A disordered sorting device and method for sorting a jumbled stack of thin-walled articles

Abstract

The application discloses a kind of disorder sorting device and sorting method of scattering stacked thin-walled parts, it is related to incoming material sorting field, including: feeding mechanism, including material frame and material frame vibration mechanism, material frame places the thin-walled part workpiece of scattering stacked, material frame vibration mechanism can be automatically vibrated, 3D intelligent vision guided positioning module collects the image data of material in material frame, calculates the attitude coordinate of material, and sends the attitude coordinate value to collaborative robot, guides collaborative robot to enter material frame and grab material, 2D intelligent vision guided positioning module identifies incoming material in tooling table material frame, collects the position data of incoming material, guides triaxial manipulator module to grab workpiece, and sequentially put into finished product material frame mechanism, man-machine interface and control system provide logic control and sorting algorithm, control collaborative robot and triaxial manipulator module complete sorting and orderly placement.The whole sorting process of the application is intelligent automation, without manual intervention, high efficiency, effectively reduce production cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of incoming material sorting, in particular to a disordered sorting device and sorting method for scattered and stacked thin-walled parts. BACKGROUND

[0002] With the rapid expansion of the industrial robot automation industry, robot automatic feeding and unloading are increasingly widely used in the field of industrial production, such as automobile manufacturing, material sorting, processing and assembly, and transportation, especially the use of robot vision guidance on the production line, which greatly improves the automation rate and intelligent level of the overall system.

[0003] With the production of feeding and unloading, and the randomness of the production flexibility and intelligence of the automation line, especially for scattered and stacked random and disordered incoming materials, more intelligent judgment and identification are needed to sort the incoming materials from disorder to order by robot. The existing sorting robot can only sort the items arranged in order and with a regular grabbing rule. The use of such robots has great limitations and cannot sort disordered products. If artificial sorting is used, the sorting workload is large and the sorting efficiency is low.

[0004] Therefore, the skilled in the art is committed to developing a disordered incoming material for scattered and stacked thin-walled parts, which is automatically sorted by a robot cooperating with a three-axis manipulator to position and grab and sort out, overcoming the disorder and irregular placement of incoming materials, intelligently identifying the incoming material posture, cooperating with the robot and the manipulator to intelligently position, grab and unload, greatly improving the production efficiency. SUMMARY

[0005] In view of the above defects of the prior art, the technical problem to be solved by the present application is to realize automatic sorting of disordered incoming materials for scattered and stacked thin-walled parts, reduce the labor intensity of sorting work, and improve the production efficiency.

[0006] To achieve the above purpose, the present application provides a disordered sorting device for scattered and stacked thin-walled parts, which comprises a feeding mechanism, a 3D intelligent vision guidance positioning module, a collaborative robot, a robot gripper mechanism, a speed chain material conveying mechanism, a 2D intelligent vision guidance positioning module, a three-axis manipulator module, a manipulator gripper mechanism, a finished product frame mechanism, and a man-machine interface and control system. Wherein:

[0007] The feeding mechanism comprises a frame and a frame vibration mechanism, the frame is placed with scattered and stacked thin-walled part workpieces, and the frame vibration mechanism can automatically vibrate, so that the 3D intelligent vision guidance positioning module can identify the material in the frame and collect image data of the material;

[0008] The 3D intelligent visual guidance positioning module collects image data of the material in the material frame, calculates the attitude coordinates of the material through a visual guidance system, and sends the attitude coordinate values of the material to the collaborative robot to guide the collaborative robot to enter the material frame to grab the material;

[0009] The collaborative robot enters the material frame to grab the material by using the robot gripper mechanism under the guidance of the 3D intelligent visual guidance positioning module, and puts the grabbed material into the tooling table material frame of the speed chain material conveying mechanism;

[0010] The 2D intelligent visual guidance positioning module identifies the incoming material in the tooling table material frame of the speed chain material conveying mechanism, collects position data of the incoming material, and guides the three-axis mechanical hand module to grab the workpiece through the mechanical hand gripper mechanism and sequentially put it into the finished product material frame mechanism to complete the grabbing of the finished product material;

[0011] The human-machine interface and control system includes a human-machine interface and a control system, provides logical control and sorting algorithm for disordered sorting of scattered stacked thin-walled parts, controls the movement and related logical actions of the collaborative robot and the three-axis mechanical hand module, and completes the sorting and orderly placement of the scattered stacked thin-walled parts.

