Part sorting equipment

Abstract

The invention discloses part sorting equipment, and aims to provide part sorting equipment which is simple in structure, high in sorting speed, high in precision and capable of being matched with a transport vehicle for feeding and discharging. The device comprises a multi-stage conveying assembly, a mechanical arm assembly and a visual assembly, the multi-stage conveying assembly comprises a first conveying line, a second conveying line and a third conveying line, the mechanical arm assembly comprises mechanical arm supports, spider arm mechanical arms and clamping jaw modules, and the multiple sets of mechanical arm supports are arranged at the upper end of the third conveying line; the spider hand mechanical arm is arranged at the upper end of the mechanical arm support, the clamping jaw module is connected with the movable end of the spider hand mechanical arm, the spider hand mechanical arm drives the clamping jaw module to be matched with a plurality of parts on the third conveying line, and the visual assembly is arranged at the feeding end of the third conveying line. The visual assembly is matched with the multiple parts at the feeding end of the third conveying line. The part sorting device is applied to the technical field of part sorting.

Description

Technical Field

[0001] The present invention is applied to the technical field of parts sorting, and in particular relates to a parts sorting device. Background Art

[0002] In the field of industrial production, with the rapid development of industrialization, various parts in production need to be classified and stored. With the advent of intelligent manufacturing and digital transformation, the sorting system is also slowly shifting from manual sorting to intelligent sorting and automated processes. At present, classification and transfer are mainly carried out by manual sorting. This traditional manual sorting method requires a lot of manpower, and there will be certain errors in manual sorting, resulting in low sorting accuracy. Its performance and efficiency directly affect the operation of the entire enterprise. At the same time, the full carrier needs to be transferred during the sorting process. Due to the different sizes and dimensions of different parts, the number of transfers of carriers loaded with different parts during the sorting process is also different. The transfer process is prone to stop sorting, which reduces the sorting efficiency, or the robot is used instead of manual sorting. However, the traditional sorting method requires multiple conveyor lines and multiple sets of robots to complete the sorting of different parts, and the full carrier requires manual intervention for transfer and replacement, which is inefficient. If a parts sorting equipment with a simple structure, fast sorting speed, high accuracy, and the ability to load and unload materials with a transport vehicle can be designed, the above problems can be solved. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a parts sorting device which has a simple structure, a fast sorting speed, a high precision and can cooperate with a transport vehicle for loading and unloading.

[0004] The technical solution adopted by the present invention is: the present invention includes a multi-stage transmission component, a manipulator component and a visual component, the multi-stage transmission component includes a first transmission line, a second transmission line and a third transmission line, the manipulator component includes a manipulator bracket, a spider arm manipulator arm and a gripper module, several groups of the manipulator brackets are arranged at the upper end of the third transmission line, the spider arm manipulator arm is arranged at the upper end of the manipulator bracket, the gripper module is connected to the movable end of the spider arm manipulator arm, the spider arm manipulator arm drives the gripper module to cooperate with several parts on the third transmission line, the visual component is arranged at the upper feeding end of the third transmission line, and the visual component cooperates with several parts at the feeding end of the third transmission line.

[0005] Furthermore, the visual component includes a visual bracket, an industrial camera and a camera light source, the visual bracket is arranged at the feeding end of the third conveyor line, the industrial camera is arranged at the upper end of the visual bracket and cooperates with several of the parts on the third conveyor line.

[0006] Furthermore, a trigger sensor is also provided in the middle of the visual support, and the trigger sensor cooperates with a plurality of the parts at the upper feeding end of the third conveyor line.

[0007] Furthermore, the second conveying line is arranged between the first conveying line and the third conveying line, the first conveying line, the second conveying line and the third conveying line are arranged in sequence from high to low, and both ends of the second conveying line are connected to the first conveying line and the third conveying line respectively through sliding inclined plates.

[0008] Furthermore, a plurality of parts collection frames are provided on both sides of the plurality of robot brackets and at the unloading end of the third conveyor line, and the spider arm robot grips the plurality of parts and cooperates with the plurality of parts collection frames.

[0009] Furthermore, a full material sensor is provided at the upper end of the parts collection frame, and the full material sensor cooperates with the plurality of stacked parts in the parts collection frame.

