An intelligent sorting robotic arm for industrial robots

Abstract

The present invention discloses an intelligent sorting robotic arm for industrial robots, which includes: a truss main body, guide rails, a mounting plate, a robotic arm, and a magnetizing sorting mechanism; the truss main body is vertically installed on the ground, and two mutually parallel guide rails are horizontally fixed at the upper end of the truss main body, and the mounting plate is slidably connected to the guide rails through sliders; four connecting rods are symmetrically distributed on the lower end surface of the mounting plate, and each connecting rod is vertically slidably connected to the mounting plate, and a bottom plate is arranged in parallel below the mounting plate; the robotic arm is installed on the lower end surface of the bottom plate, and the magnetizing sorting mechanism is installed at the execution end of the robotic arm; in the present invention, the magnetizing sorting mechanism is mainly composed of a marginal magnetizing unit and a central magnetizing unit. The marginal magnetizing unit can cover the edge position of the component; while the central magnetizing unit is calibrated and adjusted based on the geometric center of gravity position of the component, and the safety and stability of sorting and grasping are improved through coordinated cooperation.

Description

Technical Field

[0001] The present invention belongs to the technical field of sorting manipulators, and specifically relates to an intelligent sorting robotic arm for industrial robots. Background Art

[0002] With the booming development of industry and the advancement of intelligent manufacturing, the demand for automated sorting systems is increasing day by day. Intelligent sorting robotic arms play a crucial role in improving production efficiency, reducing costs, and minimizing human errors. Currently, intelligent robotic arms can optimize the movement path of the robotic arm through AI algorithms, providing stable and efficient motion control to ensure that the robotic arm can quickly and accurately reach the designated position. 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 components.

[0003] Existing intelligent sorting hands, such as the invention patent with the publication number CN119217422A, are equipped with both magnetic adsorption cylinders and suction cups for sheet sorting. The magnetic adsorption cylinders can adsorb to the sheet after being energized and magnetized, improving the grasping effect. However, due to the excessive gap between adjacent magnetic adsorption cylinders, it is impossible to effectively magnetically adsorb and sort small components. Conventional magnetic adsorption sorting arms use a single electromagnet to be energized for magnetization and demagnetization. Although they can perform component adsorption and sorting, they have poor adaptability to non-standard shaped or special structured components, easily resulting in grasping failures or detachment during the sorting process. Especially for components with the center of gravity deviating from the center of symmetry, due to the center of gravity offset, such components are prone to problems such as unstable grasping, tilting, or falling off.

[0004] Therefore, it is necessary to provide an intelligent sorting robotic arm for industrial robots to solve the problems raised in the above background art. Summary of the Invention

[0005] To achieve the above object, the present invention provides the following technical solution: An intelligent sorting robotic arm for industrial robots, which includes: a truss main body, guide rails, a mounting plate, a robotic arm, and a magnetization sorting mechanism; the truss main body is vertically installed on the ground, and two mutually parallel guide rails are horizontally fixed at the upper end of the truss main body, and the mounting plate is slidably connected to the guide rails through sliders;

[0006] Four connecting rods are symmetrically distributed on the lower end surface of the mounting plate, and each connecting rod is vertically slidably connected to the mounting plate. A bottom plate is arranged in parallel below the mounting plate, and the bottom plate is fixed to each connecting rod;

[0007] The robotic arm is installed on the lower end surface of the bottom plate, and the magnetization sorting mechanism is installed at the execution end of the robotic arm.

[0008] Further, preferably, a hydraulic telescopic rod is vertically fixed in the middle of the mounting plate, and the telescopic end of the hydraulic telescopic rod is connected to the bottom plate;

[0009] A steering seat is rotatably mounted on the lower end surface of the bottom plate, and the robotic arm is connected to the steering seat.

[0010] Further, preferably, the magnetizing and sorting mechanism includes:

[0011] An outer lining plate, on the upper end of which a rotating shaft is vertically fixed, and one end of the rotating shaft is rotatably connected to the robotic arm;

[0012] A support plate is arranged below the outer lining plate and is parallel to the outer lining plate, and the support plate is coaxially and slidably connected to the outer lining plate;

[0013] Buffer springs are arranged at the four corners of the support plate, and one end of each buffer spring is connected to the outer lining plate;

[0014] An inner plate is fixed below the support plate;

[0015] Marginal magnetizing units are fixed in the support plate and are located above the inner plate;

[0016] A central magnetizing unit is vertically arranged in the support plate.