[0012] Further, the material frame of the feeding mechanism includes a main material frame and an auxiliary material frame, the main material frame contains a plurality of scattered stacked thin-walled part workpieces, and the material frame vibration mechanism of the feeding mechanism includes a main material frame connecting rod and a material frame cylinder.

[0013] Further, the thin-walled part workpiece includes at least one of a water pipe inner wire flange, a linear bearing horizontal support, and a single-cylinder diesel engine connecting rod.

[0014] Further, the 3D intelligent visual guidance positioning module includes a 3D industrial vision camera, a 3D camera fixing frame, a first light source, and a first visual algorithm module. The 3D industrial vision camera is fixed on the workbench through the 3D camera fixing frame to collect image data of the material in the material frame. The first light source provides ambient light for the 3D industrial vision camera to collect data and ensures the collection effect of image data. The first visual algorithm module is built-in in the control system, receives the image data, calculates the plane coordinates of the material, and sends the plane coordinates to the collaborative robot to realize the positioning and guidance function of the collaborative robot on the material.

[0015] Further, the robot gripper mechanism is installed on the flange surface of the collaborative robot 6th axis, including a robot gripper, a robot gripper cylinder and a flange connection assembly, the robot gripper is installed on the robot gripper cylinder, the robot gripper cylinder is fixed on the flange connection assembly, and the robot gripper cylinder drives the opening and closing of the robot gripper mechanism.

[0016] Further, the speed chain material conveying mechanism includes a servo motor, a speed reducer gear, a plate chain and the tool table material conveying frame, the servo motor drives the plate chain to move through the speed reducer gear, and drives the tool table material conveying frame on the plate chain to move.

[0017] Further, the 2D intelligent vision guided positioning module includes a box, a 2D industrial vision camera, a ring light source and a second vision algorithm module; the box is fixed above the speed chain material conveying mechanism, the 2D industrial vision camera is fixed above in the box, image data of the material in the tool table material conveying frame is collected, the ring light source provides environmental light for the 2D industrial vision camera to collect data, and the collection effect of the image data is ensured, the second vision algorithm module is built-in in the control system, receives the image data and calculates the plane coordinates of the material, when the tool table material conveying frame enters the vision area of the 2D intelligent vision guided positioning module, the 2D industrial vision camera takes a photo to collect data, and provides accurate grabbing position data for the three-axis mechanical hand module.

[0018] Further, the three-axis mechanical hand module includes a three-axis servo motor, a guide rail, a screw rod and a pneumatic gripper device, the 2D intelligent vision guided positioning module guides the three-axis mechanical hand module to accurately position and enter above the speed chain material conveying mechanism, the material of the tool table material conveying frame is grabbed by the pneumatic gripper device, and the grabbed material is put into the finished product frame mechanism to complete the grabbing of the finished product.

[0019] Further, the human-computer interface includes a touch screen and operation buttons, the operation buttons include an emergency stop button, a start button, a reset button and a control button, the control data of the control system in automatic control can be set through the human-computer interface, the input and output state, alarm and historical record of the device can be monitored through the human-computer interface, and the control system includes a system controller.

[0020] On the other hand, the present application provides a method for sorting a disordered stack of thin-walled parts, the method comprising the following steps:

[0021] S101: The device is normally started, including the man-machine interface and control system, the 3D intelligent visual guidance positioning module, the collaborative robot, the 2D intelligent visual guidance positioning module and the three-axis mechanical hand module work normally, the collaborative robot and the three-axis mechanical hand module run in the initial safe position, and the speed chain material conveying mechanism controls the workpiece conveying frame of the workpiece table to stop at the predetermined position;

[0022] S103: The feeding mechanism vibrates the main material frame through the material frame vibration mechanism, so that the workpieces in the main material frame are uniformly distributed;

