Rapid part sorting system with sorting mechanical arm

Abstract

The invention discloses a rapid part sorting system with a sorting mechanical arm, and relates to the technical field of sorting mechanical arms, the rapid part sorting system comprises a conveying belt used for intermittently conveying to-be-sorted parts; the material arranging assembly is arranged on one side of the conveying belt and used for gathering and arranging the to-be-sorted parts; the portal frame is erected above the conveying belt and used for installing a first visual sensor; the sorting assembly is arranged on one side of the conveying belt and used for conducting selective magnetic attraction sorting on the arranged to-be-sorted parts. The material arranging assembly comprises a first mechanical arm, a longitudinal collecting assembly and a transverse collecting assembly, wherein the longitudinal collecting assembly and the transverse collecting assembly are arranged at the free end of the first mechanical arm. Wherein the sorting assembly comprises a second mechanical arm, a base plate and magnetic attraction assemblies, the base plate is fixed to the free end of the second mechanical arm, the multiple magnetic attraction assemblies are distributed on the base plate in a rectangular array mode, and the sorting system has the advantages of being efficient, capable of saving energy, high in intelligent degree and the like.

Description

Technical Field

[0001] The invention relates to the technical field of sorting mechanical arms, in particular to a parts rapid sorting system with a sorting mechanical arm. Background Art

[0002] In today's highly automated industrial production lines, the sorting system is a key hub connecting different production links. Its efficiency and accuracy are directly related to the smoothness of the entire production process and cost control. The currently widely used sorting solution combines advanced visual sensors with precision robotic arm technology. This combination significantly improves the speed and accuracy of sorting operations with its efficient information processing capabilities and flexible physical operation capabilities. The visual sensor is like the "eye" of the intelligent sorting system. It can quickly capture the image information of parts on the conveyor belt and accurately identify the type and size of the parts through complex algorithm analysis. Subsequently, this information is immediately fed back to the robotic arm to guide it to perform precise magnetic suction sorting tasks.

[0003] However, although this combination has shown high technical potential, it still faces a series of problems in actual application scenarios, especially when facing complex and changing production environments. First of all, the parts on the conveyor belt in the workshop are often placed in a random state. This uncertainty brings considerable difficulties to the precise positioning of the robot arm. In order to meet this challenge, the robot arm must frequently adjust its motion trajectory and move quickly to different positions to magnetically pick up materials one by one. This process not only increases the complexity of the robot arm's movement, but also leads to a significant increase in overall energy consumption.

[0004] More importantly, due to current technical conditions, most robotic arms are only equipped with one magnetic device. This means that in one operation cycle, the robotic arm can only process parts one by one and cannot process multiple targets at the same time, which undoubtedly limits the room for improvement in sorting efficiency. In addition, during the operation of the magnetic device, if there is a slight deviation in the judgment of the magnetic position, it may cause the parts to fall off during movement. This accident will not only cause damage to the parts themselves, but may also trigger a chain reaction due to the scattering of parts, hitting other equipment, causing more extensive damage, and even threatening the safe operation of the production line.

[0005] Therefore, it is necessary to provide a kind of parts fast sorting system with sorting robot arm to solve the above problems. Summary of the invention

[0006] In order to solve the above problems, the present invention provides the following technical solution: a parts rapid sorting system with a sorting robot arm, comprising: Conveyor belt, used for intermittent transmission of parts to be sorted; A material assembly, which is arranged on one side of the conveyor belt and is used to gather and sort the parts to be sorted so that multiple parts to be sorted are distributed closely to each other; A gantry, which is erected above the conveyor belt and is used to install a first visual sensor; A material picking component, which is arranged on one side of the conveyor belt and is used for selective magnetic sorting of the sorted parts to be sorted; Wherein, the monolithic assembly comprises a first mechanical arm and a longitudinal collecting assembly and a transverse collecting assembly arranged at the free end of the first mechanical arm; Among them, the picking component includes a second robotic arm, a substrate and a magnetic attraction component. The free end of the second robotic arm is fixed with the substrate, and a plurality of the magnetic attraction components are distributed in a rectangular array on the substrate.