[0017] Further, preferably, the marginal magnetizing units adjust the magnetizing points according to the shape and size of the parts, so that each magnetizing point covers the edge position of the parts;

[0018] The central magnetizing unit adjusts the magnetizing points based on the center of gravity of the parts, so that it is on the same vertical line as the center of gravity of the parts.

[0019] Further, preferably, the marginal magnetizing units include:

[0020] A ring seat, on the upper end surface of which a plurality of connecting frames are circumferentially fixed, and guide rods are slidably connected to each of the connecting frames;

[0021] First electromagnets are arranged corresponding to the respective guide rods, and each first electromagnet is fixed to the end of the guide rod far from the center of the ring seat;

[0022] Axle pins are vertically fixed to the guide rods;

[0023] A rotating ring is rotatably connected to the ring seat concentrically, and a plurality of inclined slots are distributed in the rotating ring, and each axle pin is slidably connected to the inclined slot;

[0024] A toothed ring is coaxially fixed to the rotating ring, and a driving shaft is horizontally rotatably connected in the support plate, and the output end of the driving shaft is connected and driven to the toothed ring through gear meshing.

[0025] Further, as a preference, the central magnetization unit includes:

[0026] A fixed shaft, 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 an inner shaft rod is vertically connected to the straight guide opening;

[0027] A limit disk, fixed on the inner shaft rod and abutted against the upper end of the fixed shaft;

[0028] A hinge shaft frame, arranged in an X-shaped structure, the hinge shaft frame is circumferentially distributed around the inner shaft rod, and the lower inner side of the hinge shaft frame is hinged to the inner shaft rod;

[0029] A slip ring, coaxially and slidably connected to the inner shaft rod, a guide cavity is provided in the center of the inner shaft rod, a plunger rod is hermetically and 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 upper inner side of the hinge shaft frame is hinged to the slip ring;

[0030] Side plates, provided corresponding to each hinge shaft frame, the side plates are vertically connected outside the hinge shaft frame, the lower outer side of the hinge shaft frame is connected to the side plates, a fixed block is slidably connected to the side plates, and the upper outer side of the hinge shaft frame is connected to the fixed block;

[0031] A second electromagnet, fixed on each side plate.

[0032] Further, as a preference, a connection cavity is provided on the upper inner side of the outer lining plate, a sealing tube is slidably connected to the upper end of the inner shaft rod, the upper end of the sealing tube is connected to the connection cavity through a hose, and a pneumatic pressure regulating tube is connected outside the connection cavity.

[0033] 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;

[0034] The inner shaft rod slides horizontally along the straight guide opening for adjustment.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] The magnetization sorting mechanism adopted in the present invention is mainly composed of a marginal magnetization unit and a central magnetization unit. Thus, in the magnetic adsorption sorting of special parts, the marginal magnetization unit adaptively adjusts the magnetization points, so that each magnetization point covers the edge position of the part; while the central magnetization unit calibrates and adjusts based on the geometric center of gravity position of the part, so as to not only ensure the complete magnetic adsorption of the whole part, but also realize 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 stress caused by the center of gravity offset, and improving the safety and stability of sorting and grasping. Brief Description of the Drawings

[0037] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 is a schematic diagram of the structure of the magnetizing and sorting mechanism in the present invention;

[0039] Figure 3 is a sectional view of the structure of the magnetizing and sorting mechanism in the present invention;

[0040] Figure 4 is Figure 3 an enlarged schematic view of the structure at position A in;

[0041] Figure 5 is a schematic diagram of the structure of the marginal magnetizing unit in the present invention;

[0042] Figure 6 is a schematic diagram of the structure of the central magnetizing unit in the present invention;

[0043] Figure 7 is Figure 6 an enlarged schematic view of the structure at position B in;

[0044] Figure 8 is a schematic diagram of the structure of the fixed shaft in the present invention;

[0045] Figure 9 is a schematic diagram of the eccentric distribution structure of the central magnetizing unit in the present invention;

