WO2020215508A1 - 一种用于零件的归类分料装置 - Google Patents

一种用于零件的归类分料装置 Download PDF

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Publication number
WO2020215508A1
WO2020215508A1 PCT/CN2019/097433 CN2019097433W WO2020215508A1 WO 2020215508 A1 WO2020215508 A1 WO 2020215508A1 CN 2019097433 W CN2019097433 W CN 2019097433W WO 2020215508 A1 WO2020215508 A1 WO 2020215508A1
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WIPO (PCT)
Prior art keywords
sorting
connecting piece
frame
conveying mechanism
cantilever
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PCT/CN2019/097433
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English (en)
French (fr)
Inventor
虞文武
张波
刘伟
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常州机电职业技术学院
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Publication of WO2020215508A1 publication Critical patent/WO2020215508A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution

Definitions

  • the invention relates to the technical field of material sorting, in particular to a sorting and sorting device for parts.
  • Some materials such as metal parts, are used in large quantities in the processing and production of some machinery industries. These metal parts need to be sorted, that is, the mixed parts are sorted and placed in an assembly line. If you rely on manual identification and sorting of large quantities of materials, it will consume a lot of manpower, and the sorting speed is very slow, the work efficiency is low, and it is easy to make mistakes. Therefore, it is necessary to invent a sorting and distributing device for parts to solve the above problems.
  • the purpose of the present invention is to provide a sorting and distributing device for parts, which is transmitted by a conveying mechanism, and the whole process is mechanically automatically sorted, so as to solve the problem of manual sorting of existing materials in the above background Material identification and sorting will consume a lot of manpower, and the sorting speed is very slow, work efficiency is low, and error-prone problems.
  • a sorting and distributing device for parts including a frame, a first transfer mechanism is arranged on the frame, and a centering mechanism is arranged on both sides of the frame;
  • a support plate is connected to the side of the rack via a triangular connector, and the support plate is provided with a first sorting manipulator;
  • a bracket is arranged above the rack, and a first industrial camera is arranged on the bracket;
  • the end of the rack is provided with a PLC controller, and the PLC controller is connected with the first sorting manipulator and the first industrial camera via a wire;
  • a second conveying mechanism is provided on one side of the first sorting manipulator, and a collection box is provided under the end of the second conveying mechanism.
  • the first conveying mechanism includes a first active flat supporting roller and a first passive flat supporting roller respectively arranged on the two pairs of end connecting pieces ,
  • the first active flat idler roller and the first passive flat idler are covered with a first conveyor belt;
  • the bottom of the end connecting piece corresponding to the first active flat idler roller is provided with a reduction box, the input shaft of the reduction box is connected with a first stepping motor, and the output shaft of the reduction box is connected with the first active flat idler roller.
  • the centering mechanism includes two pairs of first fixing parts arranged on both sides of the frame, the first fixing parts are connected with a first connecting rod, and the ends of each pair of first connecting rods are connected with a guide plate,
  • the two guide plates are arranged oppositely, and a channel from large to small is formed between the two guide plates.
  • a leveling mechanism is provided on the right side of the centering mechanism, and the leveling mechanism includes two second fixing members on one side of the frame, and the two second fixing members are respectively connected with second connecting rods, A flush plate is provided at the end of the second connecting rod;
  • the other side of the frame is provided with a first air cylinder, the output end of the first air cylinder is connected with a push plate, and the push plate is arranged opposite to the flush plate.
  • a sponge block is provided on the push plate.
  • the first sorting manipulator includes a mounting seat fixed on a support plate by bolts, a second stepping motor is provided on the mounting seat, and a gear is connected to the motor shaft of the second stepping motor;
  • the mounting seat is also provided with a round table, the round table is provided with a circular groove, and a toothed turntable is arranged above the round table, and the toothed turntable is meshed with the gear, and the bottom of the toothed turntable is provided with a rotating shaft, and the rotating shaft is arranged in the round groove Inside;
  • the top of the toothed turntable is provided with a first connecting piece, the first connecting piece is connected to the first cantilever through the second connecting piece, the first cantilever is connected to the second cantilever through the third connecting piece, and the second cantilever is connected through the fourth
  • the third cantilever is connected with the third cantilever, the end of the third cantilever is hinged with a fifth connecting piece and a sixth connecting piece, the fifth connecting piece and the sixth connecting piece are hinged, and the end surface of the fifth connecting piece is connected with a clamping jaw;
  • a second air cylinder is arranged between the first connecting piece and the third connecting piece, a seventh connecting piece is arranged at the bottom of the second cantilever, and a third air cylinder is arranged between the seventh connecting piece and the second connecting piece.
  • a fourth air cylinder is arranged between the connecting piece and the fourth connecting piece, and a fifth air cylinder is arranged between the fourth connecting piece and the sixth connecting piece.
  • the second conveying mechanism includes a fixing frame on which a second active flat supporting roller and a second passive flat supporting roller are installed, and the second active flat supporting roller and the second passive flat supporting roller are covered with Second conveyor belt;
  • One side of the fixed frame is provided with a third stepping motor, and the motor shaft of the third stepping motor is connected with the second active flat supporting roller.
