A sorting device

Abstract

The present invention belongs to the field of robot technology, and discloses a sorting device. The sorting device includes: a carrying mechanism, which is used to carry different types of workpieces; a recycling mechanism, which is connected to the bottom of the carrying mechanism, and the recycling mechanism is used to recycle the workpieces; a classification mechanism, which is located above the carrying mechanism, and the classification mechanism is connected to the other end of the recycling mechanism; the carrying mechanism can place the workpiece in the recycling mechanism, the classification mechanism can receive the workpiece flowing out of the recycling mechanism, and the classification mechanism can classify the workpiece according to different types, and transport the classified workpieces to the carrying mechanism respectively. The sorting device is provided with a recycling mechanism and a classification mechanism, so that it can automatically classify and recycle workpieces of different colors, thereby improving the degree of automation and being more popular science.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a sorting device. Background Art

[0002] In industrial production lines, parallel robotic arms are widely used in high-speed grasping, sorting, etc. due to their compact structure, strong load-bearing capacity, and small cumulative error. Especially in some popular science exhibition halls, many popular science exhibits often use parallel robotic arms to demonstrate the application of robotic arms in the industrial field and the degree of industrial automation.

[0003] However, in the existing popular science exhibits of science and technology museums, the sorting system is limited to mechanical grabbing, which cannot realize color recognition and classification of products of different colors, and lacks automatic recycling devices, so they cannot be recycled. At the same time, the grabbing mechanism has less freedom of movement, and the grabbing process is prone to dead points and inflexible. The end of the grabbing mechanism is limited to a plane, and the working space is limited, which is not suitable for sorting small and medium-sized products. Summary of the invention

[0004] The object of the present invention is to provide a sorting device for classifying and recycling workpieces to improve the reuse rate.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A sorting device, comprising:

[0007] A carrying mechanism, which is used to carry different types of workpieces;

[0008] A recovery mechanism, which is connected to the bottom of the carrying mechanism, and is used for recovering the workpiece;

[0009] A classification mechanism, which is located above the carrying mechanism and is connected to the other end of the recycling mechanism;

[0010] The carrying mechanism can place the workpiece in the recycling mechanism, the classification mechanism can receive the workpiece flowing out of the recycling mechanism, and the classification mechanism can classify the workpiece according to different types and transport the classified workpieces to the carrying mechanism respectively.

[0011] Preferably, the carrying mechanism comprises a carrier, and the carrier is provided with a plurality of grooves arranged in a matrix, and each of the grooves is used to accommodate one of the workpieces.

[0012] Preferably, the bearing mechanism further comprises:

[0013] A rotating shaft connected to the carrier;

[0014] A rotation driving source, whose output end is connected to the rotating shaft, can drive the rotating shaft and drive the carrier to rotate, so that the workpiece in the groove falls into the recovery mechanism.

[0015] Preferably, the recovery mechanism comprises:

[0016] A collecting channel, which is arranged below the carrier and can receive the workpiece separated from the groove;

[0017] A recovery channel and an air source, wherein the recovery channel is connected to the collecting channel and the air source respectively, and the air source can arrange the workpieces in the collecting channel in sequence and blow them from the bottom of the recovery channel to the top of the recovery channel.

[0018] Preferably, the classification mechanism comprises:

[0019] A dividing plate, on which a plurality of receiving grooves are arranged along its circumference, each of the receiving grooves being used to receive one of the workpieces;

[0020] A classification driving source, whose output end is connected to the dividing plate, and the classification driving source can drive the dividing plate to rotate.

[0021] Preferably, the classification mechanism further comprises:

[0022] A baffle plate is provided with a plurality of through holes along the circumference of the indexing plate, and the baffle plate is arranged at the bottom of the through holes and can form the receiving groove therewith;

[0023] A mobile driving source, an output end of which is connected to the baffle, is capable of driving the baffle to move so as to selectively block the through hole.

[0024] Preferably, the classification mechanism further comprises a track, an inlet of the track is located directly below the through hole, and an outlet of the track is located on one side of the supporting mechanism.

[0025] Preferably, the classification mechanism further comprises a color sensor, which is arranged on the dividing plate and is used to detect and identify the color of the workpiece.

[0026] Preferably, the device further comprises a display mechanism, wherein the display mechanism is configured to input and display a pattern.