[0046] In the figure: 1. Truss main body; 11. Guide rail; 12. Mounting plate; 13. Base plate; 14. Hydraulic telescopic rod; 15. Connecting rod; 16. Robot arm; 17. Steering seat; 2. Magnetizing and 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. Axle nail; 36. Rotating ring; 37. Inclined groove; 38. Driving shaft; 4. Central magnetizing unit; 41. Fixed shaft; 42. Straight guide port; 43. Inner shaft rod; 44. Limiting disc; 45. Hinge shaft frame; 46. Slip ring; 47. Plunger rod; 48. Second electromagnet; 49. Side plate; 410. Fixed block; 5. Connecting cavity; 51. Sealing pipe; 52. Hose; 53. Turntable; 54. Transmission rod. Detailed Description of the Invention

[0047] Please refer to Figures 1-9, in the embodiment of the present invention, an intelligent sorting robotic arm for industrial robots includes: a truss main body 1, guide rails 11, a mounting plate 12, a robotic arm 16, and a magnetizing sorting mechanism 2; the truss main body 1 is vertically installed on the ground, and two mutually parallel guide rails 11 are horizontally fixed at the upper end of the truss main body 1. The mounting plate 12 is slidably connected to the guide rails 11 through sliders; among them, a propulsion cylinder or other propulsion units can be arranged on the truss main body 1 to horizontally push the mounting plate 12.

[0048] Four connecting rods 15 are symmetrically distributed on the lower end face of the mounting plate 12. Each connecting rod 15 is vertically slidably connected to the mounting plate 12. A bottom plate 13 is arranged in parallel below the mounting plate 12, and the bottom plate 13 is fixed to each connecting rod 15.

[0049] The robotic arm 16 is installed on the lower end face of the bottom plate 13, and the magnetizing sorting mechanism 2 is installed at the execution end of the robotic arm 16. The magnetizing sorting mechanism 2 can realize magnetic adsorption sorting of parts after being energized and magnetized.

[0050] 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.

[0051] A steering seat 17 is rotatably installed on the lower end face of the bottom plate 13, and the robotic arm 16 is connected to the steering seat 17 to ensure the overall flexibility of the sorting robotic arm.

[0052] As a preferred embodiment, the magnetizing sorting mechanism 2 includes:

[0053] An outer lining plate 21, with a rotating shaft 24 vertically fixed at its upper end. One end of the rotating shaft 24 is rotatably connected to the robotic arm 16.

[0054] A support plate 22 is arranged 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.

[0055] Buffer springs 23 are arranged at the four corners of the support plate 22. One end of each buffer spring 23 is connected to the outer lining plate 21; the buffer springs 23 provide a spring support effect to prevent the support plate 22 from pressing and damaging the parts when pressing against the parts together with the outer lining plate 21.

[0056] An inner plate 25 is fixed below the support plate 22.

[0057] A marginal magnetizing unit 3 is fixed inside the support plate 22 and is located above the inner plate 25.

[0058] A central magnetizing unit 4 is vertically arranged inside the support plate 22.

[0059] In this embodiment, the marginal magnetization unit 3 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; that is to say, each magnetization point can be energized for magnetization simultaneously, so as to realize the multi-point magnetic adsorption on the edge of the component. Therefore, sensors such as cameras and laser scanners installed on the sorting robotic arm can accurately identify the shape and size of the component, and use image processing algorithms or three-dimensional scanning technology to extract the edge contour information of the component, providing a basis for the subsequent adjustment of the magnetization points.

[0060] The central magnetization unit 4 adjusts the magnetization points 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 magnetization adsorption.

[0061] In this embodiment, the marginal magnetization unit 3 includes:

[0062] A ring base 31, on the circumferential upper end surface of which a plurality of connecting frames 32 are fixedly arranged, and guide rods 33 are slidably connected to each of the connecting frames 32;

[0063] A first electromagnet 34, which is arranged corresponding to each of the guide rods 33, and the first electromagnet 34 is fixed at one end of the guide rod 33 far from the center of the ring base 31;

[0064] A shaft nail 35, which is vertically fixed on the guide rod 33;

[0065] A rotating ring 36, which is rotatably connected to the ring base 31 concentrically, and a plurality of inclined grooves 37 are distributed in the rotating ring 36, and each of the shaft nails 35 is slidably connected to the inclined groove 37;

[0066] A toothed ring, which is coaxially fixed on the rotating ring 36, a driving shaft 38 is horizontally rotatably connected in the support plate 22, and the output end of the driving shaft 38 is connected and driven to the toothed ring through the meshing action of gears. Thus, in the forward and reverse rotation adjustment of the driving 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 nail 35, so as to gradually move away from the center of the ring base 31 or approach the center of the ring base 31. Each first electromagnet 34 constitutes an independent magnetization point, so as to adapt to the geometric contour shape of the component for targeted adjustment.

