A rapid part sorting system with a sorting robotic arm

Abstract

The present invention discloses a rapid part sorting system with a sorting robotic arm, which relates to the technical field of sorting robotic arms and includes: a conveyor belt for intermittently conveying parts to be sorted; a material arranging assembly disposed on one side of the conveyor belt for aggregating and arranging the parts to be sorted; a gantry erected above the conveyor belt for installing a first vision sensor; a picking assembly disposed on one side of the conveyor belt for selectively magnetically sorting multiple sorted parts; wherein, the material arranging assembly includes a first robotic arm and a longitudinal collecting assembly and a transverse collecting assembly disposed at the free end of the first robotic arm; wherein, the picking assembly includes a second robotic arm, a substrate and a magnetic attraction assembly, the free end of the second robotic arm is fixed with a substrate, and a plurality of the magnetic attraction assemblies are distributed in a rectangular array on the substrate. This sorting system has advantages such as high efficiency, energy saving, and high intelligence level.

Description

Technical Field

[0001] The present invention relates to the technical field of sorting robotic arms, and specifically to a rapid part sorting system with a sorting robotic arm. Background Art

[0002] In today's highly automated industrial production lines, the sorting system, as 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. Currently, the widely adopted sorting solutions combine advanced vision sensors and precise robotic arm technology. This combination, with its efficient information processing ability and flexible physical operation ability, has significantly improved the speed and accuracy of sorting operations. The vision sensor is like the "eyes" of the intelligent sorting system, which can quickly capture the image information of the parts on the conveyor belt, and through complex algorithm analysis, accurately identify the types and sizes of the parts. Subsequently, this information is immediately fed back to the robotic arm to guide it to perform precise magnetic adsorption sorting tasks.

[0003] However, although this combination demonstrates high technical potential, in actual application scenarios, especially when facing complex and changeable production environments, it still faces a series of problems. First of all, the parts on the conveyor belt in the workshop are often placed in a random state. This uncertainty poses quite a challenge to the precise positioning of the robotic arm. To address this challenge, the robotic arm must frequently adjust its movement trajectory and quickly move to different positions to pick up parts one by one by magnetic adsorption. This process not only increases the movement complexity of the robotic arm but also leads to a significant increase in overall energy consumption.

[0004] More critically, limited by current technical conditions, most robotic arms are only equipped with one magnetic adsorption device. This means that in one operation cycle, the robotic arm can only process parts one by one and cannot process multiple targets simultaneously, which undoubtedly limits the room for improving sorting efficiency. In addition, during the operation of the magnetic adsorption device, if there is a slight deviation in the judgment of the magnetic adsorption position, it may cause the parts to fall off during movement. Such accidents not only cause damage to the parts themselves but may also trigger a chain reaction due to the scattered 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 rapid part sorting system with a sorting robotic arm to solve the above problems. Summary of the Invention

[0006] To solve the above problems, the present invention provides the following technical solutions: A rapid part sorting system with a sorting robotic arm, comprising:

[0007] A conveyor belt for intermittently conveying parts to be sorted;

[0008] A whole-material component, 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;

[0009] A gantry, which is erected above the conveyor belt and is used to install a first vision sensor;

[0010] A picking component, which is arranged on one side of the conveyor belt and is used to selectively magnetically pick and sort multiple sorted parts;

[0011] Among them, the whole-material component includes a first robotic arm and a longitudinal gathering component and a transverse gathering component arranged at the free end of the first robotic arm;

[0012] 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 a substrate, and multiple magnetic attraction components are distributed in a rectangular array on the substrate.

[0013] Further, as a preference, the longitudinal gathering component includes:

[0014] A first base, which is fixed at the free end of the first robotic arm;

[0015] Two symmetrically arranged first cylinders, both of which are fixed on the first base;

[0016] A first sliding seat, which is fixed at the output end of the first cylinder and is slidably connected to the first base;

[0017] A first rod, which is fixed on the first sliding seat, and a plurality of first whole-material rods arranged in an array along the length direction of the first rod are vertically connected below the first rod.

[0018] Further, as a preference, the transverse gathering component includes:

[0019] A second base, which is fixed below the first base;

[0020] Two symmetrically arranged second cylinders, both of which are fixed on the second base, and the second cylinders are perpendicular to the first cylinders;

[0021] A second sliding seat, which is fixed at the output end of the second cylinder and is slidably connected to the second base;

[0022] A third rod, and a plurality of second whole-material rods arranged in an array along the length direction of the third rod are vertically connected above the third rod;

[0023] Multiple second whole-material rods located in the middle are connected to the second sliding seat by a second rod.

[0024] Further, preferably, the blanking component further includes a second vision sensor, which is used to count the parts to be sorted below 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.

[0025] Further, preferably, at least one first blanking rod is provided with a first strain gauge, and at least one second blanking rod is provided with a second strain gauge.