[0027] Preferably, a conveying mechanism is further included, wherein the conveying mechanism is capable of grabbing the workpiece flowing out of the outlet of the classification mechanism and placing it on the carrying mechanism.

[0028] Beneficial effects of the present invention:

[0029] The sorting device provided by the present invention realizes the recycling of workpieces by setting a recycling mechanism connected to the bottom of the carrying mechanism; by setting a classification mechanism connected to the recycling mechanism, the classification mechanism can receive the workpieces flowing out of the recycling mechanism, and the classification mechanism can classify the workpieces according to different types, thereby realizing the classification of the workpieces and realizing automatic circulation, thereby improving the reuse rate. By setting the recycling mechanism and the classification mechanism, the sorting device can automatically classify and recycle workpieces of different colors, thereby improving the degree of automation and being more popular science. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the sorting device of the present invention.

[0031] In the figure:

[0032] 1. Carrying mechanism; 2. Recycling mechanism; 3. Sorting mechanism; 4. Display mechanism; 5. Conveying mechanism; 6. Base; 7. Ceiling;

[0033] 21. Collection channel; 22. Recovery channel;

[0034] 31. Indexing plate; 32. Track;

[0035] 41. Support frame; 42. Touch display screen. DETAILED DESCRIPTION

[0036] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0037] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0039] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0040] This embodiment provides a sorting device, which is mainly suitable for various science and technology exhibition halls and is used to simulate human-computer interaction. Figure 1 As shown, the sorting device includes a carrying mechanism 1, a recycling mechanism 2, a classification mechanism 3, a display mechanism 4, a conveying mechanism 5, a base 6, a ceiling 7 and a control mechanism. The display mechanism 4 is located on one side of the base 6. The display mechanism 4 includes a supporting frame 41 and a touch screen 42 connected to each other. A matrix is ​​provided on the touch screen 42. Optionally, the matrix is ​​an 8*8 dot matrix. The audience can operate the touch screen 42 to place different types of workpieces in the matrix. The workpiece is specifically a small ball. Optionally, the type of the small ball is distinguished according to the color of the small ball, for example: a white ball and a green ball.

[0041] The ceiling 7 is located above the base 6. A glass cover is arranged between the base 6 and the ceiling 7. The base 6, the ceiling 7 and the glass cover form a storage space. The bearing mechanism 1, the recycling mechanism 2, the classification mechanism 3 and the conveying mechanism 5 are all arranged on the base 6 and are contained in the storage space. The glass cover plays a protective role, and the glass cover is transparent, which is convenient for the audience to observe the operation inside the glass cover. The control mechanism is electrically connected to the bearing mechanism 1, the recycling mechanism 2, the classification mechanism 3, the display mechanism 4 and the conveying mechanism 5 respectively to realize the communication connection between the mechanisms. The control mechanism integrates and controls all the mechanisms to realize the coordinated work of various functional modules.

[0042] The working principle of the sorting device is as follows: the audience first adjusts the number, position and color of the balls in the 8*8 dot matrix on the touch screen 42 according to their personal preferences, and after using the green ball and the white ball to independently design and create the dot matrix pattern, after clicking start, the control mechanism receives the instruction and controls the conveying mechanism 5 to function. The conveying mechanism 5 can grab the balls flowing out of the classification mechanism 3, and according to the matrix distribution order on the touch screen 42, the green ball and the white ball are placed on the carrying mechanism 1 respectively. The carrying mechanism 1 is used to carry different types of workpieces. The recycling mechanism 2 is used to recycle the workpieces, and the two ends of the recycling mechanism 2 are connected to the bottom of the carrying mechanism 1 and the classification mechanism 3 respectively. When the control mechanism completes the puzzle according to the audience's requirements, the carrying mechanism 1 can place the workpiece in the recycling mechanism 2, and the classification mechanism 3 is located above the carrying mechanism 1. The classification mechanism 3 can receive the workpieces flowing out of the recycling mechanism 2, and the classification mechanism 3 can classify the workpieces according to different types, and transport the classified workpieces to the carrying mechanism 1 through the conveying mechanism 5.

[0043] The sorting device provided in this embodiment, by setting the recycling mechanism 2 connected to the bottom of the carrying mechanism 1, the recycling mechanism 2 realizes the recycling of the workpieces; by setting the classification mechanism 3 connected to the recycling mechanism 2, the classification mechanism 3 can receive the workpieces flowing out of the recycling mechanism 2, and the classification mechanism 3 can classify the workpieces according to different types, realize the classification of the workpieces, realize automatic circulation, and thus improve the reuse rate. By setting the recycling mechanism 2 and the classification mechanism 3, the sorting device can automatically classify and recycle workpieces of different colors, improve the degree of automation, and be more popular science.

