Intelligent sorting mechanical arm of industrial robot

Abstract

The invention discloses an intelligent sorting mechanical arm of an industrial robot. The intelligent sorting mechanical arm comprises a truss body, a guide rail, a mounting plate, a mechanical arm body and a magnetizing sorting mechanism. The truss main body is vertically mounted on the ground, two parallel guide rails are horizontally fixed to the upper end of the truss main body, and the mounting plate is in sliding connection with the guide rails through sliding blocks; four connecting rods are symmetrically distributed on the lower end face of the mounting plate, each connecting rod is vertically and slidably connected with the mounting plate, and a bottom plate is arranged below the mounting plate in parallel; a mechanical arm is installed on the lower end face of the bottom plate, and a magnetizing and sorting mechanism is installed at the execution tail end of the mechanical arm. According to the invention, the magnetizing and sorting mechanism is mainly composed of a marginal magnetizing unit and a central magnetizing unit, and the marginal magnetizing unit can cover the edge position of a part; and the center magnetizing unit is calibrated and adjusted based on the geometric center-of-gravity position of the part, and the safety and stability of sorting and grabbing are improved under cooperation.

Description

Technical Field

[0001] The invention belongs to the technical field of sorting manipulators, and in particular is an industrial robot intelligent sorting manipulator arm. Background Art

[0002] With the booming development of industry and the advancement of intelligent manufacturing, the demand for automated sorting systems is increasing. Intelligent sorting robotic arms play a vital role in improving production efficiency, reducing costs and reducing human errors. At present, intelligent robotic arms can optimize the motion path of robotic arms through AI algorithms, provide stable and efficient motion control, and ensure that robotic arms can reach the designated position quickly and accurately. Therefore, in industrial manufacturing such as automobile manufacturing and electronic product assembly, intelligent sorting robotic arms are widely used for the classification, assembly and packaging of parts. Existing intelligent sorting arms, such as the invention patent with publication number CN119217422A, are equipped with a magnetic cylinder and a suction cup for plate sorting. The magnetic cylinder can adsorb the plate after being powered on and magnetized, thereby improving the grasping effect. However, due to the large gap between two adjacent magnetic cylinders, small parts cannot be effectively magnetically sorted. Conventional magnetic sorting arms use a single electromagnet for power-on magnetization and demagnetization. Although they can adsorb and sort parts, they have poor adaptability to parts with non-standard shapes or special structures, which can easily lead to grasping failure or detachment during the sorting process, especially for parts whose center of gravity deviates from the center of symmetry. Such parts are prone to unstable grasping, tilting or falling off due to the offset of the center of gravity.

[0003] Therefore, it is necessary to provide an industrial robot intelligent sorting mechanical arm to solve the problems raised in the above background technology. Summary of the invention

[0004] To achieve the above object, the present invention provides the following technical solution: an industrial robot intelligent sorting mechanical arm, comprising: a truss body, a guide rail, a mounting plate, a mechanical arm and a magnetizing sorting mechanism; the truss body is vertically mounted on the ground, two mutually parallel guide rails are horizontally fixed on the upper end of the truss body, and the mounting plate is slidably connected to the guide rails through a slider; Four connecting rods are symmetrically distributed on the lower end surface of the mounting plate, each of the connecting rods is vertically slidably connected to the mounting plate, and a bottom plate is arranged parallel to the lower side of the mounting plate, and the bottom plate is fixed to each of the connecting rods; A mechanical arm is installed on the lower end surface of the bottom plate, and a magnetizing sorting mechanism is installed at the execution end of the mechanical arm.

[0005] Further, as a preference, a hydraulic telescopic rod is vertically fixed in the middle of the mounting plate, and a telescopic end of the hydraulic telescopic rod is connected to the bottom plate; A steering seat is rotatably mounted on the lower end surface of the base plate, and the mechanical arm is connected to the steering seat.