[0007] Further, preferably, the longitudinal collecting assembly comprises: A first base, fixed to the free end of the first mechanical arm; Two symmetrically arranged first cylinders, both of which are fixed on the first base; A first sliding seat, which is fixed to the output end of the first cylinder and is slidably connected to the first base; The first rod is fixed on the first slide seat, and a plurality of first monolithic rods distributed in an array along the length direction of the first rod are vertically connected below the first rod.

[0008] Further, preferably, the lateral collection assembly comprises: a second base, fixed below the first base; Two symmetrically arranged second cylinders, both of which are fixed on the second base, and the second cylinders are perpendicular to the first cylinder; A second sliding seat, which is fixed to the output end of the second cylinder and is slidably connected to the second base; A third rod, on which a plurality of second monolithic rods distributed in an array along the length direction of the third rod are vertically connected; The plurality of second monolithic rods located in the middle are connected to the second slide seat by using a second rod member.

[0009] Furthermore, preferably, the whole material assembly also includes a second visual sensor, which is used to count the parts to be sorted under the longitudinal collecting assembly and the transverse collecting assembly, and adjust the size of the rectangular space formed by the longitudinal collecting assembly and the transverse collecting assembly according to the quantity.

[0010] Further, as a preference, at least one of the first monolithic rods is provided with a first strain gauge, and at least one of the second monolithic rods is provided with a second strain gauge.

[0011] Further, preferably, the magnetic attraction component comprises: A base cylinder, which is fixedly embedded in the base plate; A sliding cylinder, one end of which is in sealing and sliding communication with the base cylinder, and the other end of which extends out of the base cylinder and is connected to a magnetic suction head; A spring connected between the slide cylinder and the base cylinder; Among them, a magnetic suction block is embedded in the magnetic suction head, a spray hole is opened in the middle of the magnetic suction head, the spray hole is connected to the sliding cylinder, and the top of the base cylinder is connected to an air supply head.

[0012] Further, preferably, a third strain gauge is embedded in the substrate, and when the picking component is used to pick materials, the second robot arm drives the magnetic suction component downward to approach the parts to be sorted until the pressure monitored by the third strain gauge reaches a third threshold, at which time the spring is in a compressed state.

[0013] Further, preferably, when the spring is in the resetting process, the gas supply head supplies gas to the spray hole.

[0014] Further, preferably, the magnetic block is electrically driven.

[0015] Compared with the prior art, the present invention provides a parts rapid sorting system with a sorting robot arm, which has the following beneficial effects: The material assembly component of the present invention effectively gathers and organizes the parts to be sorted, realizes the close arrangement of the parts, and provides convenience for subsequent sorting operations. At the same time, the material picking component realizes the simultaneous sorting of multiple parts by synchronously opening multiple magnetic suction components, which significantly improves the sorting efficiency and reduces the number of movements of the robot arm and the overall energy consumption. In addition, the magnetic suction component can verify whether the parts to be sorted are firmly combined with the magnetic suction component during magnetic suction, reducing the risk of falling off during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a top view structural schematic diagram of a parts rapid sorting system with a sorting robot arm; Figure 2 It is a schematic diagram of the main structure of a whole material component in a parts rapid sorting system with a sorting robot arm; Figure 3 It is a three-dimensional structural schematic diagram of a whole material component in a parts rapid sorting system with a sorting robot arm; Figure 4 It is a schematic diagram of the main structure of a picking component in a parts rapid sorting system with a sorting robot arm; Figure 5 It is a three-dimensional structural schematic diagram of a picking component in a parts rapid sorting system with a sorting robot arm; Figure 6 It is a three-dimensional structural schematic diagram of a longitudinal collecting component and a transverse collecting component in a parts rapid sorting system with a sorting robot arm; Figure 7 It is a schematic diagram of the main structure of a magnetic suction component in a parts rapid sorting system with a sorting robot arm; In the figure: 1. conveyor belt; 2. material-forming assembly; 3. gantry; 4. first visual sensor; 5. material-picking assembly; 21. first robot arm; 22. first base; 23. first slide; 24. first cylinder; 25. first rod; 26. first material-forming rod; 27. second base; 28. second slide; 29. ​​second cylinder; 210. second rod; 211. second material-forming rod; 212. third rod; 51. second robot arm; 52. substrate; 53. magnetic assembly; 531. base cylinder; 532. slide; 533. spring; 534. magnetic head; 535. magnetic block; 536. spray hole; 537. air supply head. DETAILED DESCRIPTION