[0010] Furthermore, the parts collection frame includes a bottom plate and a frame body, and the transport vehicle assembly cooperates with the bottom plate.

[0011] Furthermore, a plurality of guardrails are arranged on the outside of the multi-stage conveying assembly, and the guardrails are provided with a transport vehicle opening, and the transport vehicle assembly cooperates with a plurality of the parts collection frames through the transport vehicle opening.

[0012] Furthermore, a lifting conveyor is also provided at the unloading end of the third conveyor line, and the loading end and unloading end of the lifting conveyor cooperate with the third conveyor line and the parts collection frame at the unloading end of the third conveyor line respectively.

[0013] Furthermore, the feeding end and the discharging end of the first conveying line are respectively provided with material sensors, and the material sensors are inductively matched with the plurality of parts on the first conveying line.

[0014] The beneficial effects of the present invention are as follows: the multi-stage conveying assembly is combined by a plurality of sections of conveying lines with successively decreasing heights, and the stacking of parts during the loading process can be prevented by adjusting the falling vibration. The three sections of the conveying lines are set with different speeds to prevent the adhesion of several parts resulting in reduced clamping accuracy. The visual assembly can perform precise positioning, so that the plurality of groups of the manipulator assemblies can stably clamp and sort, and the transport vehicle assembly is used to synchronously transfer and replace the collection frame. At the same time, a plurality of groups of sensors are provided to detect the position of parts, so as to ensure the accuracy of transportation, clamping and sorting, and prevent the clamping deviation and slipping due to inaccurate positioning. The overall structure is compact, the sorting efficiency is high, and the applicability is strong. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a stereoscopic view of the present invention; Figure 2 is a stereoscopic view of the multi-stage conveying assembly; Figure 3 is a three-dimensional view of the manipulator assembly; Figure 4 yes Figure 3 A magnified view of center A; Figure 5 is a stereoscopic view of the visual component; Figure 6 is a three-dimensional view of the parts collection frame; Figure 7 is a stereoscopic view of the lifting conveyor. DETAILED DESCRIPTION

[0016] like Figures 1 to 7 As shown, in this embodiment, the present invention includes a multi-stage conveying component 1, a manipulator component 2 and a visual component 3, the multi-stage conveying component 1 includes a first conveying line 4, a second conveying line 5 and a third conveying line 6, the manipulator component 2 includes a manipulator bracket 7, a spider arm manipulator arm 8 and a gripper module 9, several groups of the manipulator brackets 7 are arranged at the upper end of the third conveying line 6, the spider arm manipulator arm 8 is arranged at the upper end of the manipulator bracket 7, the gripper module 9 is connected to the movable end of the spider arm manipulator arm 8, the spider arm manipulator arm 8 drives the gripper module 9 to cooperate with several parts 10 on the third conveying line 6, the visual component 3 is arranged at the feeding end of the third conveying line 6, and the visual component 3 cooperates with several parts 10 at the feeding end of the third conveying line 6. It can be seen that the transmission speeds of the three groups of conveyor lines, namely the first conveyor line 4, the second conveyor line 5 and the third conveyor line 6, are different, and a number of the parts 10 can be effectively separated, so that the two groups of the spider arm mechanical arms 8 can drive the gripper modules 9 to grip the parts 10, and the visual component 3 can perform precise positioning before gripping and sorting, thereby ensuring the gripping accuracy.

[0017] like Figure 1 and Figure 5 As shown, in this embodiment, the visual component 3 includes a visual support 11, an industrial camera 12 and a camera light source 13. The visual support 11 is arranged at the feeding end of the third conveyor line 6. The industrial camera 12 is arranged at the upper end of the visual support 11 and cooperates with the parts 10 on the third conveyor line 6. It can be seen that the industrial camera 12 can scan and shoot the parts 10, and transmit the image to the image recognition device to drive the spider arm 8 to accurately grasp. The camera light source 13 provides a light source for shooting, so that the shooting and image recognition effects are better.