[0044] Furthermore, in order to carry the workpiece, the carrying mechanism 1 includes a carrier, a rotating shaft and a rotating drive source, and a plurality of grooves arranged in a matrix are provided on the carrier, and each groove is used to accommodate a workpiece. Preferably, in order to replicate the matrix in the touch display screen 42, the plurality of grooves are also arranged in an 8*8 matrix, so that workpieces of different colors and types can be placed in the grooves to form a pattern.

[0045] After the pattern is completed, the workpiece in the groove needs to be placed in the recovery mechanism 2. Optionally, the rotary drive source is a rotary motor, the output end of the rotary drive source is connected to the rotating shaft, the rotating shaft is connected to the carrier, and the rotary drive source can drive the rotating shaft and drive the carrier to rotate, so that the workpiece in the groove falls into the recovery mechanism 2. Further, in order to ensure that the workpieces in the carrier can all be quickly dumped into the recovery mechanism 2, optionally, the number of the carrier, the rotating shaft and the rotary drive source is two. Each rotary drive source is connected to a carrier through a rotating shaft, and the two carriers are abutted against each other to form a platform. After the pattern is formed on the carrier, each rotary motor drives the corresponding carrier to flip in the direction close to the base 6, so that the two carriers open downward like two doors, so that the workpiece falls into the recovery mechanism 2 under the action of its own gravity.

[0046] Further, the recovery mechanism 2 includes a collection channel 21, a recovery channel 22 and an air source. The collection channel 21 is arranged on the base 6 and is located below the carrier. The collection channel 21 can receive the workpiece detached from the groove, and the collection channel 21 plays a role in collecting and buffering the workpiece. The diameter of the collection channel 21 is larger than the diameter of the recovery channel 22, and the diameter of the recovery channel 22 is slightly larger than the diameter of the workpiece, so that the workpiece entering the recovery channel 22 can be arranged in order. In order to realize that the workpiece in the collection channel 21 can be continuously transported to the recovery channel 22, an air source is arranged on the base 6, and the recovery channel 22 is connected to the collection channel 21 and the air source respectively. The air source can arrange the workpiece in the collection channel 21 in sequence and blow it from the bottom of the recovery channel 22 to the top of the recovery channel 22. The air source can be a hair dryer, etc. As long as there is an air pressure difference between the collection channel 21 and the recovery channel 22, under the action of the air pressure difference, the workpiece can be sucked into the recovery channel 22, and the air source is within the protection scope of this embodiment as long as it can realize the transportation of the workpiece.

[0047] Further, the classification mechanism 3 includes a dividing plate 31, a classification drive source, a baffle, a mobile drive source, a track 32 and a color sensor. The dividing plate 31 is located below the top of the recycling channel 22. The classification drive source is specifically a rotating motor. The output end of the classification drive source is connected to the dividing plate 31, and the classification drive source can drive the dividing plate 31 to rotate. A plurality of receiving grooves are arranged along the circumference of the dividing plate 31, and each receiving groove is used to accommodate a workpiece. In this embodiment, the number of receiving grooves is preferably eight, and the specific number can be adjusted according to actual production needs. Specifically, a plurality of through holes are arranged along the circumference of the dividing plate 31, and the baffle is arranged at the bottom of the through hole and can form a receiving groove with it. The baffle is specifically a movable arrangement, and the baffle is equivalent to the bottom of the receiving groove, and the through hole is equivalent to the side wall of the receiving groove. Among them, the mobile drive source is specifically a mobile linear motor or a mobile cylinder, and the output end of the mobile drive source is connected to the baffle, and the mobile drive source can drive the baffle to move to selectively block the through hole.

[0048] A track 32 is provided below the through hole, the inlet of the track 32 is located directly below the through hole, and the outlet of the track 32 is located on one side of the supporting mechanism 1. Preferably, the track 32 is spirally arranged to increase the movement trajectory of the workpiece and play a buffering role. Furthermore, in order to facilitate the distinction between workpieces of different color types, a color sensor is provided on the dividing plate 31, and the color sensor is used to detect and identify the color of the workpiece. In order to be able to classify different workpieces, optionally, the number of tracks 32 is the same as the number of workpiece types. Since the workpieces in this embodiment are only green and white, the number of tracks 32 is specifically two, and the two tracks 32 are symmetrically arranged on both sides of the base 6, and one track 32 is used to transport workpieces of one color.

