CN220741234U

CN220741234U - Sorting robot

Info

Publication number: CN220741234U
Application number: CN202322414528.0U
Authority: CN
Inventors: 于圣龙; 姜涛钦; 倪健
Original assignee: Changguangxi Intelligent Manufacturing Wuxi Co ltd
Current assignee: Changguangxi Intelligent Manufacturing Wuxi Co ltd
Priority date: 2023-09-06
Filing date: 2023-09-06
Publication date: 2024-04-09
Anticipated expiration: 2033-09-06

Abstract

The utility model relates to the technical field of automatic production equipment, in particular to a sorting robot. The sorting robot includes: the device comprises an operation table, a material placing area, a material sorting area and a vibration device, wherein the material placing area comprises a raw material area and a material sorting area, and the vibration device is arranged at the position of the raw material area and/or the position of the sorting area; the multi-degree-of-freedom mechanical arm comprises an execution end and a fixed end which are connected, the fixed end is arranged on an operation table at one side of the material placing area, and the execution end is provided with a grabbing device; the visual acquisition device is arranged above the material placement area. The sorting robot provided by the utility model can solve the problems of low operation efficiency and poor safety of manual operation for loading and unloading in the related technology.

Description

Sorting robot

Technical Field

The utility model relates to the technical field of automatic production equipment, in particular to a sorting robot.

Background

Before industrial production, the materials need to be subjected to grabbing and sorting operations for subsequent production, and a grabbing device is generally used for grabbing and sorting irregular materials.

The grabbing device in the related art needs manual operation to carry out feeding and discharging, and is low in operation efficiency and poor in safety. Especially, the work pieces are scattered and piled up, and misoperation is easy to occur manually.

Disclosure of Invention

The utility model provides a sorting robot which can solve the problems of low operation efficiency and poor safety of manual operation for loading and unloading in the related technology.

In order to solve the technical problems described in the background art, the present utility model provides a sorting robot including:

the device comprises an operation table, a material placing area, a material sorting area and a vibration device, wherein the material placing area comprises a raw material area and a material sorting area, and the vibration device is arranged at the position of the raw material area and/or the position of the sorting area;

the multi-degree-of-freedom mechanical arm comprises an execution end and a fixed end which are connected, the fixed end is arranged on an operation table at one side of the material placing area, and the execution end is provided with a grabbing device;

the visual acquisition device is arranged above the material placement area.

Optionally, the vision acquisition device is mounted on the operation table through a mounting bracket;

the mounting bracket comprises a vertical rod and a cross rod, one end of the vertical rod is rotatably arranged on the operating platform,

one end of the cross rod is connected with the other end of the vertical rod in a height-adjustable mode, a sliding type adjusting device is arranged on the cross rod, and the vision acquisition device is arranged on the sliding type adjusting device.

Optionally, a limiting block is arranged at the other end of the cross rod.

Optionally, one end of the upright is mounted on the console by a rotation adjustment device.

Optionally, one end of the cross rod is connected with the other end of the upright rod through a position adjusting bracket;

the position adjusting bracket comprises an adjusting seat, and a first adjusting mounting hole and a second adjusting mounting hole are formed in the adjusting seat;

one end of the cross rod passes through the first adjusting and mounting hole, and the other end of the upright rod passes through the second adjusting and mounting hole;

one side of the first adjusting installation hole and one side of the second adjusting installation hole are respectively provided with a fastening adjusting device.

Optionally, the sorting robot further comprises a scanning device, and the scanning device is arranged on an operation table at one side of the material placing area.

The technical scheme of the utility model at least comprises the following advantages: the sorting robot provided by the utility model can orderly stack the materials in an unordered manner, realize sorting and transferring of the materials between different raw material areas and sorting areas, avoid the problems of low efficiency and poor safety caused by manual operation, and improve the sorting accuracy.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 shows a schematic diagram of a sorting robot according to an embodiment of the present utility model;

fig. 2 shows a schematic structural diagram of a position adjustment bracket according to an embodiment of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, or can be communicated inside the two components, or can be connected wirelessly or in a wired way. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.