[0017] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned description of the drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is merely a way of distinguishing the objects of the same attributes when describing them in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0018] Example: Please refer to Figure 1-Figure 7 In an embodiment of the present invention, a parts rapid sorting system with a sorting robot arm is provided, comprising: Conveyor belt 1, used for intermittently conveying the parts to be sorted; A material assembly 2, which is arranged on one side of the conveyor belt 1 and is used to gather and sort the parts to be sorted so that a plurality of parts to be sorted are distributed closely to each other; A gantry 3, which is erected above the conveyor belt 1 and is used to install a first visual sensor 4; A material picking component 5, which is arranged on one side of the conveyor belt 1 and is used for selective magnetic sorting of the sorted parts to be sorted; The monolithic component 2 includes a first mechanical arm 21 and a longitudinal collecting component and a transverse collecting component arranged at the free end of the first mechanical arm 21; The picking component 5 includes a second mechanical arm 51 , a base plate 52 and a magnetic attraction component 53 . The base plate 52 is fixed to the free end of the second mechanical arm 51 , and a plurality of the magnetic attraction components 53 are distributed in a rectangular array on the base plate 52 .

[0019] Among them, the whole material component 2 also includes a second visual sensor, which is used to count the parts to be sorted under the longitudinal collection component and the transverse collection component, and adjust the size of the rectangular space formed by the longitudinal collection component and the transverse collection component according to the quantity.

[0020] The implementation includes the following steps: S1. Conveyor belt 1 intermittently transports the parts to be sorted.

[0021] S2. The first robot arm 21 in the whole-material assembly 2 gathers and arranges the parts to be sorted through the longitudinal gathering assembly and the transverse gathering assembly. Before that, the second visual sensor counts the parts to be sorted under the longitudinal gathering assembly and the transverse gathering assembly, and adjusts the size of the rectangular space formed by the longitudinal gathering assembly and the transverse gathering assembly according to the number, to ensure that the parts are closely arranged and not squeezed against each other.

[0022] S3. The first visual sensor 4 on the gantry identifies the sorted parts to be sorted before sorting.

[0023] S4. The recognition result is sent to the control center, and the control center determines which magnetic suction components 53 in the picking component 5 need to be opened according to the recognition result.

[0024] S5. The second robot arm 51 in the picking component 5 moves to the designated position.

[0025] S6. The multiple magnetic suction components 53 on the base plate 52 are turned on simultaneously according to the instructions of the control center, and magnetically suction and fix the corresponding parts to be sorted.

[0026] S7. The second robot arm 51 transfers the magnetically attracted parts to be sorted to a designated location or the next process.

[0027] That is to say, in this embodiment, the parts to be sorted can be gathered and sorted through the whole material assembly 2, so that the parts to be sorted are closely arranged, which is convenient for subsequent sorting operations.

[0028] The multiple magnetic suction components 53 in the picking component 5 can be turned on at the same time to achieve the simultaneous sorting of multiple parts to be sorted, which greatly improves the sorting efficiency and reduces the number of movements and energy consumption of the second mechanical arm 51. In addition, the rapid identification and precise control of the visual sensor (first visual sensor, second visual sensor) also reduces the overall energy consumption of the sorting system. The sorting system has a high degree of automation and reduces manual intervention and labor intensity.

[0029] Specifically, the longitudinal collection component includes: A first base 22, which is fixed to the free end of the first mechanical arm 21; Two symmetrically arranged first cylinders 24, both of which are fixed on the first base 22; A first sliding seat 23, which is fixed to the output end of the first cylinder 24 and is slidably connected to the first base 22; The first rod 25 is fixed on the first slide seat 23 , and a plurality of first monolithic rods 26 distributed in an array along the length direction of the first rod 25 are vertically connected below the first rod 25 .

[0030] The horizontal collection component includes: a second base 27, which is fixed below the first base 22; Two symmetrically arranged second cylinders 29, both of which are fixed on the second base 27, and the second cylinders 29 and the first cylinder 24 are perpendicular to each other; A second slide 28, which is fixed to the output end of the second cylinder 29 and is slidably connected to the second base 27; A third rod 212, on which a plurality of second monolithic rods 211 arranged in an array along the length direction of the third rod 212 are vertically connected; The plurality of second monolithic rods 211 located in the middle are connected to the second slide seat 28 by a second rod member 210 .