[0026] Further, preferably, the magnetic attraction component includes:

[0027] A base cylinder, which is fixedly embedded in the substrate;

[0028] A sliding cylinder, one end of which is in sealed sliding communication with the base cylinder, and the other end extends out of the base cylinder and is connected with a magnetic attraction head;

[0029] A spring, which is connected between the sliding cylinder and the base cylinder;

[0030] Wherein, a magnetic attraction block is embedded in the magnetic attraction head, a spray hole is formed in the middle of the magnetic attraction head, the spray hole is communicated with the sliding cylinder, and a gas supply head is connected to the top of the base cylinder.

[0031] Further, preferably, a third strain gauge is embedded in the substrate. When picking parts by the picking component, the second robotic arm drives the magnetic attraction component to move downward close to the parts to be sorted until the pressure monitored by the third strain gauge reaches a third threshold value. At this time, the spring is in a compressed state.

[0032] Further, preferably, when the spring is in the reset process, the gas supply head supplies gas to the spray hole.

[0033] Further, preferably, the magnetic attraction block is electrically driven.

[0034] Compared with the prior art, the present invention provides a parts rapid sorting system with a sorting robotic arm, and has the following beneficial effects:

[0035] In the present invention, the blanking component effectively aggregates and arranges the parts to be sorted, realizes the close arrangement of the parts, and provides convenience for subsequent sorting operations. At the same time, the picking component realizes the simultaneous sorting of multiple parts by the synchronous opening of multiple magnetic attraction components, significantly improves the sorting efficiency, reduces the movement times of the robotic arm and the overall energy consumption. In addition, the magnetic attraction component can verify whether the parts to be sorted are firmly combined with the magnetic attraction component during magnetic attraction, reducing the risk of falling off during the movement process. Description of the Drawings

[0036] Figure 1It is a top - view structural schematic diagram of a rapid part sorting system with a sorting robotic arm;

[0037] Figure 2 It is a front - view structural schematic diagram of the blanking component in a rapid part sorting system with a sorting robotic arm;

[0038] Figure 3 It is a three - dimensional structural schematic diagram of the blanking component in a rapid part sorting system with a sorting robotic arm;

[0039] Figure 4 It is a front - view structural schematic diagram of the picking component in a rapid part sorting system with a sorting robotic arm;

[0040] Figure 5 It is a three - dimensional structural schematic diagram of the picking component in a rapid part sorting system with a sorting robotic arm;

[0041] Figure 6 It is a three - dimensional structural schematic diagram of the longitudinal collection component and the transverse collection component in a rapid part sorting system with a sorting robotic arm;

[0042] Figure 7 It is a front - view structural schematic diagram of the magnetic attraction component in a rapid part sorting system with a sorting robotic arm;

[0043] In the figure: 1. Conveyor belt; 2. Blanking component; 3. Gantry; 4. First vision sensor; 5. Picking component; 21. First robotic arm; 22. First base; 23. First slide; 24. First cylinder; 25. First rod; 26. First blanking rod; 27. Second base; 28. Second slide; 29. Second cylinder; 210. Second rod; 211. Second blanking rod; 212. Third rod; 51. Second robotic arm; 52. Substrate; 53. Magnetic attraction component; 531. Base cylinder; 532. Slide cylinder; 533. Spring; 534. Magnetic attraction head; 535. Magnetic attraction block; 536. Spray hole; 537. Air supply head. Specific embodiments

[0044] The terms "first", "second", etc. in the description, claims and the above - mentioned accompanying drawing explanations of this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, which is only a way of distinction used when describing objects with the same attributes in the embodiments of this application. In addition, the terms "include" and "have" and any variations thereof are intended to cover non - exclusive inclusion, so that a process, method, system, product or device including a series of units does not have to be limited to those units, but may include other units not clearly listed or inherent to these process, method, product or device.

[0045] Example: Please refer to Figures 1 - 7 , in the embodiment of the present invention, a fast part sorting system with a sorting robotic arm is provided, including:

[0046] Conveyor belt 1, used for intermittently conveying parts to be sorted;

[0047] Stocking component 2, which is arranged on one side of the conveyor belt 1, used for aggregating and arranging the parts to be sorted, so that multiple parts to be sorted are distributed closely adjacent to each other;

[0048] Gantry 3, which is erected above the conveyor belt 1, used for installing the first vision sensor 4;

[0049] Picking component 5, which is arranged on one side of the conveyor belt 1, used for selectively magnetically sorting the sorted multiple parts to be sorted;

[0050] Among them, the stocking component 2 includes a first robotic arm 21 and a longitudinal gathering component and a transverse gathering component arranged at the free end of the first robotic arm 21;

[0051] Among them, the picking component 5 includes a second robotic arm 51, a substrate 52, and a magnetic attraction component 53. The free end of the second robotic arm 51 is fixed with a substrate 52, and a plurality of the magnetic attraction components 53 are distributed in a rectangular array on the substrate 52.