[0006] Further, preferably, the magnetization sorting mechanism comprises: An outer lining plate, a rotating shaft is vertically fixed to the upper end of which, one end of the rotating shaft is rotatably connected to the mechanical arm; A support plate is arranged below the outer lining plate and is parallel to the outer lining plate, and the support plate is coaxially slidably connected with the outer lining plate; Buffer springs are arranged at the four corners of the support plate, and one end of the buffer spring is connected to the outer lining plate; An inner plate, fixed below the support plate; A marginal magnetizing unit is fixed in the support plate and is located above the inner plate; The central magnetizing unit is vertically arranged in the support plate.

[0007] Furthermore, as a preference, the marginal magnetization unit adjusts the magnetization points according to the shape and size of the component, so that each magnetization point covers the edge position of the component; The central magnetizing unit adjusts the magnetizing point based on the center of gravity of the component so that it is on the same vertical line as the center of gravity of the component.

[0008] Further, preferably, the marginal magnetization unit comprises: A ring seat, the upper end surface of which is circumferentially fixed with a plurality of connecting frames, each of which is slidably connected with a guide rod; A first electromagnet is arranged corresponding to each of the guide rods, and the first electromagnet is fixed on an end of the guide rod away from the center of the ring seat; A shaft nail, vertically fixed on the guide rod; A rotating ring is connected to the ring seat in a cocentric rotation manner, wherein a plurality of inclined grooves are distributed in the rotating ring, and each of the shaft pins is slidably connected to the inclined groove; The gear ring is coaxially fixed on the rotating ring, and a driving shaft is connected to the support plate for horizontal rotation. The output end of the driving shaft is connected to the gear ring for transmission through the meshing action of gears.

[0009] Further, preferably, the central magnetization unit comprises: A fixed shaft is coaxially fixed on the support plate, the lower end of the outer lining plate is slidably connected to the fixed shaft, a straight guide opening is provided in the fixed shaft, and the straight guide opening is vertically connected to an inner shaft rod; A limiting plate, fixed on the inner shaft and in abutment contact with the upper end of the fixed shaft; A hinge frame is configured as an X-shaped structure, the hinge frame is circumferentially distributed on the periphery of the inner shaft rod, and the inner lower end of the hinge frame is hinged to the inner shaft rod; A slip ring is coaxially slidably connected to the inner shaft rod, a guide cavity is provided in the center of the inner shaft rod, a plunger rod is sealingly slidably connected in the guide cavity, the lower end of the plunger rod is fixed to the slip ring through a plurality of connecting rods, and the inner upper end of the hinge shaft frame is hinged to the slip ring; A side plate is provided corresponding to each of the hinge frames, the side plate is vertically connected to the outside of the hinge frames, the lower end of the outer side of the hinge frames is connected to the side plate, a fixed block is slidably connected to the side plate, and the upper end of the outer side of the hinge frames is connected to the fixed block; The second electromagnet is fixed on each of the side plates.

[0010] Further, as a preference, a connecting cavity is provided on the inner upper side of the outer lining plate, the upper end of the inner shaft is slidably connected with a sealing tube, the upper end of the sealing tube is connected to the connecting cavity through a hose, and an air pressure regulating tube is connected to the outside of the connecting cavity.