[0023] S105: The 3D intelligent visual guidance positioning module takes a photo of the workpieces in the main material frame, calculates the 3D posture data of the workpieces, and sends the 3D posture data to the collaborative robot;

[0024] S107: The collaborative robot grasps the workpieces from the main material frame through the inner support type gripper of the robot gripper mechanism according to the received 3D posture data, and puts the workpieces into the workpiece conveying frame of the workpiece table of the speed chain material conveying mechanism;

[0025] S109: The speed chain material conveying mechanism continues to rotate, and when the workpieces in the workpiece conveying frame enter the recognition area of the 2D intelligent visual guidance positioning module, the 2D intelligent visual guidance positioning module takes a photo of the workpieces, calculates the position information of the workpieces, and sends the position information to the three-axis mechanical hand module;

[0026] S111: The three-axis mechanical hand module accurately positions above the speed chain material conveying mechanism according to the position information, grasps the workpieces through the mechanical hand gripper mechanism, and puts the workpieces into the finished product material frame mechanism, thereby completing the grasping of the finished product material.

[0027] In the preferred embodiment of the present application, compared with the prior art, the present application has the following advantages:

[0028] 1. The disordered sorting device for scattered and stacked thin-walled parts provided by the present application has high integration of a collaborative robot and a three-coordinate mechanical hand in a small space, space saving, force control anti-collision, and man-machine interaction safety.

[0029] 2. The present application uses a three-coordinate mechanical hand for unloading, which is fast, stable, accurate and efficient.

[0030] 3. The present application meets the demand for automatic unloading and saving of manpower, reduces labor intensity, improves the level of online automation, improves efficiency, and avoids human errors caused by manual operation.

[0031] The concept, specific structure and generated technical effects of the present application will be further described below in combination with the drawings, so as to fully understand the purposes, features and effects of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a structural schematic diagram of an unordered sorting device of a preferred embodiment of the present application;

[0033] Figure 2 is a schematic diagram of a mechanical hand gripper mechanism of a preferred embodiment of the present application;

[0034] Figure 3 is a schematic diagram of a Y-axis transmission mechanism of a mechanical hand gripper mechanism of a preferred embodiment of the present application;

[0035] Figure 4 is a schematic diagram of a material frame vibration mechanism of a preferred embodiment of the present application;

[0036] Figure 5 is a schematic diagram of a 3D intelligent vision guiding positioning module of a preferred embodiment of the present application;

[0037] Figure 6 is a schematic diagram of a robot gripper mechanism of a preferred embodiment of the present application;

[0038] Figure 7 is a schematic diagram of a speed chain material conveying mechanism of a preferred embodiment of the present application;

[0039] Figure 8 is a schematic diagram of a 2D intelligent vision guiding positioning module of a preferred embodiment of the present application;

[0040] Figure 9 is a flowchart of an unordered sorting method of a preferred embodiment of the present application.

[0041] Wherein: 1-Three-axis mechanical hand module, 2-Double-speed chain material conveying mechanism, 3-Collaborative robot, 4-Finished product material frame mechanism, 5-Pallet, 6-Human-machine interface and control system, 7-3D intelligent visual guidance positioning module, 8-Robot gripper mechanism, 9-Material frame vibration mechanism, 10-Supplementary material frame, 11-Workstation material conveying frame, 12-2D intelligent visual guidance positioning module, 13-Mechanical hand gripper mechanism, 14-Inward supporting gripper, 15-Inward supporting air cylinder, 16-Terminal adapter mechanism, 17-Z-axis guide rail slider, 18-Z-axis guide rail, 19-X-axis slider, 20-X-axis transmission mechanism, 21-X-axis guide rail, 22-Y-axis transmission mechanism, 23-Y-axis slider, 24-3D industrial vision camera, 25-3D camera fixing frame, 26-L-shaped connecting mechanism, 27-Master material frame, 28-Master material frame connecting rod, 29-Material frame air cylinder, 30-Robot gripper, 31-Robot gripper air cylinder, 32-Flange, 33-Gripper connecting rod, 34-Belt, 35-Pulley, 36-Gear disc, 37-Workstation, 38-Workstation connecting plate, 39-2D industrial vision camera, 40-Lens, 41-Ring light source, 42-2D industrial vision camera connecting plate. DETAILED DESCRIPTION

[0042] The technical content of the present application will be more clearly and conveniently understood by introducing the preferred embodiments of the present application with reference to the accompanying drawings of the specification. The present application can be embodied in many different forms, and the scope of protection of the present application is not limited to the embodiments mentioned herein.

