Automatic material grabbing and arranging device

Abstract

The invention provides an automatic material grabbing and arranging device, and relates to the technical field of material grabbing. The automatic material grabbing and arranging device comprises a rack, a flexible vibration assembly, a storage tray, a grabbing mechanism and a visual detection assembly. The flexible vibration assembly is arranged on the rack. The object placing disc and the flexible vibration assembly are correspondingly arranged on the rack, and a plurality of first object placing cavities and a plurality of second object placing cavities are formed in the object placing disc; a first grabbing assembly in the grabbing mechanism can grab a first material and place the first material in a corresponding first storage cavity, and a second grabbing assembly can grab a second material and place the second material in a corresponding second storage cavity; the visual detection assembly comprises a 2D camera and a 3D camera, the 2D camera and the 3D camera are both arranged above the flexible vibration assembly and are both in communication connection with the grabbing mechanism, and shooting areas of the 2D camera and the 3D camera cover the flexible vibration assembly. According to the automatic material grabbing and arranging device, grabbing and storage of materials in different forms can be completed at the same time, and the grabbing precision is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of material grabbing, and in particular to an automatic material grabbing and sorting device. Background Art

[0002] In the process of product manufacturing and assembly, it is usually necessary to grab and store a variety of materials. Due to their different locations and functions, the shapes of the materials are different, such as three-dimensional irregular materials and flat regular materials. Although the existing grabbing mechanism can complete the grabbing and storage of materials, when grabbing materials of different shapes, it cannot meet the requirements of feature recognition and cannot adjust the shape of the materials, resulting in poor compatibility, inability to grab materials of different shapes at the same time, and inability to guarantee the grabbing accuracy. Summary of the invention

[0003] The object of the present invention is to provide an automatic material grabbing and sorting device, which can simultaneously complete the grabbing and storage of materials in different forms and ensure the grabbing accuracy.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] Automatic material grabbing and sorting device, including:

[0006] frame;

[0007] A flexible vibration component is arranged on the frame and is used to accommodate a first material and a second material, wherein the first material is a three-dimensional irregular material and the second material is a planar regular material;

[0008] A storage tray, which is arranged on the frame corresponding to the flexible vibration component, and the storage tray is provided with a plurality of first storage cavities for accommodating the first material and a plurality of second storage cavities for accommodating the second material;

[0009] The grabbing mechanism comprises a first grabbing assembly and a second grabbing assembly both movably disposed on the frame, wherein the first grabbing assembly is capable of grabbing the first material and placing the grabbed first material in the corresponding first storage cavity, and the second grabbing assembly is capable of grabbing the second material and placing the grabbed second material in the corresponding second storage cavity;

[0010] The visual detection component includes a 2D camera and a 3D camera, wherein the 2D camera and the 3D camera are both arranged above the flexible vibration component and are both communicatively connected with the grasping mechanism, and the shooting areas of the 2D camera and the 3D camera cover the flexible vibration component, wherein the 2D camera can detect and identify the position and state of the second material, and the 3D camera can detect and identify the position and state of the first material.

[0011] As a further technical solution, the first grabbing assembly includes a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft and a first grabbing member;

[0012] The first transmission shaft is rotatably connected to the frame along the A direction and extends along the X direction. The first end of the second transmission shaft is rotatably connected to the first transmission shaft along the radial direction of the first transmission shaft. The third transmission shaft includes a first transmission part and a second transmission part vertically and fixedly connected to the first end of the first transmission part. The second end of the first transmission part is rotatably connected to the second transmission shaft along the radial direction of the second transmission shaft. The fourth transmission shaft is rotatably connected to the second transmission part, and the extension direction of the fourth transmission shaft is perpendicular to the axis of the second transmission part. The fifth transmission shaft is rotatably connected to the fourth transmission shaft along the radial direction of the fourth transmission shaft. The sixth transmission shaft is rotatably connected to the fifth transmission shaft along the radial direction of the fifth transmission shaft. The first grabbing member is fixedly arranged on the sixth transmission shaft.

[0013] As a further technical solution, the first grabbing assembly also includes a support member, which is fixedly arranged on one side of the frame, and the upper end surface of the support member is provided with a support shaft extending along the Z direction, and the first transmission shaft is rotatably connected to the support shaft.