  • the end of the fixed frame is provided with a sliding plate, and the collection box is arranged at the bottom of the sliding plate.
  • the end of the fixed frame is provided with a photoelectric sensor
  • the bottom of the fixed frame is provided with a pulse counter
  • the photoelectric sensor is connected with the pulse counter via a wire.
  • a second sorting manipulator and a third conveying mechanism are provided on the other side of the rack, a second industrial camera corresponding to the second sorting manipulator is provided on the support, and the second industrial camera and the second sorting manipulator Connect with PLC controller via wire;
  • the second sorting manipulator has the same structure as the first sorting manipulator, and the third conveying mechanism and the second conveying mechanism have the same structure.
  • a first transfer mechanism is arranged on the frame, centering mechanisms are arranged on both sides of the frame, a first sorting manipulator is arranged on the support plate of the frame, and a first industrial camera is arranged above the frame.
  • the PLC controller at the end of the rack is connected with the first sorting manipulator and the first industrial camera via wires, and a second conveying mechanism is arranged on one side of the first sorting manipulator.
  • the materials are kept in the center of the first conveying mechanism by the centering mechanism and arranged individually.
  • the first industrial camera above the rack visually recognizes the passing materials, and transmits the recognition results to the PLC controller.
  • the PLC controller according to the recognition results Send an instruction to the first sorting manipulator to control the first sorting manipulator to grab the target material and place it on the second conveying mechanism, and repeat the above steps.
  • the target material is transported into the collection box by the second conveying mechanism, and classified and placed.
  • the mechanical automatic sorting is not only very labor-saving, but also the sorting speed is fast, the work efficiency is high, and it is not easy to make mistakes.
  • a leveling mechanism is provided on the right side of the middle mechanism.
  • the leveling mechanism includes two second fixing members on one side of the frame, the two second fixing members are respectively connected with second connecting rods, and the two second The end of the two connecting rods is equipped with a flush plate; the other side of the frame is equipped with a first air cylinder, and the output end of the first air cylinder is connected with a push plate.
  • the first air cylinder drives the push plate to move forward to push the passing materials to be level.
  • the plate can keep the material evenly at the center position and reduce the center offset.
  • the sponge block is buffered to prevent the push plate from crushing the material, and at the same time, it can better help the material to be fine-tuned to make it more smooth and orderly;
  • the first cantilever, the second cantilever and the third cantilever of the first sorting manipulator of the present invention are driven by the second cylinder, the third cylinder, the fourth cylinder and the fifth cylinder.
  • the reaction speed is fast and the joint twist is very flexible. , Can greatly improve work efficiency;
  • a photoelectric sensor is arranged at the end of the fixed frame, a pulse counter is arranged at the bottom of the fixed frame, and the photoelectric sensor is connected with the pulse counter through a wire.
  • the passing material is detected by the photoelectric sensor, and the detected material is sent to the pulse counter in the form of pulse.
  • the pulse counter displays the quantity of the material according to the pulse signal. The material can be counted while the material is sorted, which can greatly improve the work efficiency. Reduce labor costs;
  • a second sorting manipulator and a third conveying mechanism are arranged on the other side of the frame, and a second industrial camera corresponding to the second sorting manipulator is set on the support.
  • the second industrial camera and the second sorting manipulator are connected by wires Connect with PLC controller.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • FIG. 2 is a schematic diagram of the structure of the first transmission mechanism of the present invention.
  • Figure 3 is a schematic structural diagram of the centering mechanism of the present invention.
  • FIG. 4 is a schematic structural diagram of the flush mechanism of the present invention.
  • Figure 5 is a schematic diagram of the mechanism of the first sorting manipulator of the present invention.
  • Fig. 6 is a schematic diagram of the structure of the second conveying mechanism of the present invention.
  • the present invention provides a sorting and distributing device for parts as shown in Figures 1-6, including a frame 1, which is spliced by stainless steel rods, and a first conveying mechanism is provided on the frame 1 2.
  • a frame 1 which is spliced by stainless steel rods
  • a first conveying mechanism is provided on the frame 1 2.
  • centering mechanisms 18 on both sides of the frame 1. The function of the centering mechanism 18 is to keep the material on the center line of the first conveying mechanism 2, that is, on a specific track to facilitate subsequent grabbing.
  • a support plate 4 is connected to the side of the frame 1 via a triangular connector 3, and the support plate 4 is provided with a first sorting manipulator 5.
  • the bracket 7 is spliced by stainless steel rods.
  • the bracket 7 is equipped with a first industrial camera 8.
  • the first industrial camera 8 is a CCD industrial camera.
  • CCD is currently the most commonly used image sensor for machine vision. . It integrates photoelectric conversion, charge storage, charge transfer, and signal reading. It is a typical solid-state imaging device.
  • the outstanding feature of CCD is that charge is used as signal, unlike other devices that use current or voltage as signal.
  • This type of imaging device forms charge packets through photoelectric conversion, and then transfers and amplifies the output image signal under the action of driving pulses.