[0011] Further, as a preference, a turntable is rotatably connected inside the outer lining plate, a transmission rod is eccentrically connected to the turntable, and one end of the transmission rod is rotatably sleeved outside the sealing tube; The inner shaft rod is slidably adjusted horizontally along the straight guide opening.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The magnetization sorting mechanism adopted in the present invention is mainly composed of a marginal magnetization unit and a central magnetization unit. Therefore, in the magnetic sorting of special parts, the marginal magnetization unit adaptively adjusts the magnetization point so that each magnetization point covers the edge position of the part; and the central magnetization unit is calibrated and adjusted based on the geometric center of gravity position of the part, thereby ensuring the complete magnetic adsorption of the whole part and realizing the magnetic adsorption of the center of gravity of the part, thereby ensuring that the adsorption force is evenly distributed in the vertical direction, avoiding uneven force caused by center of gravity offset, and improving the safety and stability of sorting and grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the magnetization sorting mechanism in the present invention; Figure 3 It is a structural cross-sectional view of the magnetization sorting mechanism in the present invention; Figure 4 for Figure 3 A schematic diagram of the structure enlargement in the middle; Figure 5 It is a structural schematic diagram of the marginal magnetization unit in the present invention; Figure 6 It is a structural schematic diagram of the central magnetizing unit in the present invention; Figure 7for Figure 6 A magnified schematic diagram of the structure at B in the middle; Figure 8 It is a structural schematic diagram of the fixed shaft in the present invention; Fig. 9 This is a schematic diagram of the structure of the eccentric distribution of the central magnetizing unit in the present invention; In the figure: 1, truss body; 11, guide rail; 12, mounting plate; 13, bottom plate; 14, hydraulic telescopic rod; 15, connecting rod; 16, mechanical arm; 17, steering seat; 2, magnetizing sorting mechanism; 21, outer lining plate; 22, support plate; 23, buffer spring; 24, rotating shaft; 25, inner plate; 3, marginal magnetizing unit; 31, ring seat; 32, connecting frame; 33, guide rod; 34, first electromagnet; 35. Axis pin; 36. Swivel; 37. Inclined groove; 38. Drive shaft; 4. Central magnetizing unit; 41. Fixed shaft; 42. Straight guide port; 43. Inner shaft rod; 44. Limiting plate; 45. Hinge shaft frame; 46. Slip ring; 47. Plunger rod; 48. Second electromagnet; 49. Side plate; 410. Fixed block; 5. Connecting chamber; 51. Sealing tube; 52. Hose; 53. Turntable; 54. Transmission rod. DETAILED DESCRIPTION

[0014] See also Figure 1-Figure 9 In an embodiment of the present invention, an industrial robot intelligent sorting mechanical arm includes: a truss body 1, a guide rail 11, a mounting plate 12, a mechanical arm 16, and a magnetizing sorting mechanism 2; the truss body 1 is vertically installed on the ground, two mutually parallel guide rails 11 are horizontally fixed on the upper end of the truss body 1, and the mounting plate 12 is slidably connected to the guide rail 11 through a slider; wherein a propulsion cylinder or other propulsion unit can be provided on the truss body 1 to horizontally push the mounting plate 12; Four connecting rods 15 are symmetrically distributed on the lower end surface of the mounting plate 12, and each of the connecting rods 15 is vertically slidably connected to the mounting plate 12. A bottom plate 13 is arranged parallel to the bottom of the mounting plate 12, and the bottom plate 13 is fixed to each of the connecting rods 15; A mechanical arm 16 is installed on the lower end surface of the bottom plate 13, and a magnetizing and sorting mechanism 2 is installed at the execution end of the mechanical arm 16. The magnetizing and sorting mechanism 2 can realize magnetic attraction and sorting of parts after power-on and magnetization.

[0015] In this embodiment, a hydraulic telescopic rod 14 is vertically fixed in the middle of the mounting plate 12, and one end of the hydraulic telescopic rod 14 is connected to the bottom plate 13; A steering seat 17 is rotatably mounted on the lower end surface of the bottom plate 13 , and the mechanical arm 16 is connected to the steering seat 17 to ensure the overall flexibility of the sorting mechanical arm.

[0016] As a preferred embodiment, the magnetization sorting mechanism 2 includes: The outer lining plate 21 has a rotating shaft 24 vertically fixed to its upper end, and one end of the rotating shaft 24 is rotatably connected to the mechanical arm 16; A support plate 22 is disposed below the outer lining plate 21 and is parallel to the outer lining plate 21. The support plate 22 is coaxially slidably connected to the outer lining plate 21; The buffer spring 23 is arranged at the four corners of the support plate 22, and one end of the buffer spring 23 is connected to the outer lining plate 21; the buffer spring 23 provides a spring support effect to prevent the support plate 22 from causing pressure damage to the parts when the outer lining plate 21 is pressed down to contact the parts; An inner plate 25, fixed below the support plate 22; The marginal magnetizing unit 3 is fixed in the support plate 22 and is located above the inner plate 25; The central magnetizing unit 4 is vertically arranged in the support plate 22 .