[0014] As a further technical solution, the second grabbing assembly includes a first supporting rail, a second supporting rail, a first auxiliary member and a second grabbing member;

[0015] The first support rail is fixedly arranged on the frame and extends along the X direction, the second support rail is slidably arranged on the first support rail and extends along the Y direction, the first auxiliary member is slidably arranged on the second support rail, and the second grabbing member is movably arranged on the first auxiliary member along the Z direction.

[0016] As a further technical solution, the second grabbing assembly also includes a second auxiliary member, which is movably arranged on the first auxiliary member along the Z direction, and the second auxiliary member extends along the Y direction, and the second grabbing member is movably arranged on the second auxiliary member along the Y direction.

[0017] As a further technical solution, the first support rail and the first grabbing assembly are arranged relative to each other along the Y direction, the flexible vibration assembly and the storage tray are both arranged between the first support rail and the first grabbing assembly, and the storage tray is arranged close to the first grabbing assembly.

[0018] As a further technical solution, the flexible vibration component includes a vibration motor and a storage piece, the vibration motor is arranged on the upper end surface of the frame, the storage piece is transmission-connected to the output end of the vibration motor, and is used to accommodate the first material and the second material.

[0019] As a further technical solution, the placement piece is configured to be plate-shaped, and a rib is disposed on the upper end surface of the placement piece. The rib is disposed corresponding to the side wall of the placement piece and extends along the circumference of the placement piece.

[0020] As a further technical solution, the automatic material grabbing and sorting device also includes an adjusting component, which is movably arranged on the lower end surface of the frame, and the frame can be dragged by adjusting the adjusting component.

[0021] As a further technical solution, the automatic material grabbing and sorting device also includes a feeding component, which includes a feeding vibrator and a feeding piece. The feeding vibrator is connected to the frame, and the feeding piece is connected to the output end of the feeding vibrator, and the feeding port of the feeding piece is arranged above the flexible vibration component.

[0022] Compared with the prior art, the material automatic grabbing and sorting device provided by the present invention has the following technical advantages:

[0023] Since the frame is provided with a flexible vibration component, a storage tray, a grasping mechanism and a visual detection component, the 2D camera and the 3D camera in the visual detection component are both communicatively connected with the grasping mechanism, and the grasping mechanism includes a first grasping component capable of grasping a first material and a second grasping component capable of grasping a second material. Therefore, when grabbing and storing materials, first place multiple first materials and second materials on the flexible vibration component, and make the flexible vibration component operate synchronously at the same time, so that the multiple first materials and second materials are spread out on the flexible vibration component; then the 2D camera and the 3D camera start to identify the multiple first materials and second materials on the flexible vibration component. If the current material is identified as the first material, the 3D camera transmits the grabbing signal to the first grabbing component, and the first grabbing component grabs the corresponding first material and places it in the corresponding first storage cavity. If the current material is identified as the second material, the 2D camera transmits the grabbing signal to the second grabbing component, and the second grabbing component grabs the corresponding second material and places it in the corresponding second cavity. If both the 2D camera and the 3D camera do not identify the first material or the second material that meets the grabbing conditions on the flexible vibration component, for example, the first material and the second material are stacked, inverted, or stuck to the edge, the flexible vibration component continues to operate and vibrate until at least one of the 2D camera and the 3D camera identifies the material that meets the grabbing conditions. During the whole process, the flexible vibration component, the storage tray, the first grabbing component and the second grabbing component cooperate with the 2D camera and the 3D camera to identify specific materials through the corresponding cameras to ensure the accuracy of feature recognition, so that the automatic grabbing and storage of the first material and the second material can be adaptively completed, ensuring that each grabbing action of the first grabbing component or the second grabbing component can grab the corresponding material to ensure the grabbing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0025] Figure 1 It is a structural schematic diagram of a material automatic grabbing and sorting device provided in an embodiment of the present invention;

[0026] Figure 2 It is a structural schematic diagram of the first grabbing component in the automatic material grabbing and sorting device provided in an embodiment of the present invention;

[0027] Figure 3 It is a structural schematic diagram of the second grabbing component in the automatic material grabbing and sorting device provided in an embodiment of the present invention.