  • the end of the frame 1 is provided with a PLC controller 10, the PLC controller 10 adopts the FX2N series PLC of Mitsubishi Corporation of Japan, and the PLC controller 10 is connected to the first sorting manipulator 5 and the first industrial camera 8 via wires.
  • a second conveying mechanism 11 is provided on one side of the first sorting manipulator 5, and a collection box 15 is provided under the end of the second conveying mechanism 11.
  • the two ends of the frame 1 are provided with two pairs of end connectors 19, and the first transmission mechanism 2 includes first active pin holders respectively provided on the two pairs of end connectors 19
  • the roller 20 and the first passive flat idler 21 are provided with a bearing on each end connecting member 19, the ends of the first active flat idler 20 and the first passive flat idler 21 are set on the corresponding bearings, the first The active flat idler 20 and the first passive flat idler 21 are covered with a first conveyor belt 22.
  • a reduction box 23 is provided.
  • the reduction box 23 specifically adopts a worm gear reducer.
  • the worm gear reducer has a large contact surface, a small contact surface pressure and a small relative friction. , High solid efficiency, low noise and long life.
  • the input shaft of the reduction box 23 is connected with a first stepping motor 24, and the output shaft of the reduction box 23 is connected with the first active flat roller 20.
  • the centering mechanism 18 includes two pairs of first fixing members 25 arranged on both sides of the frame 1.
  • a first connecting rod 26 is connected to the first fixing member 25, and the first fixing member 25 consists of two
  • the fixing block provided with the semi-cylindrical groove is connected by bolts.
  • Two semi-cylindrical grooves form a complete cylindrical through hole.
  • the first connecting rod 26 is inserted into the cylindrical through hole, and the first connecting rod 26 is fastened by tightening the bolts.
  • a guide plate 27 is connected to the ends of each pair of first connecting rods 26.
  • the two guide plates 27 are arranged opposite to each other. A channel from large to small is formed between the two guide plates 27, so that only one guide plate 27 is allowed between the two guide plates 27.
  • the materials pass and are individually arranged in the center of the first conveying mechanism 2.
  • the centering mechanism 18 is provided with a leveling mechanism 13 on the right.
  • the leveling mechanism 13 is for fine alignment.
  • the leveling mechanism 13 includes two second fixing members 28 on the side of the frame 1.
  • the structure of the second fixing member 28 is the same as that of the first fixing member 25.
  • the two second fixing members 28 are respectively connected with a second connecting rod 29, and the ends of the two second connecting rods 29 are provided with a flush plate 30.
  • the other side of the frame 1 is provided with a first air cylinder 31, the output end of the first air cylinder 31 is connected with a push plate 32, and the push plate 32 is arranged opposite to the flush plate 30.
  • the push plate 32 is provided with a sponge block 33.
  • the push plate 32 is driven to move forward by the first air cylinder 31, and the passing material is pushed to the leveling plate 30, so that the material can be kept in the center position evenly and the center offset is reduced.
  • a sponge block 33 is provided in the front of the push plate 32 to buffer the push plate 32 to prevent the push plate 32 from crushing the material, and at the same time, it can better help the material to be fine-tuned and make it more smooth and orderly.
  • the first sorting manipulator 5 includes a mounting base 34 fixed on the support plate 4 by bolts.
  • the mounting base 34 is provided with a second stepping motor 35 and a second stepping motor 35.
  • the motor shaft is connected with a gear 36.
  • the mounting seat 34 is also provided with a circular table 37, the circular table 37 is provided with a circular groove 38, a toothed turntable 39 is provided above the circular table 37, the toothed turntable 39 is meshed with the gear 36, and the bottom of the toothed turntable 39 is provided with a rotating shaft 40.
  • the rotating shaft 40 is arranged in the circular groove 38.
  • the top of the toothed turntable 39 is provided with a first connecting piece 41.
  • the first connecting piece 41 is connected to the first cantilever 48 via the second connecting piece 42.
  • the first cantilever 48 is connected to the second cantilever 49 via the third connecting piece 43.
  • the second cantilever 49 is connected to the third cantilever 50 via the fourth connecting member 44, the end of the third cantilever 50 is hinged with a fifth connecting member 45 and a sixth connecting member 46, and the fifth connecting member 45 and the sixth connecting member 46 are hinged,
  • the end face of the fifth connecting member 45 is connected with a clamping jaw 60, which adopts a gas-liquid (CHELIC) large-mouth mechanical clamp HDL-20 clamping jaw, which is easily available in the market, so its specific structure will not be detailed Repeat.
  • CHELIC gas-liquid
  • a second cylinder 51 is provided between the first connecting member 41 and the third connecting member 43, a seventh connecting member 47 is provided at the bottom of the second cantilever 49, and a first connecting member 47 is provided between the seventh connecting member 47 and the second connecting member 42.
  • Reasonable control of the second cylinder 51, the third cylinder 52, the fourth cylinder 53 and the fifth cylinder 54 can make the first cantilever 48, the second cantilever 49 and the third cantilever 50 move flexibly, and then grab the material by the gripper 60, and react Fast speed and high work efficiency.