[0018] like Figure 5As shown, in this embodiment, a trigger sensor 23 is also provided in the middle of the visual support 11, and the trigger sensor 23 cooperates with a plurality of the parts 10 at the feeding end of the third conveyor line 6. It can be seen that the trigger sensor 23 can drive the industrial camera 12 to start scanning and shooting, which can avoid invalid image acquisition.

[0019] like Figure 1 and Figure 2 As shown, in this embodiment, the second conveyor line 5 is arranged between the first conveyor line 4 and the third conveyor line 6, and the first conveyor line 4, the second conveyor line 5 and the third conveyor line 6 are arranged in order from high to low, and the two ends of the second conveyor line 5 are respectively connected to the first conveyor line 4 and the third conveyor line 6 through the sliding inclined plate 14. It can be seen that the multi-stage conveyor assembly 1 is composed of multiple sections of conveyor lines with successively decreasing heights, and the falling vibration adjustment can prevent the stacking of parts during the clamping process, and the different speeds of the three sections of the conveyor line can prevent the reduction of the clamping accuracy due to the close distance of several parts during the transmission process.

[0020] like Figure 1 and Figure 6 As shown, in this embodiment, a plurality of parts collection frames 15 are provided on both sides of the plurality of manipulator brackets 7 and the unloading end of the third conveyor line 6, and the spider arm 8 clamps a plurality of parts 10 in coordination with the plurality of parts collection frames 15. It can be seen that the four groups of parts collection frames 15 are evenly distributed on both sides of the spider arm 8, and the moving distance during clamping and sorting is short, the efficiency is high, and more different parts 10 can be sorted according to continuous learning.

[0021] like Figure 6 As shown, in this embodiment, a full material sensor 16 is provided at the upper end of the parts collection frame 15, and the full material sensor 16 senses and cooperates with the plurality of stacked parts 10 in the parts collection frame 15. It can be seen that when the full material sensor 16 recognizes the parts 10, the parts collection frame 15 is full, and a signal can be transmitted to the external transfer mechanism to transfer the parts collection frame 15.

[0022] like Figure 6 As shown, in this embodiment, the parts collection frame 15 includes a bottom plate 17 and a frame body 18, and the transport vehicle assembly 19 cooperates with the bottom plate 17. It can be seen that the transport vehicle assembly 19 transfers the full parts collection frame 15 to the parts storage position through the support position of the bottom plate 17, and replaces the empty parts collection frame 15.

[0023] like Figure 1As shown, in this embodiment, a plurality of guardrails 20 are arranged outside the multi-stage conveying assembly 1, and the guardrails 20 are provided with a transport vehicle opening, through which the transport vehicle assembly 19 cooperates with a plurality of the parts collection frames 15. It can be seen that the plurality of guardrails 20 can prevent personnel from entering the equipment when it is in working state and cause accidents, and transfer the collection frames through the transport vehicle opening.

[0024] like Figure 1 and Figure 7 As shown, in this embodiment, the unloading end of the third conveyor line 6 is further provided with a lifting conveyor 21, and the loading end and unloading end of the lifting conveyor 21 are respectively matched with the third conveyor line 6 and the part collection frame 15 of the unloading end of the third conveyor line 6. It can be seen that when the unsorted parts 10 appear, the third conveyor line 6 will convey the parts 10 to the unloading position and drop them into the lifting conveyor 21, and the parts 10 will be transferred to the part collection frame 15 at the NG position through the lifting conveyor 21.

[0025] like Figure 2 As shown, in this embodiment, the feeding end and the discharging end of the first conveying line 4 are respectively provided with material sensors 22, and the material sensors 22 are inductively matched with the parts 10 on the first conveying line 4. It can be seen that the material sensors 22 can identify the number and state of the parts 10 and control the relative speed of the three groups of conveying lines at the same time.