[0043] In the drawings, components of the same structure are denoted by the same reference numerals, and components having similar structures or functions are denoted by similar reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present application is not limited to the size and thickness of each component. In order to make the drawing clearer, the thickness of some components is appropriately exaggerated in some places in the drawing.

[0044] As Figure 1As shown, the embodiment of the application provides a kind of disorder sorting device of disorderly stacked thin-walled parts, including feeding mechanism, 3D intelligent vision guided positioning module 7, collaborative robot 3, robot gripper mechanism 8, speed chain material conveying mechanism 2, 2D intelligent vision guided positioning module 12, three-axis manipulator module 1, manipulator gripper mechanism 13, finished product frame mechanism 4 and man-machine interface and control system 6.The feeding mechanism includes frame and frame vibration mechanism 9, the frame includes main frame 27 and auxiliary frame 10, a plurality of disorderly stacked thin-walled part workpieces are placed in main frame 27, these thin-walled part workpieces include water pipe inner wire flange, linear bearing horizontal support and single cylinder diesel engine connecting rod, frame vibration mechanism 9 can be automatically vibrated, so that 3D intelligent vision guided positioning module 7 can identify the material in frame and collect the image data of these materials;3D intelligent vision guided positioning module 7 is responsible for collecting the image data of the material in frame, calculates the attitude coordinates of the material through vision guidance system, and sends the attitude coordinate values of the material to collaborative robot 3, guides collaborative robot 3 to enter frame and grab material;Collaborative robot 3 is guided by 3D intelligent vision guided positioning module 7, and collaborative robot 3 enters frame to grab material using robot gripper mechanism 8, and puts the grabbed material into tooling table material conveying frame 11 of speed chain material conveying mechanism 2;2D intelligent vision guided positioning module 12 identifies the incoming material in tooling table material conveying frame 11 of speed chain material conveying mechanism 2, collects the position data of the incoming material, and guides three-axis manipulator module 1, grabs workpiece through manipulator gripper mechanism 8, and sequentially puts into finished product frame mechanism 4, to complete the grabbing of finished product material;Man-machine interface and control system 6 provides logical control and sorting algorithm for disorder sorting of disorderly stacked thin-walled parts, controls the movement of collaborative robot 3 and three-axis manipulator module 1 and related logical actions, to complete the sorting and orderly placement of disorderly stacked thin-walled workpieces.Man-machine interface and control system 6 includes man-machine interface and control system, man-machine interface includes touch screen and operation button, operation button includes emergency stop button, start button, reset button and control button, control system includes system controller, control data of control system automatic control can be set through man-machine interface, and input and output state, alarm and history record of the device can be monitored through man-machine interface.

[0045] The application realizes the intelligent sorting of disorderly stacked thin-walled workpieces into orderly placed finished workpieces, manual operation only needs to put incoming material into main frame, and then take out finished workpiece from finished product frame, the whole process is intelligent and automatic, without manual intervention, greatly reducing the heavy physical work when sorting disorderly incoming materials of different types, and the efficiency is high, suitable for batch production in factory automation environment, and the production cost is reduced.

[0046] As Figure 2 And Figure 3As shown in the figure, the robotic gripper mechanism 13 of the disordered sorting device for randomly stacked thin-walled parts provided in this embodiment of the invention includes an inner support gripper 14, an inner support cylinder 15, an end-connecting mechanism 16, a Z-axis guide rail slider 17, a Z-axis guide rail 18, an X-axis slider 19, an X-axis transmission mechanism 20, an X-axis guide rail 21, a Y-axis transmission mechanism 22, and a Y-axis slider 23. The inner support gripper 14 is mounted on the inner support cylinder 15 on the side of the end-connecting mechanism 16, and the connecting mechanism is mounted on the Z-axis guide rail slider 17. The transmission screw rotates, causing the Z-axis guide slider 17 to move in the Z direction on the Z-axis guide 18, thereby moving the inner support gripper 14. The opening and closing of the inner support gripper 14 is driven by the inner support cylinder 15. The Z-axis moving mechanism is mounted on the X-axis slider 19 on the X-axis transmission mechanism 20, causing the inner support gripper 14 to move in the X-axis direction. The X-axis moving mechanism 20 is mounted on the Y-axis slider 23 on the Y-axis transmission mechanism 22, causing the inner support gripper 14 to move in the Y-axis direction.