  • the second conveying mechanism 11 includes a fixed frame 55 on which a second active flat supporting roller 56 and a second passive flat supporting roller 57 are installed, the second active flat supporting roller 56 and the second passive
  • the flat supporting roller 57 is covered with a second conveyor belt 58.
  • One side of the fixed frame 55 is provided with a third stepping motor 59, and the motor shaft of the third stepping motor 59 is connected to the second active flat roller 56.
  • a sliding plate 14 is provided at the end of the fixed frame 55, and the sliding plate 14 plays a guiding role. At the same time, it can reduce the falling speed of the material from the second conveyor belt 58 and prevent the material from being damaged.
  • the collection box 15 is arranged at the bottom of the sliding plate 14.
  • the end of the fixed frame 55 is provided with a photoelectric sensor 16, and the bottom of the fixed frame 55 is provided with a pulse counter 17.
  • the photoelectric sensor 16 is connected to the pulse counter 17 via a wire.
  • the pulse counter 17 adopts a CSK5-YKW220V electromagnetic pulse signal counter.
  • the passing material is detected by the photoelectric sensor 16, and the detected material is sent to the pulse counter 17 in the form of pulse.
  • the pulse counter 17 displays the quantity of the material according to the pulse signal, which can count the materials while sorting, which can greatly improve Work efficiency and reduce labor costs.
  • a second sorting manipulator 6 and a third conveying mechanism 12 are provided on the other side of the rack 1, and a second industrial camera 9 corresponding to the second sorting manipulator 6 is provided on the support 7.
  • the industrial camera 9 and the second sorting robot 6 are connected to the PLC controller 10 via wires.
  • the second sorting robot 6 has the same structure as the first sorting robot 5, and the third conveying mechanism 12 and the second conveying mechanism 11 have the same structure. In this way, double-station sorting is realized, which greatly improves work efficiency.
  • the design of multiple stations can sort a variety of materials and has a wide range of applications.
  • the present invention is provided with a first conveying mechanism 2 on the frame 1, a centering mechanism 18 is provided on both sides of the frame 1, a first sorting manipulator 5 is provided on the support plate 4 of the frame 1, and a first sorting manipulator 5 is provided above the frame 1.