[0031] When the longitudinal space needs to be adjusted, the first cylinder 24 drives the first slide 23 and the first rod 25 and the first material-forming rod 26 thereon to move longitudinally, thereby changing the size of the longitudinal space.

[0032] When the lateral space needs to be adjusted, the second cylinder 29 drives the second slide 28 and the third rod 212 and the second material-forming rod 211 thereon to move in the lateral direction, thereby changing the size of the lateral space.

[0033] In addition, there is a clearance gap between two adjacent first monolithic rods 26, and there is also a clearance gap between two adjacent second monolithic rods 211. These gaps allow the longitudinal collecting assembly and the transverse collecting assembly to have almost no interference when adjusting the space size.

[0034] That is to say, by controlling the extension and retraction of the first cylinder 24 and the second cylinder 29 simultaneously or separately, the size of the rectangular space formed by the longitudinal collecting assembly and the transverse collecting assembly can be flexibly adjusted to accommodate parts of different numbers and sizes.

[0035] Further, at least one of the first monolithic rods 26 is provided with a first strain gauge, and at least one of the second monolithic rods 211 is provided with a second strain gauge.

[0036] Preferably, a first strain gauge is disposed in the first monolithic rod 26 located in the middle, and a second strain gauge is disposed in the second monolithic rod 211 located in the middle.

[0037] The strain gauges (first strain gauge, second strain gauge) can measure the degree of deformation of the material rod (first material rod 26, second material rod 211) when subjected to pressure, thereby indirectly reflecting the pressure of the parts to be sorted on the material rod, and further determining whether the parts to be sorted are correctly and tightly arranged in the predetermined position.

[0038] The strain gauge readings are input as feedback signals to the control center, which can adjust the extension and retraction of the cylinders (first cylinder 24, second cylinder 29) according to these signals to further fine-tune and ensure the stability and accuracy of the parts to be sorted.

[0039] If the pressure on a certain material rod is abnormal (too large or too small), the control center can take immediate measures, such as stopping sorting, sounding an alarm, etc., to prevent damage to the parts to be sorted or sorting errors.

[0040] like Figure 7 In this embodiment, the magnetic attraction component 53 includes: A base cylinder 531, which is fixedly embedded in the base plate 52; A slide cylinder 532, one end of which is sealed and slidably connected to the base cylinder 531, and the other end of which extends out of the base cylinder 531 and is connected to a magnetic suction head 534; A spring 533 connected between the slide cylinder 532 and the base cylinder 531; A magnetic block 535 is embedded in the magnetic head 534 , a spray hole 536 is provided in the middle of the magnetic head 534 , the spray hole 536 is connected to the slide cylinder 532 , and an air supply head 537 is connected to the top of the base cylinder 531 .

[0041] Among them, a third strain gauge is embedded in the substrate 52. When the picking component 5 is used to pick materials, the second robot arm 51 drives the magnetic suction component 53 downward to approach the parts to be sorted until the pressure monitored by the third strain gauge reaches a third threshold, at which time the spring 533 is in a compressed state.

[0042] Then, when the magnetic suction component 53 is lifted, the spring 533 will reset and drive the slide 532 to oscillate up and down, thereby verifying whether the parts to be sorted are firmly combined with the magnetic suction head 534. When the combination of the two is not firm enough, the parts to be sorted can fall off the conveyor belt 1 in time and wait for the next sorting process, which will hardly have any impact.

[0043] Furthermore, when the spring 533 is in the resetting process, the air supply head 537 supplies gas to the spray hole 536. By supplying gas of a certain air pressure to the spray hole 536 through the air supply head 537, the parts to be sorted that are magnetically attracted by the magnetic attraction component 53 can be backblown, thereby deeply verifying whether the parts to be sorted are firmly combined with the magnetic attraction head 534. Of course, the air supply head 537 is not used for verification every time. This method is only an option in practical applications.

