10. A production line comprising a plurality of production lines and an automated sorting and compounding robot according to any one of claims 1 to 9, which shuttles between the plurality of production lines.