[0017] In this embodiment, the marginal magnetization unit 3 adjusts the magnetization points according to the shape and size of the parts, so that each magnetization point covers the edge of the parts; that is, each magnetization point can be powered on and magnetized at the same time, so as to achieve multi-point magnetic adsorption of the edge of the parts. Therefore, the shape and size of the parts can be accurately identified by sensors such as cameras and laser scanners installed on the sorting robot arm, and the edge contour information of the parts can be extracted by using image processing algorithms or three-dimensional scanning technology, so as to provide a basis for the subsequent adjustment of the magnetization points; The central magnetizing unit 4 adjusts the magnetizing point position based on the center of gravity of the component so that it is on the same vertical line as the center of gravity of the component, further ensuring the stability of subsequent magnetizing adsorption.

[0018] In this embodiment, the marginal magnetization unit 3 includes: The ring seat 31 has a plurality of connecting frames 32 fixed to its upper end surface circumference, and the connecting frames 32 are all slidably connected to guide rods 33; A first electromagnet 34 is provided corresponding to each of the guide rods 33, and the first electromagnet 34 is fixed on an end of the guide rod 33 away from the center of the ring seat 31; A shaft pin 35, vertically fixed on the guide rod 33; The rotating ring 36 is connected to the ring seat 31 for coaxial rotation. A plurality of inclined grooves 37 are distributed in the rotating ring 36. Each of the axle pins 35 is slidably connected to the inclined grooves 37. The gear ring is coaxially fixed on the rotating ring 36, and the support plate 22 is horizontally rotatably connected with a drive shaft 38. The output end of the drive shaft 38 is connected to the gear ring for transmission through the meshing action of gears. Therefore, in the forward and reverse rotation adjustment of the drive shaft 38, the first electromagnet 34 on each guide rod 33 can be displaced and adjusted along the connecting frame 32 under the sliding action of the inclined groove 37 and the shaft pin 35, so as to gradually move away from the center of the ring seat 31 or approach the center of the ring seat 31. Each first electromagnet 34 constitutes an independent magnetization point to adapt to the geometric contour shape of the component for targeted adjustment.

[0019] In this embodiment, the central magnetizing unit 4 includes: A fixed shaft 41 is coaxially fixed on the support plate 22. The lower end of the outer lining plate 21 is slidably connected to the fixed shaft 41. A straight guide opening 42 is provided in the fixed shaft 41. The straight guide opening 42 is vertically connected to an inner shaft rod 43. A limiting plate 44 is fixed on the inner shaft 43 and is in contact with the upper end of the fixed shaft 41; The hinge frame 45 is configured as an X-shaped structure, the hinge frame 45 is circumferentially distributed around the inner shaft rod 43, and the inner lower end of the hinge frame 45 is hinged to the inner shaft rod 43; A slip ring 46 is coaxially slidably connected to the inner shaft 43. A guide cavity is provided in the center of the inner shaft 43. A plunger rod 47 is sealed and slidably connected in the guide cavity. The lower end of the plunger rod 47 is fixed to the slip ring 46 through a plurality of connecting rods. The inner upper end of the hinge shaft frame 45 is hinged to the slip ring 46. Side plates 49 are provided corresponding to the hinge frames 45. The side plates 49 are vertically connected to the outside of the hinge frames 45. The lower outer ends of the hinge frames 45 are connected to the side plates 49. A fixing block 410 is slidably connected to the side plates 49. The upper outer ends of the hinge frames 45 are connected to the fixing block 410. The second electromagnet 48 is fixed on each of the side plates 49, so when the plunger rod 47 in the inner shaft 43 slides up and down, the plunger rod 47 can push the slip ring 46 to move synchronously. At this time, each hinge frame 45 gradually expands outward or retracts inward, so that the second electromagnet 48 on each side plate 49 gradually moves away from the center of the inner shaft 43 or approaches the center of the inner shaft 43, forming a cohesive or dispersive effect, so that the second electromagnet 48 is concentrated in a smaller area, providing a stronger adsorption effect; or the second electromagnet 48 is relatively dispersed, the adsorption points are wider, and the center of gravity of the components can be better balanced.