[0044] Furthermore, the magnetic attraction block 535 is electrically driven, so that it is convenient to adjust the magnetic attraction force according to actual conditions and to facilitate the subsequent release of the parts to be sorted.

[0045] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A parts rapid sorting system with a sorting robot arm, characterized in that: include: A conveyor belt (1) for intermittently conveying parts to be sorted; A material assembly component (2), which is arranged on one side of the conveyor belt (1) and is used to gather and arrange the parts to be sorted so that a plurality of parts to be sorted are arranged closely to each other; A gantry (3) is erected above the conveyor belt (1) and is used to install a first visual sensor (4); A material picking component (5), which is arranged on one side of the conveyor belt (1) and is used for selectively magnetically sorting the multiple sorted parts to be sorted; The monolithic component (2) comprises a first mechanical arm (21) and a longitudinal collecting component and a transverse collecting component arranged at a free end of the first mechanical arm (21); The material picking component (5) comprises a second mechanical arm (51), a base plate (52) and a magnetic attraction component (53); the base plate (52) is fixed to the free end of the second mechanical arm (51); and a plurality of the magnetic attraction components (53) are distributed in a rectangular array on the base plate (52).

2. A parts rapid sorting system with a sorting robot arm according to claim 1, characterized in that: The longitudinal collection component comprises: A first base (22) fixed to the free end of the first mechanical arm (21); Two symmetrically arranged first cylinders (24), both of which are fixed on the first base (22); a first sliding seat (23) fixed to the output end of the first cylinder (24) and slidably connected to the first base (22); A first rod (25) is fixed on the first slide seat (23), and a plurality of first monolithic rods (26) arranged in an array along the length direction of the first rod (25) are vertically connected below the first rod (25).

3. A parts rapid sorting system with a sorting robot arm according to claim 2, characterized in that: The lateral collection assembly comprises: A second base (27) fixed below the first base (22); Two symmetrically arranged second cylinders (29), both of which are fixed on the second base (27), and the second cylinders (29) and the first cylinder (24) are perpendicular to each other; a second sliding seat (28) fixed to the output end of the second cylinder (29) and slidably connected to the second base (27); A third rod (212), on top of which a plurality of second monolithic rods (211) arranged in an array along the length direction of the third rod (212) are vertically connected; A plurality of second monolithic rods (211) located in the middle are connected to the second slide seat (28) using a second rod member (210).

4. A parts rapid sorting system with a sorting robot arm according to claim 1, characterized in that: The monolithic component (2) further comprises a second visual sensor, which is used to count the parts to be sorted below the longitudinal collecting component and the transverse collecting component, and to adjust the size of the rectangular space formed by the longitudinal collecting component and the transverse collecting component according to the number.

5. A parts rapid sorting system with a sorting robot arm according to claim 3, characterized in that: At least one of the first monolithic rods (26) is provided with a first strain gauge, and at least one of the second monolithic rods (211) is provided with a second strain gauge.

6. A parts rapid sorting system with a sorting robot arm according to claim 1, characterized in that: The magnetic attraction component (53) comprises: A base cylinder (531) fixedly embedded in the base plate (52); A sliding cylinder (532), one end of which is sealed and slidably connected to the base cylinder (531), and the other end of which extends out of the base cylinder (531) and is connected to a magnetic suction head (534); A spring (533) connected between the slide cylinder (532) and the base cylinder (531); A magnetic block (535) is embedded in the magnetic head (534), a spray hole (536) is provided in the middle of the magnetic head (534), the spray hole (536) is connected to the slide cylinder (532), and the top of the base cylinder (531) is connected to an air supply head (537).

7. A parts rapid sorting system with a sorting robot arm according to claim 6, characterized in that: A third strain gauge is embedded in the substrate (52). When the picking component (5) is used to pick materials, the second robot arm (51) drives the magnetic attraction component (53) downward to approach the parts to be sorted until the pressure monitored by the third strain gauge reaches a third threshold value, at which time the spring (533) is in a compressed state.

8. A parts rapid sorting system with a sorting robot arm according to claim 7, characterized in that: When the spring (533) is in the resetting process, the gas supply head (537) supplies gas to the spray hole (536).

9. A parts rapid sorting system with a sorting robot arm according to claim 6, characterized in that: The magnetic attraction block (535) is electrically driven.

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