[0026] The working principle of the present invention is as follows: before the equipment is started, the several parts collection frames 15 are transported to the sorting position and the NG position through the transport vehicle assembly 19. When the equipment is started, the loading structure puts the several parts 10 of different sizes into the first conveyor line 4. The material sensor 22 senses the parts 10 and adjusts the speed of the three groups of conveyor lines. The several parts 10 flow into the second conveyor line 5 and the third conveyor line 6 in turn through the sliding inclined plate 14. When the several parts 10 pass through the lower end of the visual assembly 3, the industrial camera 12 performs image acquisition and positioning on the several parts 10. The several spider arm mechanical arms 8 drive the gripper modules 9 to grip and sort the several parts 10. The unsorted parts 10 flow out through the lifting conveyor 21. When the full material sensor 16 recognizes that the parts are full, the transport vehicle assembly 19 transfers the full parts collection frame 15 out and replaces the empty parts collection frame 15. The above steps are repeated to achieve accurate sorting and centralized transfer of parts.

[0027] Although the embodiments of the present invention are described with practical solutions, they do not constitute limitations on the meaning of the present invention. For those skilled in the art, it is obvious to modify the implementation scheme and combine it with other solutions based on this description.

Claims

1. A parts sorting device, comprising a multi-stage conveying component (1), a robot component (2) and a visual component (3), characterized in that: The multi-stage conveying component (1) comprises a first conveying line (4), a second conveying line (5) and a third conveying line (6); the manipulator component (2) comprises a manipulator bracket (7), a spider arm manipulator arm (8) and a gripper module (9); a plurality of groups of the manipulator brackets (7) are arranged at the upper end of the third conveying line (6); the spider arm manipulator arm (8) is arranged at the upper end of the manipulator bracket (7); the gripper module (9) is connected to the movable end of the spider arm manipulator arm (8); the spider arm manipulator arm (8) drives the gripper module (9) to cooperate with a plurality of parts (10) on the third conveying line (6); the visual component (3) is arranged at the feeding end of the third conveying line (6); the visual component (3) cooperates with a plurality of parts (10) on the feeding end of the third conveying line (6).

2. A parts sorting device according to claim 1, characterized in that: The visual component (3) comprises a visual support (11), an industrial camera (12) and a camera light source (13); the visual support (11) is arranged at the loading end of the third conveyor line (6); the industrial camera (12) is arranged at the upper end of the visual support (11) and cooperates with the plurality of parts (10) on the third conveyor line (6).

3. A parts sorting device according to claim 2, characterized in that: A trigger sensor (23) is also provided in the middle of the visual support (11), and the trigger sensor (23) cooperates with a plurality of the parts (10) at the feeding end of the third conveying line (6).

4. A parts sorting device according to claim 1, characterized in that: The second conveying line (5) is arranged between the first conveying line (4) and the third conveying line (6); the first conveying line (4), the second conveying line (5) and the third conveying line (6) are arranged in order from high to low; and two ends of the second conveying line (5) are connected to the first conveying line (4) and the third conveying line (6) respectively via sliding inclined plates (14).

5. A parts sorting device according to claim 1, characterized in that: A plurality of parts collection frames (15) are provided on both sides of the plurality of robot brackets (7) and at the unloading end of the third conveyor line (6), and the spider robot arm (8) clamps the plurality of parts (10) and cooperates with the plurality of parts collection frames (15).

6. A parts sorting device according to claim 5, characterized in that: A full material sensor (16) is provided at the upper end of the parts collection frame (15), and the full material sensor (16) is inductively matched with a plurality of stacked parts (10) in the parts collection frame (15).

7. A parts sorting device according to claim 5, characterized in that: The parts collection frame (15) comprises a bottom plate (17) and a frame body (18), and the transport vehicle assembly (19) cooperates with the bottom plate (17).

8. A parts sorting device according to claim 7, characterized in that: A plurality of guardrails (20) are arranged outside the multi-stage conveying assembly (1), and the guardrails (20) are provided with a transport vehicle opening, through which the transport vehicle assembly (19) cooperates with a plurality of the parts collection frames (15).

9. A parts sorting device according to claim 5, characterized in that: The unloading end of the third conveyor line (6) is also provided with a lifting conveyor (21), and the loading end and unloading end of the lifting conveyor (21) respectively cooperate with the third conveyor line (6) and the parts collection frame (15) at the unloading end of the third conveyor line (6).

10. The parts sorting device according to claim 1, characterized in that: The first conveying line (4) is provided with a material sensor (22) at the feeding end and the discharging end respectively, and the material sensor (22) is inductively matched with a plurality of the parts (10) on the first conveying line (4).

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