[0049] When the indexing plate 31 is indexed and rotated at a certain angle, the workpieces in the recovery channel 22 can be received one by one, and each receiving slot is used to receive one workpiece. The color sensor can detect and identify the color of the workpiece and transmit the information to the control mechanism, which controls the mobile drive source to work, and the mobile drive source can drive the baffle to move away from the through hole to open the baffle, and the workpiece falls into the corresponding track 32. The diameter of the track 32 is slightly larger than the diameter of the ball, so that the ball can be filled into the track 32 in sequence and slide along the inner wall of the track 32 to the exit of the track 32.

[0050] The conveying mechanism 5 can grab the workpiece flowing out of the outlet of the track 32 in the classification mechanism 3 and place it on the carrying mechanism 1. Specifically, the conveying mechanism 5 specifically includes a moving component and a grabbing component, wherein the grabbing component includes a vacuum generator and a suction cup, and the vacuum generator extracts a vacuum to adsorb the workpiece on the suction cup. The conveying mechanism 5 can restore the randomly designed matrix pattern of the audience on the touch display screen 42, organically combining the audience's creative fun with the automation of the conveying mechanism 5, which not only increases the fun, but also enhances the audience's entertainment experience.

[0051] For the convenience of description, the X direction is defined as the length direction of the base 6, the Y direction is defined as the width direction of the base 6, and the Z direction is defined as the height direction, i.e., the vertical direction, of the base 6. The X direction, the Y direction, and the Z direction are mutually perpendicular, which is only for the purpose of spatial description and has no substantial meaning.

[0052] The moving component is specifically a parallel manipulator, and the moving component includes a Z-direction moving component, an X-direction moving component and a Z-direction moving component, wherein the Z-direction moving component includes a Z-direction moving drive source and a Z-direction moving platform, and the Z-direction moving drive source is arranged on a base 6, and the Z-direction moving drive source is specifically a Z-direction driving motor, and the output end of the Z-direction moving drive source is connected to the Z-direction moving platform.

[0053] The X-direction moving component specifically includes an X-direction moving driving source and an X-direction moving platform. The X-direction moving driving source is arranged on the Z-direction moving platform. The X-direction moving driving source is specifically an X-direction driving motor. The output end of the X-direction moving driving source is connected to the X-direction moving platform. When working, the X-direction moving driving source can drive the X-direction moving platform to move along the X-direction.

[0054] The Y-direction moving component specifically includes a Y-direction moving driving source and a Y-direction moving platform. The Y-direction moving driving source is arranged on the X-direction moving platform. The Y-direction moving driving source is specifically a Y-direction driving motor. The Y-direction moving platform is used to carry and connect the grabbing component. The output end of the Y-direction moving driving source is connected to the Y-direction moving platform. When working, the Y-direction moving driving source can drive the Y-direction moving platform to move along the Y direction.

[0055] Through the cooperation of the Z-direction moving part, the X-direction moving part and the Z-direction moving part, the grabbing component can move in the X-direction, Y-direction and Z-direction respectively, and the position adjustment of the grabbing component can be realized to ensure the grabbing accuracy of the workpiece. In this way, the degree of automation is high, which can greatly reduce the workload of operators and reduce labor costs.

[0056] Preferably, the parallel manipulator of the mobile component can be a Delta manipulator. This three-degree-of-freedom parallel manipulator can realize movement in three directions: X, Y, and Z. It is driven by three motors, but not each motor controls the three directions separately. Instead, they are coupled. For example, the movement in the X direction requires the cooperation of three motors at the same time. This method helps the audience experience the application of industrial robots in the industrial field and understand the basic structure and principle of parallel manipulators.

[0057] The working process of the sorting device provided in this embodiment is as follows:

[0058] The audience first adjusts the number, position and color of the balls in the 8*8 dot matrix on the touch screen 42 according to their personal preferences. After using the green balls and white balls to independently design and create the dot matrix pattern, they click start. The control mechanism receives the command and controls the conveying mechanism 5. The conveying mechanism 5 can grab the balls flowing out of the classification mechanism 3, and according to the matrix distribution order on the touch screen 42, place the green balls and white balls in the grooves of the carrier respectively, and each groove is used to accommodate a workpiece.