  • the first industrial camera 8 and the PLC controller 10 at the end of the frame 1 are connected to the first sorting manipulator 5 and the first industrial camera 8 via wires, and a second conveying mechanism 11 is provided on one side of the first sorting manipulator 5.
  • the material When in use, the material is placed on the first conveying mechanism 2, and the first conveying mechanism 2 conveys the material.
  • the first connecting rod 26 of the centering mechanism 18 By adjusting the first connecting rod 26 of the centering mechanism 18, the distance between the two guide plates 27 is adjusted so that the two Only one material is allowed to pass between the guide plates 27.
  • the materials are kept in the center of the first conveying mechanism 2 by the centering mechanism 18 and arranged individually.
  • the first industrial camera 8 above the rack 1 visually recognizes the passing materials, and transmits the recognition results to the PLC controller 10.
  • the controller 10 sends instructions to the first sorting manipulator 5 according to the recognition result, and controls the first sorting manipulator 5 to grab the target material and place it on the second conveying mechanism 11, and repeat the above steps.
  • the target materials are transported into the collection box 15 via the second transport mechanism 11 for categorization and placement.
  • the mechanical automatic sorting is not only very labor-saving, but also the sorting speed is fast, the work efficiency is high, and it is not easy to make mistakes.

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  • Sorting Of Articles (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

一种用于零件的归类分料装置，涉及到物料分拣技术领域，包括机架（1），机架（1）上设有第一传送机构（2），机架（1）的两侧设有对中机构（18）；所述机架（1）的侧面经三角连接件（3）连接有支撑板（4），支撑板（4）上设有第一分拣机械手（5）；所述机架（1）的上方设有支架（7），支架（1）上设有第一工业照相机（8）；所述机架（1）的端部设有PLC控制器（10），PLC控制器（10）经导线与第一分拣机械手（5）和第一工业照相机（8）相连；所述第一分拣机械手（5）的一侧设有第二传送机构（11），第二传送机构（11）末端的下方设有收集盒（15）。能对物料自动进行分拣，不仅十分省力，而且分拣速度快，工作效率高，不易出错。

Description

一种用于零件的归类分料装置 技术领域
本发明涉及物料分拣技术领域，特别涉及一种用于零件的归类分料装置。
背景技术
在一些机械行业加工生产中会大量用到一些物料，如金属零件。这些金属零件需要进行分类处理，即在一条流水线上对混杂的零件进行分拣和归类放置。如果依靠人工进行大批量的物料识别和分拣，会消耗大量人力，而且分拣速度很慢，工作效率低，容易出错。因此，发明一种用于零件的归类分料装置来解决上述问题是很有必要的。
发明内容
本发明的目的在于提供一种用于零件的归类分料装置，通过传送机构进行传输，并且全程机械自动进行分拣，以解决上述背景技术中提出的现有分料依靠人工进行大批量的物料识别和分拣，会消耗大量人力，而且分拣速度很慢，工作效率低，容易出错的问题。
为实现上述目的，本发明提供如下技术方案：一种用于零件的归类分料装置，包括机架，机架上设有第一传送机构，机架的两侧设有对中机构；
所述机架的侧面经三角连接件连接有支撑板，支撑板上设有第一分拣机械手；
所述机架的上方设有支架，支架上设有第一工业照相机；
所述机架的端部设有PLC控制器，PLC控制器经导线与第一分拣机械手和第一工业照相机相连；
所述第一分拣机械手的一侧设有第二传送机构，第二传送机构末端的下方设有收集盒。
优选的，所述机架的两端设有两对端部连接件，所述第一传送机构包括分别设置在两对端部连接件上的第一主动平托辊和第一被动平托辊，第一主 动平托辊和第一被动平托辊上包覆有第一传送带；