[0028] In the figure:

[0029] 100, rack;

[0030] 200, flexible vibration component; 210, vibration motor; 220, object placement piece; 221, retaining edge;

[0031] 300, storage tray;

[0032] 410, first grabbing assembly; 411, first transmission shaft; 412, second transmission shaft; 413, third transmission shaft; 4131, first transmission part; 4132, second transmission part; 414, fourth transmission shaft; 415, fifth transmission shaft; 416, sixth transmission shaft; 417, first grabbing member; 418, support member; 4181, support shaft; 420, second grabbing assembly; 421, first support rail; 422, second support rail; 423, first auxiliary member; 424, second grabbing member; 425, second auxiliary member;

[0033] 500, adjustment component; 510, adjustment wheel; 520, adjustment foot cup;

[0034] 600. Visual mounting parts. DETAILED DESCRIPTION

[0035] Before any embodiments of the application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above drawings.

[0036] In this application, the terms "comprises", "includes", "has" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or mechanism that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or mechanism. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or mechanism that includes the element.

[0037] In this application, the term "and / or" is a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects before and after are in an "and / or" relationship.

[0038] In the present application, the terms "connect", "combine", "couple", and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, direct connection refers to two parts or components being connected together without the need for an intermediate piece, and indirect connection refers to two parts or components being connected to at least one intermediate piece respectively, and the two parts or components being connected via the intermediate piece. In addition, "connect" and "couple" are not limited to physical or mechanical connections or couplings, and may include electrical connections or couplings.

[0039] In the present application, it will be understood by those of ordinary skill in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include the values ​​and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerances caused by manufacturing, assembly, and use associated with a specific value, and the like. Such terms should also be considered to disclose a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0040] In this application, it will be understood by those skilled in the art that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0041] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, the bottom can include directly below, lower left, lower right, lower front, and lower back, etc.

[0042] Combination Figures 1 to 3As shown, the automatic material grabbing and sorting device (hereinafter referred to as the grabbing device) provided in this embodiment can complete the grabbing and storage of flat materials and three-dimensional materials at the same time, and ensure the grabbing accuracy. Specifically, the grabbing device includes a frame 100, a flexible vibration component 200, a storage tray 300, a grabbing mechanism and a visual detection component: the flexible vibration component 200 is arranged on the frame 100, for accommodating a first material and a second material, wherein the first material is a three-dimensional irregular material, and the second material is a planar regular material; the storage tray 300 is arranged on the frame 100 corresponding to the flexible vibration component 200, and a plurality of first storage cavities for accommodating the first material and a plurality of second storage cavities for accommodating the second material are spaced apart on the storage tray 300; the grabbing mechanism includes a first grabbing component 410 and a second grabbing component 411 both movably arranged on the frame 100. The grabbing component 420, the first grabbing component 410 can grab the first material and place the grabbed first material in the corresponding first storage cavity, the second grabbing component 420 can grab the second material and place the grabbed second material in the corresponding second storage cavity; the visual detection component includes a 2D camera and a 3D camera, the 2D camera and the 3D camera are both arranged above the flexible vibration component 200, and are both communicatively connected with the grabbing mechanism, the shooting areas of the 2D camera and the 3D camera cover the flexible vibration component 200, wherein the 2D camera can detect and identify the position and state of the second material, and the 3D camera can detect and identify the position and state of the first material.