[0047] like Figure 4 As shown in the figure, the feeding mechanism of the disordered sorting device for randomly stacked thin-walled parts provided in this embodiment of the invention includes a material frame and a material frame vibration mechanism 9. The material frame includes a main material frame 27 and an auxiliary material frame 10. The main material frame 27 holds randomly stacked thin-walled parts, which include at least one of a water pipe internal thread flange, a linear bearing horizontal support, and a single-cylinder diesel engine connecting rod. The material frame vibration mechanism 9 consists of a material frame cylinder 29 and a main material frame connecting rod 28. The main material frame 27 is fixed on the main material frame connecting rod 28, and the main material frame connecting rod 28 is mounted on the material frame cylinder 29. The opening and closing of the material frame cylinder 29 drives the vibration of the main material frame 27. Through the vibration of the material frame vibration mechanism 9, the parts in the main material frame 27 can be evenly distributed, so that the 3D intelligent vision guidance and positioning module 7 can identify the materials in the main material frame 27 and collect the image data of the materials, so that the collaborative robot 3 can enter the main material frame 27 to correctly grasp the materials.

[0048] like Figure 5As shown in the figure, the 3D intelligent vision guidance and positioning module 7 of the disordered sorting device for randomly stacked thin-walled parts provided in this embodiment of the invention includes a 3D industrial vision camera 24, a 3D camera mounting bracket 25, an L-shaped connecting mechanism 26, a first light source, and a first vision algorithm module. The 3D industrial vision camera 24 is fixed above the worktable by the 3D camera mounting bracket 25, which is connected by the L-shaped connecting mechanism 26. The 3D industrial vision camera 24 takes pictures of the materials in the main material frame 27 and collects the corresponding image data. The first light source provides ambient light for the 3D industrial vision camera 24 to collect data, ensuring the image data collection effect. The first vision algorithm module is built into the control system, receives the collected image data, calculates the planar coordinates of the materials, and sends the calculated planar coordinates to the collaborative robot 3. The collaborative robot 3 realizes the positioning and guidance function for the materials. After the 3D intelligent vision-guided positioning module 7 is activated, it takes pictures of the scattered stacked thin-walled workpieces in the main material frame 27. The vision system in the 3D intelligent vision-guided positioning module 7 calculates the 3D posture data of the workpieces, and then sends the 3D posture data and completion signal of the workpieces to the collaborative robot 3. If the 3D intelligent vision-guided positioning module 7 fails to capture the workpieces in the main material frame 9, the collaborative robot 3 will display a confirmation prompt on its screen. After confirmation, the material frame vibration mechanism 9 vibrates the main material frame 27 up and down through the material frame cylinder 29. After the vibration is complete, the 3D intelligent vision-guided positioning module 7 takes pictures again until it can correctly analyze the captured data and send the posture data to the collaborative robot 3.

[0049] like Figure 6 As shown in the embodiment of the present invention, a robot gripper mechanism 8 of a disordered sorting device for randomly stacked thin-walled parts includes a robot gripper 30, a robot gripper cylinder 31, and a flange connection assembly. The flange connection assembly includes a flange 32 and a gripper connecting rod 33. The robot gripper 30 is mounted on the robot gripper cylinder 31, which is fixed to the flange connection assembly. The flange connection assembly is mounted on the end flange of the collaborative robot 3 via the sixth axis flange face of the collaborative robot 3. The movement of the end of the collaborative robot 3 drives the movement of the robot gripper 30. The opening and closing of the internal support gripper mechanism 8 is driven by the robot gripper cylinder 31.