对应所述第一主动平托辊的端部连接件的底部设有减速箱，减速箱的输入轴连接有第一步进电机，减速箱的输出轴与第一主动平托辊相连。
优选的，所述对中机构包括设置在机架两侧的两对第一固定件，所述第一固定件上连接有第一连杆，每对第一连杆的末端连接有导向板，两个导向板相对设置，两个导向板之间形成一个由大变小的通道。
优选的，所述对中机构的右方设有平齐机构，平齐机构包括设置机架一侧的两个第二固定件，两个第二固定件分别连接有第二连杆，两个第二连杆的末端设有平齐板；
所述机架的另一侧设有第一气缸，第一气缸的输出端连接有推板，推板与平齐板相对设置。
优选的，所述推板上设有海绵块。
优选的，所述第一分拣机械手包括经螺栓固定在支撑板上的安装座，安装座上设有第二步进电机，第二步进电机的电机轴连接有齿轮；
所述安装座上还设有圆台，圆台上设有圆槽，圆台的上方设有齿形转盘，齿形转盘与齿轮相啮合，齿形转盘的底部设有转动轴，转动轴设置在圆槽内；
所述齿形转盘的顶部设有第一连接件，第一连接件经第二连接件与第一悬臂相连，第一悬臂经第三连接件与第二悬臂相连，第二悬臂经第四连接件与第三悬臂相连，第三悬臂末端铰接有第五连接件和第六连接件，且第五连接件和第六连接件相铰接，第五连接件的端面连接有夹爪；
所述第一连接件与第三连接件之间设有第二气缸，第二悬臂的底部设有第七连接件，第七连接件与第二连接件之间设有第三气缸，第七连接件与第四连接件之间设有第四气缸，第四连接件和第六连接件之间设有第五气缸。
优选的，所述第二传送机构包括固定架，固定架上安装有第二主动平托辊和第二被动平托辊，第二主动平托辊和第二被动平托辊上包覆有第二传送 带；
所述固定架的一侧设有第三步进电机，第三步进电机的电机轴与第二主动平托辊相连。
优选的，所述固定架的端部设有滑板，收集盒设置在滑板的底部。
优选的，所述固定架的端部设有光电传感器，固定架的底部设有脉冲计数器，光电传感器经导线与脉冲计数器相连。
优选的，所述机架的另一侧设有第二分拣机械手和第三传送机构，支架上设有对应第二分拣机械手的第二工业照相机，第二工业照相机与第二分拣机械手经导线与PLC控制器相连；
所述第二分拣机械手与第一分拣机械手的结构相同，第三传送机构和第二传送机构的结构相同。
本发明的技术效果和优点：
1、本发明在机架上设置了第一传送机构，机架的两侧设置对中机构，机架的支撑板上设置了第一分拣机械手，机架的上方设置第一工业照相机，机架端部的PLC控制器经导线与第一分拣机械手和第一工业照相机相连，第一分拣机械手的一侧设置第二传送机构。使用时，将物料放置在第一传送机构上，第一传送机构运送物料，通过调整对中机构的第一连杆，实现两个导向板之间间距的调整，使得两个导向板之间只允许一个物料通过。物料经对中机构保持在第一传送机构的中心位置，并且单个排列，机架上方的第一工业照相机对经过的物料进行视觉识别，将识别结果传输给PLC控制器，PLC控制器根据识别结果发送指令给第一分拣机械手，控制第一分拣机械手抓取目标物料，并放置到第二传送机构上，重复以上步骤。目标物料经第二传送机构输送到收集盒内，进行归类放置。全程机械自动进行分拣，不仅十分省力，而且分拣速度快，工作效率高，不易出错；
2、本发明在中机构的右方设置了平齐机构，平齐机构包括设置机架一侧 的两个第二固定件，两个第二固定件分别连接有第二连杆，两个第二连杆的末端设置平齐板；机架的另一侧设置第一气缸，第一气缸的输出端连接有推板，通过第一气缸带动推板向前运动，将经过的物料推向平齐板，能够使物料平齐得保持在中心位置，减小中心偏移量。并且通过在推板前部设置海绵块，海绵块进行缓冲，防止推板压坏物料，同时也能更好地帮助物料进行微调，使其放置更加平整有序；
3、本发明第一分拣机械手的第一悬臂、第二悬臂、第三悬臂由第二气缸、第三气缸、第四气缸和第五气缸提供驱动力，反应速度快并且关节扭动十分灵活，能大大提高工作效率；
4、本发明在固定架的端部设置光电传感器，固定架的底部设置脉冲计数器，光电传感器经导线与脉冲计数器相连。通过光电传感器检测经过的物料，将检测到的物料以脉冲的形式发送给脉冲计数器，脉冲计数器根据脉冲信号显示物料数量，能够在物料分拣的同时，对物料进行计数，能大大提高工作效率，减少人力成本；
5、本发明在机架的另一侧设置第二分拣机械手和第三传送机构，支架上设置对应第二分拣机械手的第二工业照相机，第二工业照相机与第二分拣机械手经导线与PLC控制器相连。从而实现双工位分拣，极大得提高了工作效率，多个工位的设计可以对多种物料进行分拣，适用范围广。
附图说明
图1为本发明整体的结构示意图；
图2为本发明第一传送机构的结构示意图；
图3为本发明对中机构的结构示意图；
图4为本发明平齐机构的结构示意图；
图5为本发明第一分拣机械手的机构示意图；
图6为本发明第二传送机构的结构示意图。
图中：1、机架；2、第一传送机构；3、三角连接件；4、支撑板；5、第一分拣机械手；6、第二分拣机械手；7、支架；8、第一工业照相机；9、第二工业照相机；10、PLC控制器；11、第二传送机构；12、第三传送机构；13、平齐机构；14、滑板；15、收集盒；16、光电传感器；17、脉冲计数器；18、对中机构；19、端部连接件；20、第一主动平托辊；21、第一被动平托辊；22、第一传送带；23、减速箱；24、第一步进电机；25、第一固定件；26、第一连杆；27、导向板；28、第二固定件；29、第二连杆；30、平齐板；31、第一气缸；32、推板；33、海绵块；34、安装座；35、第二步进电机；36、齿轮；37、圆台；38、圆槽；39、齿形转盘；40、转动轴；41、第一连接件；42、第二连接件；43、第三连接件；44、第四连接件；45、第五连接件；46、第六连接件；47、第七连接件；48、第一悬臂；49、第二悬臂；50、第三悬臂；51、第二气缸；52、第三气缸；53、第四气缸；54、第五气缸；55、固定架；56、第二主动平托辊；57、第二被动平托辊；58、第二传送带；59、第三步进电机；60、夹爪。