[0059] After the pattern is formed on the carrier, each rotary motor drives the corresponding carrier to flip toward the base 6, so that the two carriers open downward like two doors, so that the workpieces fall into the collection channel 21 under the action of their own gravity. The air source can arrange the workpieces in the collection channel 21 in sequence and blow them from the bottom of the recovery channel 22 to the top of the recovery channel 22, and then the workpieces fall and roll into the receiving groove of the indexing plate 31.

[0060] When the indexing plate 31 is indexed and rotated at a certain angle, the workpieces in the recovery channel 22 can be received one by one, and each receiving slot is used to receive one workpiece. The color sensor can detect and identify the color of the workpiece and transmit the information to the control mechanism, which controls the mobile drive source to work, and the mobile drive source can drive the baffle to move away from the through hole to open the baffle, and the workpiece falls into the corresponding track 32 so that the small balls can be filled into the track 32 in turn, and slide along the inner wall of the track 32 to the exit of the track 32 until the workpiece in the track 32 is cleanly grabbed by the conveying mechanism 5.

[0061] In the description herein, it should be understood that the terms "upper", "lower", "right", etc., are based on the directions or positions shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0062] In the description of this specification, the description with reference to the terms "an embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0063] In addition, the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A sorting device, characterized in that: include: A carrying mechanism (1) for carrying different types of workpieces; A recovery mechanism (2), one end of which is connected to the bottom of the supporting mechanism (1), and the recovery mechanism (2) is used for recovering the workpiece; A classification mechanism (3) located above the carrying mechanism (1), the classification mechanism (3) being connected to the other end of the recycling mechanism (2); The carrying mechanism (1) can place the workpieces in the recovery mechanism (2), the classification mechanism (3) can receive the workpieces flowing out of the recovery mechanism (2), and the classification mechanism (3) can classify the workpieces according to different types and transport the classified workpieces to the carrying mechanism (1) respectively; The carrying mechanism (1) comprises a carrier, on which a plurality of grooves arranged in a matrix are provided, each of the grooves being used to accommodate one of the workpieces; The recovery mechanism (2) comprises: A collecting channel (21), which is arranged below the carrier and is capable of receiving the workpiece separated from the groove; A recovery channel (22) and an air source, wherein the recovery channel (22) is respectively connected to the collection channel (21) and the air source, and the air source is capable of sequentially arranging the workpieces in the collection channel (21) and blowing them from the bottom of the recovery channel (22) to the top of the recovery channel (22); The classification mechanism (3) comprises: A dividing plate (31), wherein a plurality of receiving grooves are arranged on the dividing plate (31) along its circumference, and each of the receiving grooves is used to receive one of the workpieces; A classification driving source, the output end of which is connected to the indexing disk (31), and the classification driving source is capable of driving the indexing disk (31) to rotate; The classification mechanism (3) further comprises a color sensor, which is arranged on the dividing plate (31) and is used to detect and identify the color of the workpiece.

2. The sorting device according to claim 1, characterized in that: The carrying mechanism (1) further comprises: A rotating shaft connected to the carrier; A rotary drive source, whose output end is connected to the rotating shaft, is capable of driving the rotating shaft and driving the carrier to rotate, so that the workpiece in the groove falls into the recovery mechanism (2).

3. The sorting device according to claim 1, characterized in that: The classification mechanism (3) further comprises: A baffle plate is provided with a plurality of through holes along the circumference of the indexing plate (31), and the baffle plate is arranged at the bottom of the through holes and can form the accommodating groove therewith; A mobile driving source, an output end of which is connected to the baffle, is capable of driving the baffle to move so as to selectively block the through hole.

4. The sorting device according to claim 3, characterized in that: The classification mechanism (3) further comprises a track (32), the inlet of the track (32) being located directly below the through hole, and the outlet of the track (32) being located on one side of the supporting mechanism (1).

5. The sorting device according to claim 1, characterized in that: Also included is a display mechanism (4), which is configured to input and display patterns.

6. The sorting device according to claim 1, characterized in that: It also comprises a conveying mechanism (5), which is capable of grabbing the workpiece flowing out of the outlet of the classification mechanism (3) and placing it on the carrying mechanism (1).

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