[0050] like Figure 1 and Figure 7As shown, the embodiment of the present application provides a kind of disordered sorting device of scattering stack thin-walled piece of speed chain material conveying mechanism 2, including servo motor, plate chain, belt 34, belt pulley 35, gear disc 36 (including speed reducer gear), tooling table 37, tooling table connecting plate 38 and tooling table material conveying frame 11, tooling table 37 is installed on connecting plate 38, connecting plate 38 is connected with gear disc 36, gear disc 36 is fixed on belt pulley 35, belt 34 is wound on belt pulley 35, belt 34 rotation drives belt pulley 35 rotation, simultaneously drive tooling table 37 on gear disc 36 moves.Servo motor drives belt pulley 35 rotation by the rotation of belt 34, and by gear disc 36 drives plate chain movement, drives tooling table material conveying frame movement.

[0051] As Figure 7 And Figure 8 As shown, the embodiment of the present application provides a kind of disordered sorting device of scattering stack thin-walled piece of 2D intelligent vision guiding positioning module 2, including box, 2D industrial vision camera 39, annular light source 41, lens 40 and 2D industrial vision camera connecting plate 42, box is fixed above speed chain material conveying mechanism 2, 2D industrial vision camera 39 is fixed in the upper part in box, lens 40 is installed on 2D industrial vision camera 39, and the material in tooling table material conveying frame is photographed, and image data is collected, annular light source 41 is fixed below lens 40, and light source is opened when photographing, to provide environmental light for 2D industrial vision camera 39 to collect data, to ensure the collection effect of image data.The 2D intelligent vision guiding positioning module 2 further includes a second vision algorithm module, which is built-in in the control system, receives image data and calculates the plane coordinates of the material, when the tooling table material conveying frame enters the vision area of the 2D intelligent vision guiding positioning module 2, the 2D industrial vision camera 39 takes a photo to collect data, and provides accurate grabbing position data for the three-axis robot module 1.

[0052] The present application provides a kind of disordered sorting device of scattering stack thin-walled piece, integrates collaborative robot and three coordinate robot in smaller space, the space of whole device is small, force control prevents collision, man-machine interaction is safe;For thin-walled piece, use the mode of vibration of two air cylinders, provide shaking, plus 3D vision, to a certain extent, solve the problem of bad confirmation of grabbing pose;Inward supporting type gripper is conducive to the stability of the grabbing of this kind of hole piece;Use speed chain and 2D vision detection, improve the accuracy of detection, also provide accurate grabbing position of discharge three coordinate robot;Use three coordinate robot to discharge, speed is fast, stability is high, precision is high, and discharge efficiency is high;Therefore, the disordered sorting device of scattering stack thin-walled piece provided by the present application meets the demand of disordered sorting automatic feeding and discharging, saves manpower, reduces labor intensity, improves online automation level, improves efficiency, avoids human error caused by manual operation.

[0053] As Figure 9As shown, the disordered sorting method for the scattered stacked thin-walled parts provided by the embodiment of the application comprises the following steps:

[0054] Step one: the disordered sorting device is normally started: the man-machine interface and control system 6, the collaborative robot 3, the 3D intelligent vision guiding positioning module 7, the 2D intelligent vision guiding positioning module 12 and the three-axis mechanical hand module 1 are all started and work normally;

[0055] Step two: the collaborative robot 3 and the mechanical hand gripper mechanism 13 are positioned at the initial safe position, and the speed chain material conveying mechanism 2 controls the workbench material conveying frame 11 to stop at the predetermined position;

[0056] Step three: the material frame vibration mechanism 9 starts to vibrate, drives the main material frame 27 to vibrate, and makes the workpieces in the main material frame 27 uniformly distributed, so as to facilitate the 3D intelligent vision guiding positioning module 7 to take pictures and collect data;