Fig. 1 shows a schematic structural diagram of a sorting robot according to an embodiment of the present utility model, and as can be seen from fig. 1, the sorting robot includes a console 100, a multi-degree of freedom mechanical arm 200, and a vision collecting device 400.

A material placement area is formed on the operation table 100, and includes a material placement area 110 and a sorting area 120, and a vibration device (not shown) is provided at a position of the material placement area 110 and/or a position of the sorting area 120. The vibration device can drive the raw material area 110 and/or the sorting area 120 to vibrate, so that the raw material area 110 and the sorting area 120 can be uniformly distributed to avoid disordered accumulation. It should be noted that, in this embodiment, the specific positional relationship between the raw material area 110 and the sorting area 120 is not limited, that is, the raw material area 110 and the sorting area 120 may be adjacent to each other as shown in fig. 1, and the raw material area 110 and the sorting area 120 may be spaced apart from each other.

The multi-degree of freedom mechanical arm 200 includes an actuating end 210 and a fixed end 220 which are connected, wherein the fixed end 220 is installed on the operating platform 100 at one side of the material placement area, and the actuating end 210 is provided with a gripping device 300. By adjusting the multi-degree of freedom mechanical arm 200, the execution end 210 of the multi-degree of freedom mechanical arm can point to the material placement area, the execution end 210 can drive the grabbing device 300 to move between the material area 110 and the sorting area 120, and the grabbing device 300 grabs the material at the position of the material area 110 and moves to be placed at the position of the sorting area 120. Alternatively, the multiple degree of freedom robot 200 may be a six degree of freedom robot.

The vision collection device 400 is mounted above the material placement area. The vision collection device 400 may acquire image information at the material placement area location, wherein the vision collection device 400 may acquire only image information at the material area 110 location or image information at the sorting area 120 location, or may acquire image information at the material area 110 and sorting area 120 location. Illustratively, the visual acquisition device 400 may be a 3D camera.

When the sorting robot according to the present embodiment is used for grabbing materials and sorting, the material frames are respectively placed in the material frames of the material area 110 and the sorting area 120, the materials to be sorted are placed in the material frames of the material area 110, and the sorted materials are placed in the material frames of the sorting area 120. The multi-degree-of-freedom mechanical arm 200 drives the grabbing device 300 to grab the material in the material frame of the material area 110 and place the material in the material frame of the sorting area 120 in a moving manner. The vision acquisition device 400 can acquire the image information of the materials and the positions of the materials in the material placement area, and the vibration device can drive the material frames at the positions of the raw material areas 110 and/or the material frames at the positions of the sorting areas 120 to vibrate so as to orderly stack the materials in the material frames in disorder, so that the vision acquisition device 400 can acquire the image information and the multi-degree-of-freedom mechanical arm 200 can grasp the materials.

A control device may be provided, which is electrically connected to the multiple degree of freedom robot arm 200, the vision collecting device 400, the grasping device 300, and the vibration device, that is, the control device may be capable of receiving signals transmitted from the multiple degree of freedom robot arm 200, the vision collecting device 400, the grasping device 300, and the vibration device, and transmitting signals to the multiple degree of freedom robot arm 200, the vision collecting device 400, the grasping device 300, and the vibration device.

When in use, the control device can record a control program therein, the control program controls the vision acquisition device 400 to acquire image information, the control program processes the acquired image information to identify and position materials, the control program controls the multi-degree-of-freedom mechanical arm 200 and the grabbing device 300 to act to grab and transfer the materials according to the results of material identification and positioning, and the control program can also control the vibration device to vibrate. Wherein the control program may be an existing program, and the present utility model does not involve improvements in computer programs.