[0020] As a preferred embodiment, a connecting cavity 5 is provided on the inner upper side of the outer lining plate 21, and a sealing tube 51 is slidably connected to the upper end of the inner shaft rod 43. The upper end of the sealing tube 51 is connected to the connecting cavity 5 through a hose 52. An air pressure regulating tube (not shown in the figure) is connected to the outside of the connecting cavity 5, so the air pressure regulating tube can regulate the air pressure in the connecting cavity 5, and the plunger rod 47 in the inner shaft rod 43 can perform axial sliding displacement under air pressure regulation.

[0021] In this embodiment, a rotating disk 53 is rotatably connected inside the outer lining plate 21, and a transmission rod 54 is eccentrically connected to the rotating disk 53. One end of the transmission rod 54 is rotatably sleeved outside the sealing tube 51. The inner shaft rod 43 is slidably adjusted horizontally along the straight guide opening 42, wherein the turntable 53 can horizontally slide the sealing tube 51 through the transmission rod 54 during the deflection adjustment, so that the inner shaft rod 43 below the sealing tube 51 can slide along the straight guide opening 42 in the fixed shaft 41, thereby being eccentric or concentric with the fixed shaft 41, and the eccentric distance between the inner shaft rod 43 and the fixed shaft 41 can be accurately controlled; therefore, in specific use, after obtaining the center of gravity position of the component, the eccentric distance of the inner shaft rod 43 is effectively controlled through the deflection adjustment of the turntable 53, and at this time, the outer lining plate 21 as a whole can make the marginal magnetizing unit 3 coincide with the center of gravity of the component under the rotation adjustment of the rotating shaft 24, thereby realizing magnetization and adsorption of the center of gravity of the component.

[0022] 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. An industrial robot intelligent sorting mechanical arm, comprising: A truss body (1), a guide rail (11), a mounting plate (12), a mechanical arm (16), and a magnetizing sorting mechanism (2); characterized in that the truss body (1) is vertically mounted on the ground, two mutually parallel guide rails (11) are horizontally fixed to the upper end of the truss body (1), and the mounting plate (12) is slidably connected to the guide rail (11) via a slider; Four connecting rods (15) are symmetrically distributed on the lower end surface of the mounting plate (12), each of the connecting rods (15) is vertically slidably connected to the mounting plate (12), and a bottom plate (13) is arranged parallel to the bottom of the mounting plate (12), and the bottom plate (13) is fixed to each of the connecting rods (15); A mechanical arm (16) is installed on the lower end surface of the bottom plate (13), and a magnetizing sorting mechanism (2) is installed on the execution end of the mechanical arm (16); The magnetization and sorting mechanism (2) comprises: An outer lining plate (21) has a rotating shaft (24) vertically fixed to its upper end, and one end of the rotating shaft (24) is rotatably connected to the mechanical arm (16); A support plate (22) is arranged below the outer lining plate (21) and is parallel to the outer lining plate (21), wherein the support plate (22) is coaxially slidably connected to the outer lining plate (21); Buffer springs (23) are arranged at four corners of the support plate (22), and one end of the buffer spring (23) is connected to the outer lining plate (21); An inner plate (25) fixed below the support plate (22); A marginal magnetizing unit (3) is fixed inside the support plate (22) and is located above the inner plate (25); The central magnetizing unit (4) is vertically disposed inside the support plate (22).