[0057] Step four: the 3D intelligent vision guiding positioning module 7 takes pictures of the scattered stacked thin-walled parts in the main material frame 27, the vision system calculates the 3D attitude data of the workpieces, sends the 3D attitude data of the thin-walled parts after taking pictures and the completion signal to the collaborative robot 3. If the 3D intelligent vision guiding positioning module 7 system fails to successfully take pictures of the materials in the main material frame 27, the collaborative robot 3 screen will have a prompt confirmation. After confirmation, the material frame vibration mechanism 27 drives the main material frame 27 to vibrate up and down through the material frame cylinder 29. After vibration is completed, the 3D intelligent vision guiding positioning module 7 takes pictures again until it can correctly analyze the picture data and send the attitude data to the collaborative robot 3;

[0058] Step five: the collaborative robot 3 enters the main material frame 27 according to the received 3D data, grabs the workpieces through the robot gripper mechanism 8 at the end of the collaborative robot 3, and puts the workpieces into the workbench material conveying frame 11 on the speed chain material conveying mechanism 2. Then, the speed chain material conveying mechanism 2 continues to rotate;

[0059] Step six: the speed chain material conveying mechanism 2 continues to rotate. When the workpieces in the workbench material conveying frame 11 on the speed chain conveying mechanism 2 enter the box of the 2D intelligent vision guiding positioning module 12, the 2D intelligent vision guiding positioning module 12 identifies the placement position of the incoming materials and collects the position information of the workpieces, and sends the collected position information to the three-axis mechanical hand module 1;

[0060] Step seven: the three-axis mechanical hand module 1 guides the three-axis mechanical hand module 1 to quickly enter above the workpieces in the workbench material conveying frame 11 and position according to the position information collected by the 2D intelligent vision guiding positioning module 12, grabs the workpieces through the mechanical hand gripper mechanism 13, and sequentially puts the workpieces into the finished product material frame mechanism 4 in order;

[0061] Step eight: when the product material frame mechanism 4 is full of materials, the man-machine interface and control system 6 prompts that the materials are full, reminding the relevant personnel to clean the materials, after manual cleaning, restarting the disordered sorting device, starting a new disordered sorting until completing the disordered sorting of all the scattered and stacked thin-walled parts.

[0062] The preferred embodiments of the application are described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations without departing from the concept of the application. Therefore, any technical solutions obtained by logical analysis, reasoning or limited experiments based on the concept of the application and the prior art should be within the protection scope defined by the claims.

Claims

1. A disordered sorting device for a jumbled stack of thin-walled pieces, characterized in that, The device comprises a feeding mechanism, a 3D intelligent vision guiding positioning module, a collaborative robot, a robot gripper mechanism, a speed-up chain material conveying mechanism, a 2D intelligent vision guiding positioning module, a three-axis manipulator module, a manipulator gripper mechanism, a finished product material frame mechanism, a man-machine interface and a control system. The feeding mechanism comprises a material frame and a material frame vibration mechanism, the material frame is used to place the thin-walled workpieces in a scattered and stacked manner, and the material frame vibration mechanism can automatically vibrate so that the 3D intelligent vision guiding positioning module can identify the workpieces in the material frame and collect image data of the workpieces. The 3D intelligent vision guiding positioning module collects the image data of the workpieces in the material frame, calculates the posture coordinates of the workpieces, and sends the posture coordinate values of the workpieces to the collaborative robot to guide the collaborative robot to enter the material frame to grab the workpieces. The collaborative robot, guided by the 3D intelligent vision guiding positioning module, uses the robot gripper mechanism to enter the material frame to grab the workpieces and places the grabbed workpieces into the tooling table material conveying frame of the speed-up chain material conveying mechanism. The 2D intelligent vision guiding positioning module identifies the incoming material in the tooling table material conveying frame of the speed-up chain material conveying mechanism, collects the position data of the incoming material, guides the three-axis manipulator module, grabs the workpieces through the manipulator gripper mechanism, and sequentially places the workpieces into the finished product material frame mechanism to complete the grabbing of the finished product material. The man-machine interface and control system comprises a man-machine interface and a control system, provides logical control and sorting algorithm for the disordered sorting of the scattered and stacked thin-walled workpieces, controls the movement and related logical actions of the collaborative robot and the three-axis manipulator module, and completes the sorting and orderly placement of the scattered and stacked thin-walled workpieces. The material frame of the feeding mechanism comprises a main material frame and an auxiliary material frame, the main material frame is used to place a plurality of scattered and stacked thin-walled workpieces, and the material frame vibration mechanism of the feeding mechanism comprises a main material frame connecting rod and a material frame cylinder. If the 3D intelligent vision guiding positioning module fails to successfully capture the workpieces in the main material frame, the screen of the collaborative robot will have a prompt confirmation, after confirmation, the material frame vibration mechanism vibrates the main material frame up and down through the material frame cylinder, after vibration, the 3D intelligent vision guiding positioning module takes a new photo, until the data of the photo can be correctly analyzed and the posture data is sent to the collaborative robot.

