Card sorting device with a mechanical arm

Abstract

The present invention provides a card sorting device with a manipulator, the card sorting device with a manipulator comprises a conveyor belt mechanism, a card reader / writer, a card posture adjustment mechanism, a manipulator grasping mechanism and a card storage mechanism; the conveyor belt mechanism transmits the card from the outside of the device to the card posture adjustment mechanism; the card reader / writer is arranged on the conveyor belt mechanism, and is used to realize position recognition and information interaction during the card transmission process; the card posture adjustment mechanism is arranged at the rear of the conveyor belt mechanism, and is used to sort the disordered direction of the card into a predetermined direction, and the manipulator grasping mechanism is used to automatically grab the card and adjust the direction of the card, and put the card into the card storage mechanism. The card sorting device with a manipulator provided by the present invention makes the structure of the card receiving device more compact, and can improve the card receiving efficiency. At the same time, the direction of the disordered cards can be sorted into a fixed direction, thereby avoiding the problem of card jamming.

Description

Technical Field

[0001] The invention belongs to the technical field of toll collection management of expressways, and in particular relates to a card sorting device with a mechanical arm. Background Art

[0002] The highway composite pass card is also called CPC card. Its application in the highway network is one of the basic and core tasks of the pilot work of canceling provincial toll stations on highways. CPC can identify the information of vehicles entering and leaving toll stations, accurately record the actual driving path of vehicles, and provide an important basis for inter-provincial toll billing and settlement. Since CPC cards need to be recycled, they need to be sorted and organized when they are collected.

[0003] The existing card collecting device can automatically swallow the CPC card, and the CPC card falls into the card box after being transmitted through the internal channel of the device. However, the channel for the card to be inserted is narrow, and the posture of the card when inserted is relatively random, so it is easy to get stuck in the channel. At this time, the staff needs to open the card collecting device and adjust it manually. This method will consume the staff's experience and time. In addition, the transmission structure, card grabbing structure and card storage structure in the above-mentioned card collecting device are relatively scattered, which will reduce the efficiency of card collecting. Summary of the invention

[0004] The embodiment of the present invention provides a card sorting device with a robot, aiming to solve the technical problems that cards are easily stuck during the card collecting process and the card collecting efficiency of traditional card collecting devices is low.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a card sorting device with a manipulator, including a conveyor belt mechanism, a card reader / writer, a card posture adjustment mechanism, a manipulator grasping mechanism and a card storage mechanism;

[0006] The conveyor belt mechanism conveys the card from the outside of the device to the card posture adjustment mechanism; the card reader is arranged on the conveyor belt mechanism, and is used to realize position recognition and information exchange during the card transmission process; the card posture adjustment mechanism is arranged at the rear of the conveyor belt mechanism, and is used to sort the disordered direction of the card into a predetermined direction, and the manipulator grasping mechanism is used to automatically grasp the card and adjust the direction of the card, and put the card into the card storage mechanism;

[0007] The transmission direction of the conveyor belt mechanism is set as a first direction, and the horizontal direction perpendicular to the first direction is set as a second direction. The posture adjustment mechanism includes:

[0008] Two brackets are respectively arranged at the front and rear sides of the conveyor belt mechanism;

[0009] A sliding track, fixedly connected between the two brackets along the second direction;

[0010] A transmission member, slidably fitted on the sliding track;

[0011] A driver, fixedly mounted at one end of the sliding track and connected to the transmission member, for driving the transmission member to reciprocate along the second direction;

[0012] A clamping block, fixedly connected to the transmission member, wherein the top of the clamping block is slidably matched with the sliding track, and the bottom is placed on the conveyor belt mechanism, and the clamping block is used to push the card along the second direction so that the side edge of the card is arranged along the first direction;

[0013] The bracket is provided with a posture recognition unit for assisting in identifying whether a card exists and the posture of the card when the card reader fails to recognize the card;

[0014] The manipulator grasping mechanism includes a rotational motion unit, the posture recognition unit is used to calculate the center point and deflection angle of the card quadrilateral and transmit them to the rotational motion unit, and the rotational motion unit rotates the angle of the card;

[0015] The card storage mechanism has a plurality of storage areas arranged in a matrix array, each storage area is provided with two limit plates, and the two limit plates are located at two opposite sides of the storage area.