With continued reference to fig. 1, the vision acquisition device 400 is mounted to the console 100 by a mounting bracket. Illustratively, the mounting bracket includes a vertical pole 510 and a horizontal pole 520. As can be seen in fig. 1, the upright 510 extends in the longitudinal direction shown in fig. 1, and the extending direction of the cross bar 520 forms an angle with the extending direction of the upright 510. Alternatively, the extending direction of the cross bar 520 is perpendicular to the extending direction of the upright 510. In other embodiments, the angle between the extending direction of the cross bar 520 and the extending direction of the upright 510 is adjustable.

One end of the upright 510 is rotatably mounted to the console 100. Illustratively, one end of the upright 510 is rotatably mounted to the console 100 by a rotation adjustment device 530, and the upright 510 is rotatable in the direction a shown in fig. 1. Optionally, the rotation adjustment device 530 includes a fixing base and a connecting hoop; the anchor ear is arranged on the fixed seat which is arranged on the operation table; one end of the upright 510 penetrates through the anchor ear to extend into the fixed seat, and one end of the upright 510 can rotate relative to the fixed seat. The tightness degree of the anchor ear is adjusted so that one end of the upright 510 is fixed relative to the fixed seat or can rotate relative to the fixed seat. When the hoop does not tighten one end of the upright 510, the upright 510 can rotate relative to the fixed base, and when the hoop tightens one end of the upright 510, the upright 510 is fixed on the fixed base.

One end of the cross bar 520 is height-adjustably connected to the other end of the upright 510, and the other end of the cross bar 520 extends in the lateral direction shown in fig. 1. Illustratively, one end of the cross bar 520 is connected to the other end of the upright 510 by a position adjustment bracket 540, and the position adjustment bracket 540 not only can fix one end of the cross bar 520 to the other end of the upright 510, but also can enable the cross bar 520 to slide along the upright 510 to adjust the height of the cross bar 520 on the upright 510.

Fig. 2 shows a schematic structural diagram of a position adjustment bracket according to an embodiment of the present utility model, and it can be seen from fig. 2 that the position adjustment bracket 540 includes an adjustment seat 544, and a first adjustment mounting hole 541 and a second adjustment mounting hole 542 are formed in the adjustment seat 544.

One end of the cross bar 520 passes through the first adjustment mounting hole 541, and the other end of the upright 510 passes through the second adjustment mounting hole 542. Illustratively, the extending direction of the first adjusting and mounting hole 541 and the extending direction of the second adjusting and mounting hole 542 form an angle therebetween, and the angle between the cross bar 520 and the upright 510 can be determined by passing the cross bar 520 and the upright 510 through the corresponding first adjusting and mounting hole 541 and second adjusting and mounting hole 542, respectively. Alternatively, the angle between the extending direction of the first adjustment mounting hole 541 and the extending direction of the second adjustment mounting hole 542 is a right angle, so that the connected cross bar 520 and upright 510 can be perpendicular to each other.

The adjusting seat 544 on the first adjusting mounting hole 541 side and the adjusting seat 544 on the second adjusting mounting hole 542 side are respectively provided with a fastening adjusting device 543, and the fastening adjusting device 543 can adjust the opening sizes of the first adjusting mounting hole 541 and the second adjusting mounting hole 542. Illustratively, as can be seen in fig. 2, one side of the first adjustment mounting hole 541 and one side of the second adjustment mounting hole 542 are both in communication with the gap 545, and the fastening adjustment device 543 adjusts the opening size of the corresponding mounting hole by adjusting the size of the gap 545.

Taking the second adjusting and installing hole 542 as an example, when the height of the cross bar 520 on the upright 510 needs to be adjusted, the fastening and adjusting device is adjusted to enlarge the opening of the second adjusting and installing hole 542, at this time, the cross bar 520 and the fastening and adjusting device are fixed, and the cross bar 520 and the fastening and adjusting device can slide on the upright 510 together with the upright 510 as a slideway to adjust the height position. After the height position is adjusted in place, the cross bar 520 is fastened to the upright 510 at the height position by adjusting the fastening and adjusting means so that the opening of the second adjustment mounting hole 542 becomes smaller.