2. The apparatus of claim 1, wherein, The thin-walled workpieces comprise at least one of a water pipe inner wire flange, a linear bearing horizontal support and a single-cylinder diesel engine connecting rod.

3. The apparatus of claim 2, wherein, The robot gripper mechanism is installed on the flange face of the 6th axis of the collaborative robot, comprises a robot gripper, a robot gripper cylinder and a flange plate connecting assembly, the robot gripper is installed on the robot gripper cylinder, the robot gripper cylinder is fixed on the flange plate connecting assembly, and the robot gripper cylinder drives the opening and closing of the robot gripper mechanism.

4. The apparatus of claim 3, wherein, The speed chain material conveying mechanism includes a servo motor, a speed reducer gear, a plate chain and the tooling table material conveying frame, the servo motor drives the plate chain to move through the speed reducer gear, and drives the tooling table material conveying frame on the plate chain to move.

5. The apparatus of claim 4, wherein, The 2D intelligent visual guidance positioning module includes a box, a 2D industrial vision camera, a ring light source and a second visual algorithm module; the box is fixed above the speed chain material conveying mechanism, the 2D industrial vision camera is fixed inside and above the box to collect image data of the workpiece in the tooling table material conveying frame, the ring light source provides environmental light for the 2D industrial vision camera to collect data, ensuring the collection effect of image data, and the second visual algorithm module is built-in in the control system to receive the image data and calculate the plane coordinates of the workpiece; when the tooling table material conveying frame enters the visual area of the 2D intelligent visual guidance positioning module, the 2D industrial vision camera takes a photo to collect data and provides accurate grabbing position data for the three-axis mechanical hand module.

6. The apparatus of claim 5, wherein, The human-machine interface includes a touch screen and operation buttons, the operation buttons include an emergency stop button, a start button, a reset button and a control button, the control data of the control system in automatic control can be set through the human-machine interface, the input and output states, alarms and historical records of the device can be monitored through the human-machine interface, and the control system includes a system controller.

7. A sorting method using the apparatus according to any one of claims 1 to 6, characterized in that, The method includes the following steps: S101: the device is normally started, including that the human-machine interface and the control system, the 3D intelligent visual guidance positioning module, the collaborative robot, the 2D intelligent visual guidance positioning module and the three-axis mechanical hand module work normally, the collaborative robot and the three-axis mechanical hand module run at an initial safe position, and the speed chain material conveying mechanism controls the tooling table material conveying frame to stop at a predetermined position; S103: the feeding mechanism vibrates the main material frame through the material frame vibration mechanism, so that the workpieces in the main material frame are uniformly distributed; S105: the 3D intelligent visual guidance positioning module takes a photo of the workpieces in the main material frame, calculates 3D posture data of the workpieces and sends the 3D posture data to the collaborative robot; S107: the collaborative robot grabs the workpieces from the main material frame through the inner support type gripper of the robot gripper mechanism according to the received 3D posture data, and puts the workpieces into the tooling table material conveying frame of the speed chain material conveying mechanism; S109: the speed chain material conveying mechanism continues to rotate, when the workpieces in the tooling table material conveying frame enter the recognition area of the 2D intelligent visual guidance positioning module, the 2D intelligent visual guidance positioning module takes a photo of the workpieces, calculates position information of the workpieces and sends the position information to the three-axis mechanical hand module; S111: The three-axis mechanical hand module accurately positions above the speed chain material conveying mechanism according to the position information, grabs the workpiece through the mechanical hand gripper mechanism, and puts it into the finished product material frame mechanism, completing the grabbing of the finished product material.

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