[0016] In a possible implementation, the conveyor belt mechanism includes:

[0017] Frame;

[0018] Two conveying rollers are connected to the frame at intervals, and the conveying rollers rotate around the second direction;

[0019] A conveyor belt is drivingly connected between the two conveyor rollers, and the conveyor belt is used for conveying cards.

[0020] In a possible implementation, the conveyor belt mechanism further includes a card blocking plate disposed on a side of the frame close to the card storage mechanism.

[0021] In a possible implementation, one clamping block is provided, and a tidying area is formed between the clamping block and the bracket.

[0022] In a possible implementation, two clamping blocks are arranged opposite to each other along the second direction, the transmission member drives the two clamping blocks to move toward each other or away from each other, and the card is located between the two clamping blocks.

[0023] In a possible implementation, the manipulator grasping mechanism includes:

[0024] A frame, fixedly connected to the two brackets;

[0025] A manipulation structure is fixedly connected to the frame, the manipulation structure has a connection position, and the manipulation structure includes a linear adjustment unit for driving the connection position to move horizontally and a vertical adjustment unit for driving the connection position to move up and down;

[0026] The grabbing structure is rotatably connected to the connecting position and is used for grabbing the cards on the conveyor belt.

[0027] In a possible implementation, the straight line adjustment unit includes:

[0028] A forward and backward moving component is fixedly connected to the frame, and the forward and backward moving component drives the connecting position to move along the first direction;

[0029] The left-right moving component is slidably connected to the front-back moving component, and the left-right moving component drives the connecting position to move along the second direction.

[0030] In a possible implementation, the grasping structure includes an automatic clamp, a suction cup, or an electromagnet.

[0031] Compared with the prior art, the card sorting device with a manipulator provided by the present invention transmits external cards to a card posture adjustment mechanism through a conveyor belt mechanism, and the card posture adjustment mechanism sorts the directions of disordered cards into two fixed directions, and then the sorted cards are grabbed by a manipulator grasping mechanism and placed into a card storage mechanism. This arrangement not only makes the structure of the card collecting device more compact and improves the card collecting efficiency, but also can sort the directions of disordered cards into a fixed direction, thereby avoiding the problem of card jamming. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of a card sorting device with a robot provided in an embodiment of the present invention Figure 1 ;

[0033] Figure 2 A schematic diagram of a card sorting device with a robot provided in an embodiment of the present invention Figure 2 ;

[0034] Figure 3 A side view of a card sorting device with a robot provided by an embodiment of the present invention;

[0035] Figure 4 A top view of a card sorting device with a robot provided in an embodiment of the present invention.

[0036] Description of reference numerals:

[0037] 10- conveyor belt mechanism; 11- frame; 12- conveyor roller; 13- conveyor belt; 14- baffle plate;

[0038] 20-card posture adjustment mechanism; 21-bracket; 22-sliding track; 23-transmission member; 24-driver; 25-card clamping block;

[0039] 30-manipulator grasping mechanism; 31-frame; 32-operating structure; 321-linear adjustment unit; 3211-forward and backward moving assembly; 3212-left and right moving assembly; 322-vertical adjustment unit; 33-grabbing structure;

[0040] 40-card storage mechanism; 41-storage area; 42-limiting plate;

[0041] 50-Cards. DETAILED DESCRIPTION

[0042] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0043] Please also read Figures 1 to 4 , the card sorting device with a manipulator of the present invention is described. The card sorting device with a manipulator comprises a conveyor belt mechanism 10, a card reader / writer, a card posture adjustment mechanism 20, a manipulator grasping mechanism 30 and a card storage mechanism 40; the conveyor belt mechanism 10 transfers the card 50 from the outside of the device to the card posture adjustment mechanism 20; the card reader / writer is arranged on the conveyor belt mechanism, and is used to realize position recognition and information exchange during the card transmission process; the card posture adjustment mechanism 20 is arranged at the rear of the conveyor belt mechanism 10, and is used to sort the disordered direction of the card 50 into a predetermined direction, and the manipulator grasping mechanism 30 is used to automatically grasp the card 50 and adjust the direction of the card 50, and put the card 50 into the card storage mechanism 40.