The rail 520 has a sliding type adjusting device 550 mounted thereon, and the vision collecting device 400 is mounted on the sliding type adjusting device 550. The sliding adjustment device 550 can slide along the rail 520 on the rail 520 to adjust the position of the vision acquisition device 400. Still further, in order to prevent the sliding type adjusting means 550 from falling off the cross bar 520, a stopper 560 is provided at the other end of the cross bar 520.

In this embodiment, the vertical rod 510 is rotatably installed on the console 100, the cross rod 520 is installed on the vertical rod 510 in a height-adjustable manner, and the vision collecting device 400 is slidably installed on the cross rod 520, so that three-dimensional movement of the vision collecting device 400 can be realized.

With continued reference to fig. 1, the sorting robot may further include a scanning device 600, the scanning device 600 being disposed on the console 100 at one side of the material placement area. The scanning device 600 may be mounted on the console 100 by a scanning bracket 700.

In use, the frame may be provided with an identification code, and the scanning device 600 is capable of identifying the identification code on the frame. The scanning device 600 is caused to scan the identification code on the frame prior to placement of the frame in the material section 110. The scanning device 600 may be electrically connected to a control device, and may be capable of acquiring signals transmitted by the control device and transmitting scanned information to the control device.

In this embodiment, the gripping device 300 includes gripping jaws and/or suction cups, and of course, gripping jaws and suction cups of various specifications may be configured at the same time, so that the gripping device may be compatible with gripping various materials.

When the sorting robot in this embodiment is used for sorting materials in other manners, according to the burnt program, the control device firstly controls the scanning device 600 to scan the identification code on the material frame, then controls the vision acquisition device 400 to acquire images, sends the acquired image information to the control device for processing, then controls the multi-degree-of-freedom mechanical arm 200 to move according to the processing result, and controls the grabbing device 300 to grab the materials from the material frame in the material area 110 to move into the material frame in the sorting area 120, so as to realize the transfer of the materials between the material area 110 and the sorting area 120.

In summary, according to the sorting robot, the adjustable visual acquisition device, the multi-degree-of-freedom mechanical arm and the vibration device are arranged on the operation table, so that the unordered stacked materials are ordered, sorting and transferring of the materials between different material areas and the sorting area are realized, the problems of low efficiency and poor safety caused by manual operation are avoided, and the sorting accuracy can be improved.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the utility model.

Claims

1. A sorting robot, characterized in that it comprises:

the visual acquisition device is arranged above the material placement area.

2. The sorting robot of claim 1, wherein the vision gathering device is mounted on the console by a mounting bracket;

the mounting bracket comprises a vertical rod and a cross rod, and one end of the vertical rod is rotatably mounted on the operating platform;

3. The sorting robot of claim 2, wherein a stopper is provided at the other end of the cross bar.

4. The sorting robot of claim 2, wherein one end of the upright is mounted on the console by a rotation adjustment device, the rotation adjustment device comprising a fixed seat and a connecting hoop;

the anchor ear is arranged on the fixed seat, and the fixed seat is arranged on the operation table;

one end of the vertical rod penetrates through the anchor ear to extend into the fixing seat, and one end of the vertical rod can rotate relative to the fixing seat.

5. The sortation robot of claim 2, wherein one end of said cross bar is connected to the other end of said upright by a position adjustment bracket;

6. The sortation robot of claim 5, wherein an angle is formed between an extension direction of said first adjustment mounting hole and an extension direction of said second adjustment mounting hole.

7. The sortation robot of claim 6, wherein an angle between an extension direction of said first accommodating mounting hole and an extension direction of said second accommodating mounting hole is a right angle.

8. The sorting robot of claim 1, further comprising a scanning device disposed on the console on one side of the material placement area.

9. The sortation robot of claim 8, wherein said scanning device is mounted to said operator station by a scanning bracket.

10. Sorting robot according to claim 1, characterized in that the gripping means comprise gripping jaws and/or suction cups.