[0052] Among them, the stocking component 2 further includes a second vision sensor, which is used for counting the parts to be sorted below the longitudinal gathering component and the transverse gathering component, and adjusting the size of the rectangular space formed by the longitudinal gathering component and the transverse gathering component according to the quantity, ensuring that the parts are closely arranged and do not squeeze each other.

[0053] During implementation, it includes the following steps:

[0054] S1. The conveyor belt 1 intermittently conveys the parts to be sorted.

[0055] S2. The first robotic arm 21 in the stocking component 2 aggregates and arranges the parts to be sorted through the longitudinal gathering component and the transverse gathering component. Before that, the second vision sensor counts the parts to be sorted below the longitudinal gathering component and the transverse gathering component, and adjusts the size of the rectangular space formed by the longitudinal gathering component and the transverse gathering component according to the quantity, ensuring that the parts are closely arranged and do not squeeze each other.

[0056] S3. The first vision sensor 4 on the gantry identifies the sorted parts to be sorted before sorting.

[0057] S4. The recognition result is sent to the control center, and the control center decides which magnetic attraction components 53 in the picking component 5 need to be turned on according to the recognition result.

[0058] S5. The second robotic arm 51 in the picking component 5 moves to the designated position.

[0059] S6. A plurality of magnetic components 53 on the substrate 52 are simultaneously activated according to the instructions of the control center, magnetically attracting and fixing the corresponding parts to be sorted.

[0060] S7. The second robotic arm 51 transfers the magnetically attracted parts to be sorted to the designated position or the next process.

[0061] That is to say, in this embodiment, the blanking component 2 can gather and organize the parts to be sorted, making the parts to be sorted closely arranged, which is convenient for subsequent sorting operations.

[0062] Moreover, a plurality of magnetic components 53 in the picking component 5 can be simultaneously activated, realizing the simultaneous sorting of multiple parts to be sorted, greatly improving the sorting efficiency, reducing the movement times and energy consumption of the second robotic arm 51. In addition, the rapid recognition and precise control of the vision sensors (the first vision sensor and the second vision sensor) also reduce the overall energy consumption of the sorting system. This sorting system has a high degree of automation, reducing manual intervention and labor intensity.

[0063] Specifically, the longitudinal collection component includes:

[0064] The first base 22, which is fixed to the free end of the first robotic arm 21;

[0065] Two symmetrically arranged first cylinders 24, both of which are fixed on the first base 22;

[0066] The 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;

[0067] The first rod 25, which is fixed to the first sliding seat 23, and a plurality of first blanking rods 26 arranged in an array along the length direction of the first rod 25 are vertically connected below the first rod 25.

[0068] And the transverse collection component includes:

[0069] The second base 27, which is fixed below the first base 22;

[0070] Two symmetrically arranged second cylinders 29, both of which are fixed on the second base 27, and the second cylinders 29 are perpendicular to the first cylinders 24;

[0071] The second sliding seat 28, which is fixed to the output end of the second cylinder 29 and is slidably connected to the second base 27;

[0072] The third rod 212, with a plurality of second blanking rods 211 vertically connected above it and arrayed along the length direction of the third rod 212;

[0073] A plurality of second blanking rods 211 located in the middle are connected to the second sliding seat 28 by a second rod 210.

[0074] When it is necessary to adjust the longitudinal space, the first cylinder 24 drives the first sliding seat 23, the first rod 25 and the first blanking rod 26 thereon to move longitudinally, thereby changing the size of the longitudinal space.

[0075] When it is necessary to adjust the lateral space, the second cylinder 29 drives the second sliding seat 28, the third rod 212 and the second blanking rods 211 thereon to move laterally, thereby changing the size of the lateral space.

[0076] In addition, there is a clearance between adjacent two first blanking rods 26, and there is also a clearance between adjacent two second blanking rods 211. These clearances allow the longitudinal collecting assembly and the lateral collecting assembly to hardly interfere when adjusting the space size.

[0077] That is to say, by simultaneously or separately controlling the expansion and contraction of the first cylinder 24 and the second cylinder 29, the size of the rectangular space formed by the longitudinal collecting assembly and the lateral collecting assembly can be flexibly adjusted to adapt to different numbers and sizes of parts.

[0078] Furthermore, at least one first strain gauge is arranged in at least one of the first blanking rods 26, and at least one second strain gauge is arranged in at least one of the second blanking rods 211.

[0079] Preferably, a first strain gauge is arranged in the first blanking rod 26 located in the middle, and a second strain gauge is arranged in the second blanking rod 211 located in the middle.