[0044] It should be noted that Figure 1 and Figure 2 The area selected by the dashed line and with the section line is the setting area of ​​the card reader. After the card is placed in the conveyor mechanism 10, the conveyor mechanism 10 drives the card through the card reader, and the card reader recognizes the information in the card and the position of the card in the horizontal direction (perpendicular to the front and back direction), thereby transmitting the position information of the card to the card posture adjustment mechanism and the robot gripping mechanism. When the card reader does not recognize the card information (i.e., the recognition fails), the card may be damaged, and the card can be recognized by the posture recognition unit and the information can be transmitted to the card posture adjustment mechanism and the robot gripping mechanism.

[0045] Compared with the prior art, the card sorting device with a robot provided by the present invention transmits external cards 50 to the card posture adjustment mechanism 20 through a conveyor belt mechanism 10. The card posture adjustment mechanism 20 sorts the directions of the disordered cards 50 into two fixed directions, and then the sorted cards 50 are grabbed by the robot grasping mechanism 30 and placed into the card storage mechanism 40. This arrangement not only makes the structure of the card collecting device more compact and improves the card collecting efficiency, but also can sort the directions of the disordered cards 50 into a fixed direction, thereby avoiding the problem of the cards 50 getting stuck.

[0046] Specifically, the card 50 is a rectangular card, and when collecting the card, it should generally be inserted parallel to the conveying direction of the conveying channel. However, due to the staff's inattention or busy work and failure to organize it in time, the posture of the card 50 when inserted is relatively random, for example, it is tilted, that is, there is an angle with the conveying direction of the conveying channel, and this posture is easy to get the channel stuck. Therefore, a card posture adjustment mechanism 20 is set to adjust the direction of the card 50 so that it is parallel to the conveying direction.

[0047] In some embodiments, an improved implementation of the card sorting device with a robot can be implemented as follows: Figure 1 See the structure shown. Figure 1 , the transmission direction of the conveyor belt mechanism 10 is set as the first direction, and the horizontal direction perpendicular to the first direction is set as the second direction. The conveyor belt mechanism 10 includes a frame 11, two conveyor rollers 12 and a conveyor belt 13; the two conveyor rollers 12 are connected to the frame 11 at intervals, and the conveyor rollers 12 rotate around the second direction; the conveyor belt 13 is connected between the two conveyor rollers 12, and the conveyor belt 13 is used to convey the card 50. Among them, the first direction and the second direction are both horizontal directions, Figure 1 The direction indicated by the solid single arrow is the first direction. A conveyor belt mechanism 10 is provided to convey the inserted card 50 to the card posture adjustment mechanism 20 for direction adjustment, and the conveyor belt mechanism 10 uses two conveyor rollers 12, one of which is used as an active roller to connect a driving member, such as a driving motor, and the other conveyor roller 12 is used as a driven roller to rotate synchronously with the active roller. A conveyor belt 13 connects the two conveyor rollers 12 and can convey the card 50 as a conveying surface. The frame 11 can support the conveyor roller 12 and the conveyor belt 13, and the conveyor roller 12 and the frame 11 are detachably connected, so as to facilitate their disassembly and maintenance.

[0048] In a specific implementation, the card reader is arranged at the bottom of the conveyor belt, so as to ensure that the card moves smoothly under the drive of the conveyor belt, and the conveyor belt covers the card reader, making the appearance more beautiful.

[0049] In some embodiments, an improved implementation of the card sorting device with a robot can be implemented as follows: Figure 1 See the structure shown. Figure 1 The conveyor mechanism 10 further includes a card blocking plate 14 disposed on one side of the frame 11 close to the card storage mechanism 40. The card blocking plate 14 can limit the position of the card 50 to prevent the card 50 from moving out of the conveying surface.

[0050] In some embodiments, an improved implementation of the card sorting device with a robot can be implemented as follows: Figure 1 , Figure 2 See the structure shown. Figure 1 , Figure 2 The card posture adjustment mechanism 20 includes two brackets 21, a sliding track 22, a transmission member 23, a driver 24 and a clamping block 25; the two brackets 21 are respectively arranged on the front and rear sides of the conveyor belt mechanism 10 (the front and rear sides refer to the second direction, i.e. Figure 1 The sliding rail 22 is fixedly connected between the two brackets 21 along the second direction; the transmission member 23 is fixedly connected to the sliding rail 22 along the second direction; the driver 24 is fixedly arranged at one end of the sliding rail 22 and connected to the transmission member 23, and is used to drive the transmission member 23 to move back and forth along the second direction; the clamping block 25 is fixedly connected to the transmission member 23, the top of the clamping block 25 is slidably matched with the sliding rail 22, and the bottom is placed on the conveyor belt mechanism 10, and the clamping block 25 is used to push the card 50 along the second direction so that the side of the card 50 is set along the first direction. The clamping block 25 is set to push the card 50 along the second direction, and the direction of the card 50 is adjusted during the movement so that its side is parallel to the first direction. The side can be the long side of the rectangular card 50 or the short side, so as to complete the posture adjustment.