[0043] Since the frame 100 is provided with a flexible vibration component 200, a storage tray 300, a grabbing mechanism and a visual inspection component, the 2D camera and the 3D camera in the visual inspection component are both connected to the grabbing mechanism in communication, and the grabbing mechanism includes a first grabbing component 410 capable of grabbing a first material and a second grabbing component 420 capable of grabbing a second material. Therefore, when grabbing and storing materials, a plurality of first materials and a second material are first placed on the flexible vibration component 200, and the flexible vibration component 200 is operated synchronously at the same time, so that the plurality of first materials and the second materials are spread out on the flexible vibration component 200; then the 2D camera and the 3D camera begin to identify the plurality of first materials and the second materials on the flexible vibration component 200. If the current material is identified as the first material, the 3D camera transmits the grabbing signal to the first grabbing component 410, and the first grabbing component 410 grabs the corresponding first material and places it on the corresponding first In the storage cavity, if the current material is identified as the second material, the 2D camera transmits the grabbing signal to the second grabbing component 420, and the second grabbing component 420 grabs the corresponding second material and places it in the corresponding second cavity; if the 2D camera and the 3D camera do not recognize that there is a first material or a second material that meets the grabbing conditions on the flexible vibration component 200, for example, the first material and the second material are stacked, inverted, or close to each other, the flexible vibration component 200 continues to vibrate until at least one of the 2D camera and the 3D camera recognizes that there is a material that meets the grabbing conditions. In the whole process, the flexible vibration component 200, the storage tray 300, the first grabbing component 410 and the second grabbing component 420 cooperate with the 2D camera and the 3D camera, and the specific material is identified by the corresponding camera to ensure the accuracy of feature recognition, so that the automatic grabbing and storage of the first material and the second material can be adaptively completed, and the first grabbing component 410 or the second grabbing component 420 can grab the corresponding material every time the grabbing action is performed to ensure the grabbing accuracy. In this embodiment, the 2D camera and the 3D camera are both fixedly arranged on the frame 100 through the visual mounting member 600, and the 2D camera and the 3D camera are located directly above the flexible vibration assembly 200, so that the shooting areas of the 2D camera and the 3D camera cover the flexible vibration assembly 200. In addition, the 2D camera and the 3D camera are not the technical focus of this embodiment, and can be arranged according to the existing technology, and the structural details and principles thereof are not described here.

[0044] Preferably, the first grabbing assembly 410 includes a first transmission shaft 411, a second transmission shaft 412, a third transmission shaft 413, a fourth transmission shaft 414, a fifth transmission shaft 415, a sixth transmission shaft 416 and a first grabbing member 417; the first transmission shaft 411 is rotatably connected to the frame 100 along the A direction and extends along the X direction, the first end of the second transmission shaft 412 is rotatably connected to the first transmission shaft 411 along the radial direction of the first transmission shaft 411, and the third transmission shaft 413 includes a first transmission portion 4131 and a second transmission portion 4131 vertically fixedly connected to the first end of the first transmission portion 4131. The transmission part 4132, the second end of the first transmission part 4131 is rotatably connected to the second transmission shaft 412 along the radial direction of the second transmission shaft 412, the fourth transmission shaft 414 is rotatably connected to the second transmission part 4132, and the extension direction of the fourth transmission shaft 414 is perpendicular to the axis of the second transmission part 4132, the fifth transmission shaft 415 is rotatably connected to the fourth transmission shaft 414 along the radial direction of the fourth transmission shaft 414, the sixth transmission shaft 416 is rotatably connected to the fifth transmission shaft 415 along the radial direction of the fifth transmission shaft 415, and the first grabbing member 417 is fixedly arranged on the sixth transmission shaft 416. In this arrangement, through the cooperation of multiple transmission shafts, the first grabbing member 417 is driven to rise and fall and rotate in multiple directions, so that the first grabbing member 417 can grab three-dimensional irregular materials, thereby completing the grabbing and storage of three-dimensional irregular materials.

[0045] Furthermore, the first grabbing assembly 410 also includes a support member 418 , which is fixedly disposed on one side of the frame 100 , and an upper end surface of the support member 418 is provided with a support shaft 4181 extending along the Z direction, and the first transmission shaft 411 is rotatably connected to the support shaft 4181 .

[0046] Combination Figure 1 and Figure 2 As shown, in the process of grabbing and storing the first material, the first transmission shaft 411 rotates along the A direction, and the second transmission shaft 412 is transmitted relative to the first transmission shaft 411 along the radial direction of the first transmission shaft 411. In order to avoid the first transmission shaft 411 and the second transmission shaft 412 from interfering with the frame 100, in this embodiment, the first transmission shaft 411 is rotatably connected to the support shaft 4181. A support member 418 is fixedly arranged on one side of the frame 100, and the support shaft 4181 is arranged on the support member 418, so as to avoid the first grabbing assembly 410 being arranged on the upper end surface of the frame 100, thereby reducing the overall spatial volume of the frame 100. In addition, in order to improve the connection strength and connection stability between the support member 418 and the frame 100, in this embodiment, the support member 418 extends along the Z direction in a rod shape, and the support member 418 is fixedly connected to one side of the frame 100 through a plurality of fixing members.