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明提供了如附图1-6所示的一种用于零件的归类分料装置，包括机架1，机架1由不锈钢杆拼接而成，机架1上设有第一传送机构2，机架1的两侧设有对中机构18，对中机构18的作用是使物料保持在第一传送机构2的中心线上，即在一条特定的轨道上，方便后续的抓取。机架1的侧面经三角连接件3连接有支撑板4，支撑板4上设有第一分拣机械手5。机架1的上方设有支架7，支架7由不锈钢杆拼接而成，支架7上设有第一工业照相机8， 第一工业照相机8为CCD工业照相机，CCD是目前机器视觉最为常用的图像传感器。它集光电转换及电荷存贮、电荷转移、信号读取于一体，是典型的固体成像器件。CCD的突出特点是以电荷作为信号，而不同于其它器件是以电流或者电压为信号。这类成像器件通过光电转换形成电荷包，而后在驱动脉冲的作用下转移、放大输出图像信号。机架1的端部设有PLC控制器10，PLC控制器10采用日本三菱公司的FX2N系列PLC，PLC控制器10经导线与第一分拣机械手5和第一工业照相机8相连。第一分拣机械手5的一侧设有第二传送机构11，第二传送机构11末端的下方设有收集盒15。
如附图1和附图2所示，机架1的两端设有两对端部连接件19，第一传送机构2包括分别设置在两对端部连接件19上的第一主动平托辊20和第一被动平托辊21，在每个端部连接件19上设置轴承，第一主动平托辊20和第一被动平托辊21的端部设置在对应的轴承上，第一主动平托辊20和第一被动平托辊21上包覆有第一传送带22。对应第一主动平托辊20的端部连接件19的底部设有减速箱23，减速箱23具体采用蜗轮蜗杆减速箱，蜗轮蜗杆减速箱具有接触面大，接触面压力小、相对摩擦力小、固效率高、噪音低、寿命长的特点。减速箱23的输入轴连接有第一步进电机24，减速箱23的输出轴与第一主动平托辊20相连。
如附图3所示，对中机构18包括设置在机架1两侧的两对第一固定件25，第一固定件25上连接有第一连杆26，第一固定件25由两个设有半圆柱槽的固定块经螺栓连接而成，两个半圆柱槽组成一个完整的圆柱通孔，第一连杆26插入圆柱通孔内，拧紧螺栓固定第一连杆26。每对第一连杆26的末端连接有导向板27，两个导向板27相对设置，两个导向板27之间形成一个由大变小的通道，使得两个导向板27之间只允许一个物料通过，并且单个排列在第一传送机构2的中心位置。
如附图4所示，对中机构18的右方设有平齐机构13，平齐机构13为对 中精调，平齐机构13包括设置机架1一侧的两个第二固定件28，第二固定件28的结构与第一固定件25的结构相同，两个第二固定件28分别连接有第二连杆29，两个第二连杆29的末端设有平齐板30。机架1的另一侧设有第一气缸31，第一气缸31的输出端连接有推板32，推板32与平齐板30相对设置。推板32上设有海绵块33。通过第一气缸31带动推板32向前运动，将经过的物料推向平齐板30，能够使物料平齐得保持在中心位置，减小中心偏移量。并且通过在推板32前部设置海绵块33，海绵块33进行缓冲，防止推板32压坏物料，同时也能更好地帮助物料进行微调，使其放置更加平整有序。
如附图1和附图5所示，第一分拣机械手5包括经螺栓固定在支撑板4上的安装座34，安装座34上设有第二步进电机35，第二步进电机35的电机轴连接有齿轮36。安装座34上还设有圆台37，圆台37上设有圆槽38，圆台37的上方设有齿形转盘39，齿形转盘39与齿轮36相啮合，齿形转盘39的底部设有转动轴40，转动轴40设置在圆槽38内。齿形转盘39的顶部设有第一连接件41，第一连接件41经第二连接件42与第一悬臂48相连，第一悬臂48经第三连接件43与第二悬臂49相连，第二悬臂49经第四连接件44与第三悬臂50相连，第三悬臂50末端铰接有第五连接件45和第六连接件46，且第五连接件45和第六连接件46相铰接，第五连接件45的端面连接有夹爪60，夹爪60采用气立可CHELIC)大口机械夹HDL-20夹爪，因其在市场上可以很容易购得，所以其具体结构不再进行详细赘述。第一连接件41与第三连接件43之间设有第二气缸51，第二悬臂49的底部设有第七连接件47，第七连接件47与第二连接件42之间设有第三气缸52，第七连接件47与第四连接件44之间设有第四气缸53，第四连接件44和第六连接件46之间设有第五气缸54。合理控制第二气缸51、第三气缸52、第四气缸53和第五气缸54能够使第一悬臂48、第二悬臂49和第三悬臂50灵活运动，再通过夹爪60抓取物料，反应速度快，工作效率高。
如附图6所示，第二传送机构11包括固定架55，固定架55上安装有第二主动平托辊56和第二被动平托辊57，第二主动平托辊56和第二被动平托辊57上包覆有第二传送带58。固定架55的一侧设有第三步进电机59，第三步进电机59的电机轴与第二主动平托辊56相连。固定架55的端部设有滑板14，滑板14起到导向作用，同时能够降低物料从第二传送带58上落下的速度，防止物料发生损坏。收集盒15设置在滑板14的底部。固定架55的端部设有光电传感器16，固定架55的底部设有脉冲计数器17，光电传感器16经导线与脉冲计数器17相连，脉冲计数器17采用CSK5-YKW220V电磁式脉冲信号计数器。通过光电传感器16检测经过的物料，将检测到的物料以脉冲的形式发送给脉冲计数器17，脉冲计数器17根据脉冲信号显示物料数量，能够在物料分拣的同时，对物料进行计数，能大大提高工作效率，减少人力成本。
如附图1所示，机架1的另一侧设有第二分拣机械手6和第三传送机构12，支架7上设有对应第二分拣机械手6的第二工业照相机9，第二工业照相机9与第二分拣机械手6经导线与PLC控制器10相连。第二分拣机械手6与第一分拣机械手5的结构相同，第三传送机构12和第二传送机构11的结构相同。从而实现双工位分拣，极大得提高了工作效率，多个工位的设计可以对多种物料进行分拣，适用范围广。
本发明工作原理：
本发明在机架1上设置了第一传送机构2，机架1的两侧设置对中机构18，机架1的支撑板4上设置了第一分拣机械手5，机架1的上方设置第一工业照相机8，机架1端部的PLC控制器10经导线与第一分拣机械手5和第一工业照相机8相连，第一分拣机械手5的一侧设置第二传送机构11。