[0051] It should be noted that when the conveyor belt mechanism 10 includes a frame 11 , two conveyor rollers 12 and a conveyor belt, two brackets 21 are fixed to the frame 11 and are respectively arranged on the front and rear sides of the conveyor belt 13 ; the bottom of the clamping block 25 is placed on the conveyor belt 13 .

[0052] Specifically, the top of the clamping block 25 slides on the sliding track 22, and the upper and middle parts are fixedly connected to the transmission member 23. The transmission member 23 is driven by the driver 24. The movement of the transmission member 23 can drive the clamping block 25 to move along the second direction, thereby realizing the lateral push of the card 50.

[0053] Specifically, the transmission member 23 is a chain, a belt or a lead screw; when the transmission member 23 is a chain or a belt, a rotating wheel is respectively arranged on the opposite sides of the two brackets 21, and the driver 24, that is, the driving motor is connected to one of the rotating wheels, the chain or belt transmission connects the two rotating wheels, and the clamping block 25 is connected to the chain or belt; when the transmission member 23 is a lead screw, a lead screw is arranged between the two brackets 21, and the lead screw is rotatably connected to the two brackets 21 respectively, and a first bevel gear is installed at one end of the lead screw, and the first bevel gear meshes with a second bevel gear perpendicular to it, and the output shaft of the driving motor is connected to the second bevel gear, and the clamping block 25 is screwed with the lead screw. When the driving motor drives the lead screw to rotate, the clamping block 25 can be driven to move in the second direction; in addition, the end of the clamping block 25 away from the transmission member 23 abuts against the baffle plate 14, which is convenient for pushing the card 50 laterally and can also prevent the card 50 from moving out of the sorting area of ​​the clamping block 25.

[0054] In some embodiments, an improved implementation of the card sorting device with a robot can be implemented as follows: Figure 2 See the structure shown. Figure 2 , one clamping block 25 is provided, and the clamping block 25 and the bracket 21 enclose a sorting area. When one clamping block 25 is provided, the clamping block 25 is connected to a chain, a belt or is screwed with a lead screw, and when it moves to a position close to the bracket 21, it, the bracket 21, and the card baffle 14 enclose a sorting area, and the size of the sorting area is adapted to the size of the card 50, and the card 50 can be pushed and clamped in a direction parallel to or perpendicular to the first direction.

[0055] As a variant embodiment, see Figure 2 , two clamping blocks 25 are arranged opposite to each other along the second direction, and the transmission member 23 drives the two clamping blocks 25 to move toward or away from each other, and the card 50 is located between the two clamping blocks 25. When two clamping blocks 25 are arranged, the two clamping blocks 25 can move left and right respectively, so that the distance between the two clamping blocks 25 can be adjusted according to the size of the card 50; when the transmission member 23 is a chain or a belt, the chain or the belt is divided into two sections arranged at intervals along the first direction, and the movement directions of the two sections are opposite, therefore, the two clamping blocks 25 are respectively connected to the two sections to realize the two clamping blocks 25 moving toward or away from each other, that is, when the card 50 needs to be sorted, the two clamping blocks move toward each other, and the card 50 is located between them, and after the sorting is completed, the two clamping blocks 25 move away from each other.