[0047] Preferably, the second grabbing component 420 includes a first supporting rail 421, a second supporting rail 422, a first auxiliary member 423 and a second grabbing member 424; the first supporting rail 421 is fixedly arranged on the frame 100 and extends along the X direction, the second supporting rail 422 is slidably arranged on the first supporting rail 421 and extends along the Y direction, the first auxiliary member 423 is slidably arranged on the second supporting rail 422, and the second grabbing member 424 is movably arranged on the first auxiliary member 423 along the Z direction.

[0048] Combination Figure 1 and Figure 3 As shown, the upper end surface of the first support rail 421 is provided with an X guide rail extending along the X direction, and the bottom wall of the first end of the second support rail 422 is correspondingly provided with an X guide groove, and the second support rail 422 is slidably provided on the first support rail 421 through the X guide groove and the X guide rail; the upper end surface of the second support rail 422 is provided with a Y guide rail extending along the Y direction, and the first auxiliary member 423 is provided with a Y guide groove, and the first auxiliary member 423 is slidably provided on the second support rail 422 through the Y guide groove and the Y guide rail; An auxiliary component 423 is provided with a Z guide rail extending along the Z direction, and the second grabbing component 424 is movably arranged on the Z guide rail, and the second grabbing component 424 can rotate along its own axis; in this way, through the cooperation of the first support rail 421, the second support rail 422, and the first auxiliary component 423, the position of the second grabbing component 424 can be adjusted in the X, Y, and Z directions, and the grabbing direction of the second grabbing component 424 can be adjusted by rotating around its own axis, so as to facilitate the grabbing and storage of planar materials.

[0049] Furthermore, the second grabbing assembly 420 further includes a second auxiliary member 425 movably disposed on the first auxiliary member 423 along the Z direction and extending along the Y direction, and the second grabbing member 424 movably disposed on the second auxiliary member 425 along the Y direction.

[0050] The second auxiliary part 425 is arranged in a long strip shape, and a Z guide groove slidably matched with the Z guide rail is arranged on one side of the second auxiliary part 425. The second auxiliary part 425 is slidably arranged on the first auxiliary part 423 through the Z guide groove and the Z guide rail. At the same time, an auxiliary slide rail extending along the Y direction is arranged on the second auxiliary part 425, and the second grabbing part 424 is slidably arranged on the auxiliary slide rail. In this way, in the process of grabbing and storing planar materials, the second auxiliary part 425 and the second grabbing part 424 cooperate with each other to achieve fine adjustment of the relative position of the second grabbing part 424, so as to further improve the grabbing accuracy.

[0051] During the process of grabbing and storing materials, in order to avoid interference between the first grabbing component 410 and the second grabbing component 420, in this embodiment, the first support rail 421 and the first grabbing component 410 are arranged at a relative interval along the Y direction; in order to improve the convenience of grabbing materials from the flexible vibration component 200 and placing them on the placement tray 300, the flexible vibration component 200 and the placement tray 300 are both arranged between the first support rail 421 and the first grabbing component 410; and because the second grabbing member 424 can slide along the Y direction on the second support rail 422, in order to further improve the convenience of material storage, the placement tray 300 is arranged close to the first grabbing component 410.

[0052] Preferably, the flexible vibration assembly 200 includes a vibration motor 210 and a placement piece 220. The vibration motor 210 is arranged on the upper end surface of the frame 100. The placement piece 220 is transmission-connected to the output end of the vibration motor 210 and is used to place the first material and the second material. The vibration motor 210 is communication-connected with both the 2D camera and the 3D camera. After a plurality of first materials and a second material are placed on the placement piece 220, the vibration motor 210 starts to operate to drive the placement piece 220 to vibrate, so that the plurality of first materials and a plurality of second materials placed on the placement piece 220 are spread out on the placement piece 220. When the 2D camera and the 3D camera do not recognize that there are materials on the placement piece 220 that meet the grabbing conditions, a vibration signal is transmitted to the vibration motor 210, and the vibration motor 210 continues to vibrate until at least one of the 2D camera or the 3D camera recognizes that there are material positions on the placement piece 220 that meet the grabbing conditions. In addition, the specifications and states of the plurality of first materials and the plurality of second materials on the storage element 220 may be identified by the 2D camera and the 3D camera, so as to adaptively change the vibration level of the vibration motor 210 .