[0080] The strain gauges (first strain gauge, second strain gauge) can measure the deformation degree of the blanking rods (first blanking rod 26, second blanking rod 211) when subjected to pressure, thereby indirectly reflecting the pressure magnitude of the parts to be sorted on the blanking rods, and further can judge whether the parts to be sorted are correctly and tightly arranged in the predetermined position.

[0081] Taking the readings of the strain gauges as feedback signals and inputting them into the control center, the control center can adjust the expansion and contraction degree of the cylinders (first cylinder 24, second cylinder 29) according to these signals for further fine-tuning to ensure the stability and accuracy of the parts to be sorted.

[0082] If the pressure on a certain blanking rod is abnormal (too large or too small), the control center can immediately take measures, such as stopping sorting, issuing an alarm, etc., to prevent damage or sorting errors of the parts to be sorted.

[0083] Such asFigure 7 , in this embodiment, the magnetic attraction assembly 53 includes:

[0084] A base cylinder 531, which is fixedly embedded in the substrate 52;

[0085] A sliding cylinder 532, one end of which is in sealed sliding communication with the base cylinder 531, and the other end extends out of the base cylinder 531 and is connected with a magnetic attraction head 534;

[0086] A spring 533, which is connected between the sliding cylinder 532 and the base cylinder 531;

[0087] Wherein, a magnetic attraction block 535 is embedded in the magnetic attraction head 534, a spray hole 536 is formed in the middle of the magnetic attraction head 534, the spray hole 536 is communicated with the sliding cylinder 532, and a gas supply head 537 is connected to the top of the base cylinder 531.

[0088] Wherein, a third strain gauge is embedded in the substrate 52. When picking parts by the picking component 5, the second robotic arm 51 drives the magnetic attraction assembly 53 to move downward close to the parts to be sorted until the pressure monitored by the third strain gauge reaches a third threshold value. At this time, the spring 533 is in a compressed state.

[0089] Then, when lifting the magnetic attraction assembly 53, the spring 533 will reset and drive the sliding cylinder 532 to oscillate up and down, so as to verify whether the parts to be sorted are firmly combined with the magnetic attraction head 534. When the combination 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, with almost no impact.

[0090] Further, when the spring 533 is in the reset process, the gas supply head 537 supplies gas to the spray hole 536. By supplying gas with a certain air pressure to the spray hole 536 through the gas supply head 537, the parts to be sorted magnetically attracted by the magnetic attraction assembly 53 can be back blown, so as to deeply verify whether the parts to be sorted are firmly combined with the magnetic attraction head 534. Of course, it is not verified by the gas supply head 537 every time. This method is only an option in practical applications.

[0091] Further, the magnetic attraction block 535 is electrically driven, so that it is convenient to adjust the magnetic attraction force according to the actual situation and to release the parts to be sorted subsequently.

[0092] The above is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and 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) 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) is arranged on one side of the conveyor belt (1) and is used for selectively magnetically sorting the sorted multiple parts to be sorted; The material collection component (2) comprises a first mechanical arm (21) and a longitudinal collection component and a transverse collection component arranged at the 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 magnetic attraction components (53) are distributed in a rectangular array on the base plate (52); The vertical collection components include: A first base (22) 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) is fixed to the output end of the first cylinder (24) and is 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); Horizontal collection components include: A second base (27) 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 sliding seat (28) is fixed to the output end of the second cylinder (29) and is slidably connected to the second base (27); A third rod (212) is vertically connected to a plurality of second monolithic rods (211) arranged in an array along the length direction of the third rod (212); A plurality of second monolithic rods (211) located in the middle are connected to the second slide seat (28) by using a second rod member (210).

2. A parts rapid sorting system with a sorting robot arm according to claim 1, characterized in that: The whole material assembly (2) also includes a second visual sensor, which is used to count the parts to be sorted under the longitudinal collection assembly and the transverse collection assembly, and adjust the size of the rectangular space formed by the longitudinal collection assembly and the transverse collection assembly according to the number.

3. A parts rapid sorting system with a sorting robot arm according to claim 1, characterized in that: At least one first monolithic rod (26) is provided with a first strain gauge, and at least one second monolithic rod (211) is provided with a second strain gauge.

4. 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) is 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 communicated with the slide cylinder (532), and an air supply head (537) is connected to the top of the base cylinder (531).

5. A parts rapid sorting system with a sorting robot arm according to claim 4, 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 mechanical 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 value, at which time the spring (533) is in a compressed state.

6. A parts rapid sorting system with a sorting robot arm according to claim 5, characterized in that: When the spring (533) is in the process of returning to its original position, the gas supply head (537) supplies gas to the spray hole (536).

7. A parts rapid sorting system with a sorting robot arm according to claim 4, characterized in that: The magnetic attraction block (535) is electrically driven.

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