[0056] In some embodiments, an improved implementation of the card sorting device with a robot can be implemented as follows: Figures 1 to 3 See the structure shown. Figures 1 to 3The robot gripping mechanism 30 includes a frame 31, an operating structure 32 and a gripping structure 33; the frame 31 is fixedly connected to the two brackets 21; the operating structure 32 is fixedly connected to the frame 31, and the operating structure 32 has a connecting position, and the operating structure 32 includes a linear adjustment unit 321 that drives the connecting position to move horizontally and a vertical adjustment unit 322 that drives the connecting position to move up and down; the gripping structure 33 is rotatably connected to the connecting position, and is used to grab the card 50 on the conveyor belt 13. After the direction of the card 50 is arranged, the robot gripping mechanism 30 transports it to the card storage mechanism 40 for storage. When in use, the linear adjustment unit 321 drives the gripping structure 33 to move to the sorting area, and then the vertical adjustment unit 322 drives the gripping structure 33 to move downward to grab the card 50. After grabbing the card 50, the gripping structure 33 moves up, and the linear adjustment unit 321 drives the gripping structure 33 to move above the card storage mechanism 40, and then the gripping structure 33 moves down to place the card 50 into the card storage mechanism 40; in addition, when the card posture adjustment mechanism 20 fails, the gripping structure 33 can be directly driven to grip the card 50 and then rotate to adjust its direction; wherein, the gripping structure 33 and the connecting position, namely the vertical adjustment unit 322, are connected by a rotating motion unit, which can drive the gripping structure 33 to rotate, thereby realizing the angle adjustment of the card 50.

[0057] As a modified embodiment, a posture recognition unit is provided on the bracket 21. The posture recognition unit can be a camera or a Hall sensor, which is used to capture the image of the conveyor belt 13 and recognize whether there is a card 50 and the posture of the card 50. The card posture adjustment mechanism 20 uses the posture recognition unit to recognize whether there is a card 50 on the conveyor belt 13 and to recognize its posture when the card 50 exists, so as to facilitate the clamping block 25 to clamp and arrange it; in addition, when any one or all of the conveyor belt 13, the transmission member 23 or the clamping block 25 fails, the posture of the card 50 is recognized by the posture recognition unit, which can facilitate the card grabbing mechanism 30 to grab the card 50 and adjust the direction of the card 50 and then put it into the card storage mechanism 40.

[0058] In some embodiments, an improved implementation of the card sorting device with a robot can be implemented as follows: Figures 1 to 3 See the structure shown. Figures 1 to 3The linear adjustment unit 321 includes a front-to-back moving component 3211 and a left-to-right moving component 3212; the front-to-back moving component 3211 is fixed to the frame 31, and the front-to-back moving component 3211 drives the connection position to move along the first direction; the left-to-right moving component 3212 is slidably connected to the front-to-back moving component 3211, and the left-to-right moving component 3212 drives the connection position to move along the second direction. The linear adjustment unit 321 is divided into the front-to-back moving component 3211 and the left-to-right moving component 3212, wherein the front-to-back moving component 3211 drives the connection position to move along the first direction, so that it can move to the top of the sorting area to grab the card 50 and then move to the top of the card storage mechanism 40, and then the left-to-right moving component 3212 is started, and the connection position is driven to move left-to-right through the component to adjust the storage position of the card 50.

[0059] Specifically, the left-right moving component 3212 and the front-back moving component 3211 can both be movement modes of chains, belts or screws. This application takes belt drive as an example. The specific structure includes two rotating wheels arranged on the frame 31, which rotate along the second direction. The belt transmission connects the two rotating wheels, and one of the rotating wheels is connected to the driving motor. Two sliding bars spaced apart up and down are arranged at the rear of the belt. The vertical adjustment unit 322 is fixed to the belt and slidably connected to the two sliding bars respectively; the front-back moving component 3211 also includes two rotating wheels spaced apart, and the two rotating wheels are arranged along the first direction. The belt transmission connects the two rotating wheels, and one of the rotating wheels is connected to the driving motor. The left-right moving component 3212 is connected to the belt, and a guide rail assembly (its specific structure belongs to the prior art) is respectively arranged on both sides of the belt, and the two ends of the left-right moving component 3212 are slidably connected to the two guide rail assemblies respectively.