[0053] Furthermore, when the vibration motor 210 vibrates and drives the placement piece 220 to vibrate, in order to prevent the multiple first materials and the multiple second materials placed on the placement piece 220 from being vibrated out of the placement piece 220 under the action of the vibration force, in this embodiment, the placement piece 220 is configured to be plate-shaped, and a retaining edge 221 is provided on the upper end surface of the placement piece 220. The retaining edge 221 is provided corresponding to the side wall of the placement piece 220 and extends along the circumference of the placement piece 220.

[0054] Preferably, the grabbing device further comprises an adjusting component 500 , which is movably disposed on the lower end surface of the frame 100 , and the frame 100 can be dragged by adjusting the adjusting component 500 .

[0055] Specifically, in this embodiment, the adjustment assembly 500 includes an adjustment foot cup 520 and a plurality of adjustment wheels 510. The adjustment foot cup 520 is disposed at one end of the support member 418 away from the support shaft 4181, and the plurality of adjustment wheels 510 are disposed at intervals on the lower end surface of the frame 100. When the relative position of the gripping device needs to be changed, the adjustment foot cup 520 and the plurality of adjustment wheels 510 are lifted upward to facilitate dragging the frame 100, thereby changing the relative position of the gripping device; after the gripping device is dragged to the target position, the adjustment foot cup 520 and the plurality of adjustment wheels 510 are pressed downward to fix the gripping device to the target position, and the plurality of adjustment wheels 510 and the adjustment foot cup 520 bear the weight of the frame 100 and the first gripping assembly 410.

[0056] Preferably, the gripping device also includes a feeding assembly (not shown in the figure), the feeding assembly includes a feeding vibrator and a feeding piece, the feeding vibrator is connected to the frame 100, the feeding piece is connected to the output end of the feeding vibrator, and the feeding port of the feeding piece is arranged above the flexible vibration assembly 200.

[0057] Specifically, the feeding piece is configured to be bucket-shaped, and the feeding port is configured on the side wall of the feeding piece and is located above the object placement piece 220. After a plurality of first materials and a plurality of second materials are placed in the feeding piece, the feeding vibration piece starts to operate and drives the feeding piece to vibrate. During the vibration process of the feeding piece, the plurality of first materials and a plurality of second materials in the feeding piece are gradually moved to the object placement piece 220 through the feeding port under the action of the vibration force to complete the feeding work. In some other embodiments, a sensing piece may be provided on the feeding piece, and the sensing piece is communicatively connected with the feeding vibration piece. When the sensing piece senses that there are materials placed in the feeding piece, the starting information is transmitted to the feeding vibration piece, and the feeding vibration piece starts to operate autonomously. When all the materials in the feeding piece are transferred to the object placement piece 220, the sensing piece transmits the stop information to the feeding vibration piece, and the feeding vibration piece starts to stop operating, thereby realizing autonomous feeding.

[0058] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. 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 claims of the present invention.

Claims

1. Automatic material grabbing and sorting device, characterized in that: include: Rack(100); A flexible vibration component (200) is arranged on the frame (100) and is used to accommodate a first material and a second material, wherein the first material is a three-dimensional irregular material and the second material is a planar regular material; a storage tray (300) arranged on the frame (100) corresponding to the flexible vibration component (200), the storage tray (300) being provided with a plurality of first storage cavities for accommodating the first material and a plurality of second storage cavities for accommodating the second material; The gripping mechanism comprises a first gripping component (410) and a second gripping component (420) both movably disposed on the frame (100), wherein the first gripping component (410) is capable of gripping the first material and placing the gripped first material in the corresponding first storage cavity, and the second gripping component (420) is capable of gripping the second material and placing the gripped second material in the corresponding second storage cavity; A visual detection component comprises a 2D camera and a 3D camera, wherein the 2D camera and the 3D camera are both arranged above the flexible vibration component (200) and are both communicatively connected to the gripping mechanism, and the shooting areas of the 2D camera and the 3D camera cover the flexible vibration component (200), wherein the 2D camera is capable of detecting and identifying the position and state of the second material, and the 3D camera is capable of detecting and identifying the position and state of the first material.