使用时，将物料放置在第一传送机构2上，第一传送机构2运送物料，通过调整对中机构18的第一连杆26，实现两个导向板27之间间距的调整，使得两个导向板27之间只允许一个物料通过。
物料经对中机构18保持在第一传送机构2的中心位置，并且单个排列，机架1上方的第一工业照相机8对经过的物料进行视觉识别，将识别结果传输给PLC控制器10，PLC控制器10根据识别结果发送指令给第一分拣机械手5，控制第一分拣机械手5抓取目标物料，并放置到第二传送机构11上，重复以上步骤。
目标物料经第二传送机构11输送到收集盒15内，进行归类放置。全程机械自动进行分拣，不仅十分省力，而且分拣速度快，工作效率高，不易出错。
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换,凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种用于零件的归类分料装置，其特征在于：包括机架(1)，机架(1)上设有第一传送机构(2)，机架(1)的两侧设有对中机构(18)；
    所述机架(1)的侧面经三角连接件(3)连接有支撑板(4)，支撑板(4)上设有第一分拣机械手(5)；
    所述机架(1)的上方设有支架(7)，支架(7)上设有第一工业照相机(8)；
    所述机架(1)的端部设有PLC控制器(10)，PLC控制器(10)经导线与第一分拣机械手(5)和第一工业照相机(8)相连；
    所述第一分拣机械手(5)的一侧设有第二传送机构(11)，第二传送机构(11)末端的下方设有收集盒(15)。
  2. 根据权利要求1所述的一种用于零件的归类分料装置，其特征在于：所述机架(1)的两端设有两对端部连接件(19)，所述第一传送机构(2)包括分别设置在两对端部连接件(19)上的第一主动平托辊(20)和第一被动平托辊(21)，第一主动平托辊(20)和第一被动平托辊(21)上包覆有第一传送带(22)；
    对应所述第一主动平托辊(20)的端部连接件(19)的底部设有减速箱(23)，减速箱(23)的输入轴连接有第一步进电机(24)，减速箱(23)的输出轴与第一主动平托辊(20)相连。
  3. 根据权利要求2所述的一种用于零件的归类分料装置，其特征在于：所述对中机构(18)包括设置在机架(1)两侧的两对第一固定件(25)，所述第一固定件(25)上连接有第一连杆(26)，每对第一连杆(26)的末端连接有导向板(27)，两个导向板(27)相对设置，两个导向板(27)之间形成一个由大变小的通道。
  4. 根据权利要求3所述的一种用于零件的归类分料装置，其特征在于：所述对中机构(18)的右方设有平齐机构(13)，平齐机构(13)包括设置 机架(1)一侧的两个第二固定件(28)，两个第二固定件(28)分别连接有第二连杆(29)，两个第二连杆(29)的末端设有平齐板(30)；
    所述机架(1)的另一侧设有第一气缸(31)，第一气缸(31)的输出端连接有推板(32)，推板(32)与平齐板(30)相对设置。
  5. 根据权利要求4所述的一种用于零件的归类分料装置，其特征在于：所述推板(32)上设有海绵块(33)。
  6. 根据权利要求5所述的一种用于零件的归类分料装置，其特征在于：所述第一分拣机械手(5)包括经螺栓固定在支撑板(4)上的安装座(34)，安装座(34)上设有第二步进电机(35)，第二步进电机(35)的电机轴连接有齿轮(36)；
    所述安装座(34)上还设有圆台(37)，圆台(37)上设有圆槽(38)，圆台(37)的上方设有齿形转盘(39)，齿形转盘(39)与齿轮(36)相啮合，齿形转盘(39)的底部设有转动轴(40)，转动轴(40)设置在圆槽(38)内；
    所述齿形转盘(39)的顶部设有第一连接件(41)，第一连接件(41)经第二连接件(42)连接有第一悬臂(48)，第一悬臂(48)经第三连接件(43)连接有第二悬臂(49)，第二悬臂(49)经第四连接件(44)连接有第三悬臂(50)，第三悬臂(50)末端铰接有第五连接件(45)和第六连接件(46)，且第五连接件(45)和第六连接件(46)相铰接，第五连接件(45)的端面连接有夹爪(60)；
    所述第一连接件(41)与第三连接件(43)之间设有第二气缸(51)，第二悬臂(49)的底部设有第七连接件(47)，第七连接件(47)与第二连接件(42)之间设有第三气缸(52)，第七连接件(47)与第四连接件(44)之间设有第四气缸(53)，第四连接件(44)和第六连接件(46)之间设有第五气缸(54)。
  7. 根据权利要求6所述的一种用于零件的归类分料装置，其特征在于：所述第二传送机构(11)包括固定架(55)，固定架(55)上安装有第二主动平托辊(56)和第二被动平托辊(57)，第二主动平托辊(56)和第二被动平托辊(57)上包覆有第二传送带(58)；
    所述固定架(55)的一侧设有第三步进电机(59)，第三步进电机(59)的电机轴与第二主动平托辊(56)相连。
  8. 根据权利要求7所述的一种用于零件的归类分料装置，其特征在于：所述固定架(55)的端部设有滑板(14)，收集盒(15)设置在滑板(14)的底部。
  9. 根据权利要求8所述的一种用于零件的归类分料装置，其特征在于：所述固定架(55)的端部设有光电传感器(16)，固定架(55)的底部设有脉冲计数器(17)，光电传感器(16)经导线与脉冲计数器(17)相连。
  10. 根据权利要求9所述的一种用于零件的归类分料装置，其特征在于：所述机架(1)的另一侧设有第二分拣机械手(6)和第三传送机构(12)，支架(7)上设有对应第二分拣机械手(6)的第二工业照相机(9)，第二工业照相机(9)与第二分拣机械手(6)经导线与PLC控制器(10)相连；
    所述第二分拣机械手(6)与第一分拣机械手(5)的结构相同，第三传送机构(12)和第二传送机构(11)的结构相同。
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