[0060] In some embodiments, an improved implementation of the card sorting device with a robot can be implemented as follows: Figure 2 , Figure 3 See the structure shown. Figure 2 , Figure 3The grasping structure 33 includes an automatic gripper, a suction cup or an electromagnet. The grasping structure 33 for grasping the card 50 can be a manipulator, a suction cup or an electromagnet. When an automatic gripper, i.e., a manipulator, is selected, it includes a gripper and a control system for controlling the gripper. When grasping the card 50, the control system controls the gripper to complete the gripping action. When the card 50 is placed in the card storage mechanism 40, the gripper is controlled to complete the action of releasing the card 50 so that the card 50 falls. When an electromagnet is selected, a first electromagnet is embedded in the card 50 in advance, and then a second electromagnet that is attracted to the first electromagnet is installed at the connection position. When grasping the card 50, the control system controls the gripper to complete the gripping action. When the card 50 is placed in the card storage mechanism 40, the control system controls the gripper to complete the action of releasing the card 50 so that the card 50 falls. , the first electromagnet and the second electromagnet are energized to adsorb the card 50 to the connection position. When the connection position moves to the corresponding storage position of the card storage mechanism 40, the first electromagnet and the second electromagnet are de-energized, the adsorption force of the card 50 disappears, and then the card 50 falls to the corresponding storage position for storage; when the suction cup is selected, the vertical adjustment unit 322 is composed of a hollow shaft motor, an air exhaust, an air relief valve and an air pump. After the air pump is turned on, the air flow direction is: external air, suction cup, hollow shaft motor, air exhaust, air pump, thereby providing power for grabbing the card 50 (such as Figure 3 As shown, this embodiment takes the suction cup grasping method as an example).

[0061] In some embodiments, an improved implementation of the card sorting device with a robot can be implemented as follows: Figure 1 , Figure 2 , Figure 4 See the structure shown. Figure 1 , Figure 2 , Figure 4 The card storage mechanism 40 has a plurality of storage areas 41 arranged in a matrix array, and each storage area 41 is provided with two limiting plates 42, which are located at opposite sides of the storage area 41. By providing a plurality of storage areas for storing cards 50 separately, it is convenient to take out the cards 50. By providing a limiting plate 42 in each storage area 41, the cards 50 in the storage area 41 can be limited to prevent them from moving to other storage areas 41 and affecting the subsequent taking out operation.

[0062] Specifically, when the card receiving device is installed, the card storage mechanism 40 is installed at a predetermined position; the conveyor belt mechanism 10 is at an initial position and the manipulator grasping mechanism 30 is at an initial position. The specific steps of the operation are as follows:

[0063] First, the card 50 is placed in front of the conveyor belt mechanism 10; as the conveyor belt 13 rotates, the card 50 is conveyed to the rear; the conveyor belt mechanism 10 stops moving;

[0064] Secondly, the attitude recognition unit installed at the rear top starts video detection; when the video detection algorithm detects the card 50 and obtains its center point and deflection angle, it notifies the manipulator grasping mechanism 30; the attitude recognition unit stops working. The specific working process of the video detection algorithm is as follows:

[0065] 1) By analyzing the R, G, and B values of the pixel point M in the given area of the image, when R < G < B, it discriminates whether it is blue, and thus obtains the color map C(x, y) of the current frame Pi(x, y).

[0066] 2) If the color points around a certain pixel point M are blue and M satisfies R < B && G < B, it also sets it to blue to obtain the corrected color map C ’ (x, y).

[0067] 3) On the color map C ’ (x, y), use the canny operator for edge detection, use findContours to find contours, and use approxPolyDP to remove the interference of small fluctuations.

[0068] 4) Find a quadrilateral that simultaneously satisfies a large area and a convex shape, and judge whether the cosine of the included angle between two adjacent straight lines in the contour is less than 0.3 (near an angle of 90 degrees). If so, this quadrilateral is the found card 50.

[0069] 5) Calculate the center point and deflection angle of the quadrilateral of the pass card. Among them, the definition and range of the deflection angle of the card 50: the positive acute angle or right angle formed by Woc and the x-axis, and the representation form is (xoc ’ , yoc ’ , woc ’ , hoc ’ , θoc ’ ), θoc ’ ∈(0, π / 2].

[0070] Finally, the manipulator grasping mechanism 30 moves in two directions, the front-back moving component 3211 and the left-right moving component 3212, so that the grasping structure 33 runs directly above the card 50; the vertical adjustment unit 322 of the manipulator grasping mechanism 30 drives the manipulator grasping mechanism 30 to descend so that the grasping structure 33 grabs the card 50; the rotational movement unit of the manipulator grasping mechanism 30 rotates the grasping structure 33 so that the card 50 is aligned with a storage area 41 position on the card storage box.