2. The automatic material grabbing and sorting device according to claim 1 is characterized in that: The first grabbing assembly (410) comprises a first transmission shaft (411), a second transmission shaft (412), a third transmission shaft (413), a fourth transmission shaft (414), a fifth transmission shaft (415), a sixth transmission shaft (416) and a first grabbing member (417); The first transmission shaft (411) is rotatably connected to the frame (100) along the A direction and extends along the X direction; the first end of the second transmission shaft (412) is rotatably connected to the first transmission shaft (411) along the radial direction of the first transmission shaft (411); the third transmission shaft (413) comprises a first transmission part (4131) and a second transmission part (4132) vertically fixedly connected to the first end of the first transmission part (4131); the second end of the first transmission part (4131) is rotatably connected to the second transmission shaft (412) along the radial direction of the second transmission shaft (412); (412), the fourth transmission shaft (414) is rotatably connected to the second transmission part (4132), and the extension direction of the fourth transmission shaft (414) is perpendicular to the axis of the second transmission part (4132), the fifth transmission shaft (415) is rotatably connected to the fourth transmission shaft (414) along the radial direction of the fourth transmission shaft (414), the sixth transmission shaft (416) is rotatably connected to the fifth transmission shaft (415) along the radial direction of the fifth transmission shaft (415), and the first grabbing member (417) is fixedly arranged on the sixth transmission shaft (416).

3. The automatic material grabbing and sorting device according to claim 2 is characterized in that: The first grabbing assembly (410) further includes a support member (418), wherein the support member (418) is fixedly disposed on one side of the frame (100), and an upper end surface of the support member (418) is provided with a support shaft (4181) extending along the Z direction, and the first transmission shaft (411) is rotatably connected to the support shaft (4181).

4. The automatic material grabbing and sorting device according to claim 1 is characterized in that: The second grabbing assembly (420) comprises a first supporting track (421), a second supporting track (422), a first auxiliary member (423) and a second grabbing member (424); The first support rail (421) is fixedly arranged on the frame (100) and extends along the X direction, the second support rail (422) is slidably arranged on the first support rail (421) and extends along the Y direction, the first auxiliary member (423) is slidably arranged on the second support rail (422), and the second grabbing member (424) is movably arranged on the first auxiliary member (423) along the Z direction.

5. The material automatic grabbing and sorting device according to claim 4 is characterized in that: The second grabbing component (420) further includes a second auxiliary component (425), which is movably disposed on the first auxiliary component (423) along the Z direction, and the second auxiliary component (425) extends along the Y direction, and the second grabbing component (424) is movably disposed on the second auxiliary component (425) along the Y direction.

6. The automatic material grabbing and sorting device according to claim 4 is characterized in that: The first support rail (421) and the first grabbing assembly (410) are arranged at a relative interval along the Y direction, the flexible vibration assembly (200) and the placement tray (300) are both arranged between the first support rail (421) and the first grabbing assembly (410), and the placement tray (300) is arranged close to the first grabbing assembly (410).

7. The automatic material grabbing and sorting device according to claim 1 is characterized in that: The flexible vibration component (200) comprises a vibration motor (210) and a storage piece (220), wherein the vibration motor (210) is arranged on the upper end surface of the frame (100), and the storage piece (220) is transmission-connected to the output end of the vibration motor (210) and is used to accommodate the first material and the second material.

8. The automatic material grabbing and sorting device according to claim 7 is characterized in that: The object placement piece (220) is arranged in a plate shape, and a retaining edge (221) is arranged on the upper end surface of the object placement piece (220); the retaining edge (221) is arranged corresponding to the side wall of the object placement piece (220) and extends along the circumference of the object placement piece (220).

9. The automatic material grabbing and sorting device according to any one of claims 1 to 8, characterized in that: The automatic material grabbing and sorting device further comprises an adjusting component (500), wherein the adjusting component (500) is movably arranged on the lower end surface of the frame (100), and the frame (100) can be dragged by adjusting the adjusting component (500).

10. The automatic material grabbing and sorting device according to any one of claims 1 to 8, characterized in that: The automatic material grabbing and sorting device also includes a feeding assembly, which includes a feeding vibrator and a feeding piece, wherein the feeding vibrator is connected to the frame (100), the feeding piece is connected to the output end of the feeding vibrator, and the feeding port of the feeding piece is arranged above the flexible vibration assembly (200).

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