2. The industrial robot intelligent sorting mechanical arm according to claim 1, characterized in that: A hydraulic telescopic rod (14) is vertically fixed in the middle of the mounting plate (12), and the telescopic end of the hydraulic telescopic rod (14) is connected to the bottom plate (13); A steering seat (17) is rotatably mounted on the lower end surface of the base plate (13), and the mechanical arm (16) is connected to the steering seat (17).

3. The industrial robot intelligent sorting mechanical arm according to claim 1, characterized in that: The marginal magnetizing unit (3) adjusts the magnetizing points according to the shape and size of the component, so that each magnetizing point covers the edge of the component; The central magnetizing unit (4) adjusts the magnetizing point position based on the center of gravity of the component so that it is on the same vertical line as the center of gravity of the component.

4. The industrial robot intelligent sorting mechanical arm according to claim 1, characterized in that: The marginal magnetization unit (3) comprises: A ring seat (31) has a plurality of connecting frames (32) fixed to the circumference of its upper end surface, and guide rods (33) are slidably connected to the connecting frames (32); A first electromagnet (34) is arranged corresponding to each of the guide rods (33), wherein the first electromagnet (34) is fixed to an end of the guide rod (33) away from the center of the ring seat (31); A shaft pin (35) vertically fixed on the guide rod (33); A rotating ring (36) is connected to the ring seat (31) for coaxial rotation, wherein a plurality of inclined grooves (37) are distributed in the rotating ring (36), and each of the shaft pins (35) is slidably connected to the inclined groove (37); The gear ring is coaxially fixed on the rotating ring (36), and a driving shaft (38) is horizontally rotatably connected inside the support plate (22). The output end of the driving shaft (38) is connected to the gear ring for transmission through gear meshing.

5. The industrial robot intelligent sorting mechanical arm according to claim 1, characterized in that: The central magnetizing unit (4) comprises: A fixed shaft (41) is coaxially fixed on the support plate (22); the lower end of the outer lining plate (21) is slidably connected to the fixed shaft (41); a straight guide opening (42) is provided in the fixed shaft (41); and an inner shaft rod (43) is vertically connected to the straight guide opening (42); A limiting plate (44) is fixed on the inner shaft (43) and is in abutment contact with the upper end of the fixed shaft (41); The hinged shaft frame (45) is arranged in an X-shaped structure, the hinged shaft frame (45) is circumferentially distributed on the periphery of the inner shaft rod (43), and the inner lower end of the hinged shaft frame (45) is hingedly connected to the inner shaft rod (43); a slip ring (46) coaxially slidably connected to the inner shaft (43); a guide cavity is provided at the center of the inner shaft (43); a plunger rod (47) is sealingly slidably connected in the guide cavity; the lower end of the plunger rod (47) is fixed to the slip ring (46) via a plurality of connecting rods; and the inner upper end of the hinge shaft frame (45) is hingedly connected to the slip ring (46); A side plate (49) is arranged corresponding to each of the hinge shaft frames (45), the side plate (49) is vertically connected to the outside of the hinge shaft frame (45), the outer lower end of the hinge shaft frame (45) is connected to the side plate (49), a fixing block (410) is slidably connected to the side plate (49), and the outer upper end of the hinge shaft frame (45) is connected to the fixing block (410); The second electromagnet (48) is fixed on each of the side plates (49).

6. The industrial robot intelligent sorting mechanical arm according to claim 5, characterized in that: A connecting cavity (5) is provided on the inner upper side of the outer lining plate (21); a sealing tube (51) is slidably connected to the upper end of the inner shaft rod (43); the upper end of the sealing tube (51) is connected to the connecting cavity (5) via a hose (52); and an air pressure regulating tube is connected to the outside of the connecting cavity (5).

7. The industrial robot intelligent sorting mechanical arm according to claim 6, characterized in that: A rotating disk (53) is rotatably connected inside the outer lining plate (21), a transmission rod (54) is eccentrically connected to the rotating disk (53), and one end of the transmission rod (54) is rotatably sleeved outside the sealing tube (51); The inner shaft rod (43) is slidably adjusted horizontally along the straight guide opening (42).

Images