[0071] Vertical movement: The vertical adjustment unit 322 drives the grasping structure 33 holding the card 50 to rise to a predetermined height;

[0072] Horizontal movement: the front-to-back moving assembly 3211 and the left-to-right moving assembly 3212 move together, so that the grabbing structure 33 holding the pass card moves to above the storage area 41 of the card storage box;

[0073] Rotational motion: the rotational motion unit rotates the angle of the card 50 according to the deflection angle given by the gesture recognition unit;

[0074] Release the card 50: The gripping structure 33 releases the card 50, and the card 50 falls into the predetermined storage area 41 of the card storage box.

[0075] Return to the original position: the front-rear moving assembly 3211 and the left-right moving assembly 3212 move together to restore the grasping structure 33 to the initial position, and the manipulator grasping mechanism 30 stops moving.

[0076] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A card sorting device with a robot, characterized in that: It includes a conveyor belt mechanism, a card reader / writer, a card posture adjustment mechanism, a manipulator grasping mechanism and a card storage mechanism; The conveyor belt mechanism conveys the card from the outside of the device to the card posture adjustment mechanism; the card reader is arranged on the conveyor belt mechanism, and is used to realize position recognition and information exchange during the card transmission process; the card posture adjustment mechanism is arranged at the rear of the conveyor belt mechanism, and is used to sort the disordered direction of the card into a predetermined direction, and the manipulator grasping mechanism is used to automatically grasp the card and adjust the direction of the card, and put the card into the card storage mechanism; The transmission direction of the conveyor belt mechanism is set as a first direction, and the horizontal direction perpendicular to the first direction is set as a second direction. The posture adjustment mechanism includes: Two brackets are respectively arranged at the front and rear sides of the conveyor belt mechanism; A sliding track, fixedly connected between the two brackets along the second direction; A transmission member, slidably fitted on the sliding track; A driver, fixedly mounted at one end of the sliding track and connected to the transmission member, for driving the transmission member to reciprocate along the second direction; A clamping block, fixedly connected to the transmission member, wherein the top of the clamping block is slidably matched with the sliding track, and the bottom is placed on the conveyor belt mechanism, and the clamping block is used to push the card along the second direction so that the side edge of the card is arranged along the first direction; The bracket is provided with a posture recognition unit for assisting in identifying whether a card exists and the posture of the card when the card reader fails to recognize the card; The manipulator grasping mechanism includes a rotational motion unit, the posture recognition unit is used to calculate the center point and deflection angle of the card quadrilateral and transmit them to the rotational motion unit, and the rotational motion unit rotates the angle of the card; The card storage mechanism has a plurality of storage areas in a matrix array, each storage area is provided with two limit plates, and the two limit plates are located at opposite sides of the storage area; One clamping block is provided, and the clamping block and the bracket form a sorting area; or two clamping blocks are provided opposite to each other along the second direction, and the transmission member drives the two clamping blocks to move toward or away from each other, and the card is located between the two clamping blocks; The card clamping block is provided to push the card along the second direction, and adjust the direction of the card during the movement so that its side is parallel to the first direction.

2. The card sorting device with a robot as claimed in claim 1, characterized in that: The conveyor belt mechanism comprises: Frame; Two conveying rollers are connected to the frame at intervals, and the conveying rollers rotate around the second direction; A conveyor belt is drivingly connected between the two conveyor rollers, and the conveyor belt is used for conveying cards.

3. The card sorting device with a robot as claimed in claim 2, characterized in that: The conveyor belt mechanism also includes a card blocking plate arranged on a side of the frame body close to the card storage mechanism.

4. The card sorting device with a robot as claimed in claim 2, characterized in that: The manipulator grasping mechanism comprises: A frame, fixedly connected to the two brackets; A manipulation structure is fixedly connected to the frame, the manipulation structure has a connection position, and the manipulation structure includes a linear adjustment unit for driving the connection position to move horizontally and a vertical adjustment unit for driving the connection position to move up and down; The grabbing structure is rotatably connected to the connecting position and is used for grabbing the cards on the conveyor belt.

5. The card sorting device with a robot as claimed in claim 4, characterized in that: The straight line adjustment unit comprises: A forward and backward moving component is fixedly connected to the frame, and the forward and backward moving component drives the connecting position to move along the first direction; The left-right moving component is slidably connected to the front-back moving component, and the left-right moving component drives the connecting position to move along the second direction.

6. The card sorting device with a robot as claimed in claim 5, characterized in that: The grasping structure includes an automatic clamp, a suction cup or an electromagnet.

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