[0067] In this embodiment, the central magnetization unit 4 includes:

[0068] A fixed shaft 41, which 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 port 42 is opened in the fixed shaft 41, and an inner shaft rod 43 is vertically connected to the straight guide port 42;

[0069] A limit disk 44, which is fixed on the inner shaft rod 43 and abuts against the upper end of the fixed shaft 41;

[0070] The hinge shaft frame 45 is arranged in an X-shaped structure, and the hinge shaft frames 45 are circumferentially distributed around the outer periphery of the inner shaft rod 43. The lower end of the inner side of the hinge shaft frame 45 is hinged to the inner shaft rod 43;

[0071] The slip ring 46 is coaxially and slidably connected to the inner shaft rod 43. A guide cavity is arranged in the center of the inner shaft rod 43, and a plunger rod 47 is hermetically 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, and the upper end of the inner side of the hinge shaft frame 45 is hinged to the slip ring 46;

[0072] The side plates 49 are arranged corresponding to the respective hinge shaft frames 45. The side plates 49 are vertically connected to the outside of the hinge shaft frames 45. The lower end of the outside of the hinge shaft frame 45 is connected to the side plate 49. A fixed block 410 is slidably connected to the side plate 49, and the upper end of the outside of the hinge shaft frame 45 is connected to the fixed block 410;

[0073] The second electromagnets 48 are fixed on the respective side plates 49. Therefore, when the plunger rod 47 in the inner shaft rod 43 slides up and down for adjustment, the plunger rod 47 can push the slip ring 46 to displace synchronously. At this time, the respective hinge shaft frames 45 gradually expand or contract, so that the second electromagnets 48 on the respective side plates 49 gradually move away from the center of the inner shaft rod 43 or approach the center of the inner shaft rod 43, forming an inward aggregation or dispersion effect, so that the second electromagnets 48 are concentrated in a smaller area to provide a stronger adsorption effect; or the second electromagnets 48 are relatively dispersed, and the adsorption points are more extensive, and the center of gravity of the components can be better balanced.

[0074] As a preferred embodiment, a connection cavity 5 is provided on the upper side inside the outer lining plate 21. The upper end of the inner shaft rod 43 is slidably connected with a sealing pipe 51. The upper end of the sealing pipe 51 is connected to the connection cavity 5 through a flexible pipe 52. An air pressure regulating pipe (not shown in the figure) is externally connected to the connection cavity 5. Therefore, the air pressure regulating pipe can regulate the air pressure in the connection cavity 5, and the plunger rod 47 in the inner shaft rod 43 can axially slide and displace under the air pressure regulation.

[0075] In this embodiment, a turntable 53 is rotatably connected inside the outer lining plate 21. An eccentric connecting rod 54 is connected to the turntable 53, and one end of the connecting rod 54 is rotatably sleeved outside the sealing pipe 51;

[0076] The inner shaft rod 43 slides horizontally and adjusts along the straight guide port 42. Among them, the turntable 53 can horizontally slide and push the sealing pipe 51 through the transmission rod 54 during the deflection adjustment, so that the inner shaft rod 43 below the sealing pipe 51 can slide along the straight guide port 42 in the fixed shaft 41, so as to be eccentric or concentric with the fixed shaft 41, and can accurately control the eccentric distance between the inner shaft rod 43 and the fixed shaft 41. 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 by deflecting and adjusting the turntable 53. At this time, the whole outer lining plate 21 can make the marginal magnetization unit 3 coincide with the center of gravity of the component under the rotation adjustment of the rotating shaft 24, so as to realize the magnetization adsorption of the center of gravity point of the component.

[0077] The above is only the preferred specific implementation manner 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. An industrial robot intelligent sorting mechanical arm, comprising: Truss body, guide rails, mounting plate, mechanical arm and magnetizing sorting mechanism; characterized in that 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 connecting rod 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 connecting rod; 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; The magnetizing and sorting mechanism includes: The outer lining plate has a rotating shaft vertically fixed on the upper end, and 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; 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; The central magnetizing unit includes: The 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 opened in the fixed shaft, and the straight guide opening is vertically connected to the inner shaft rod; A limit plate is fixed on the inner shaft and is in abutment contact with the upper end of the fixed shaft; The hinge frame is an X-shaped structure, the hinge frame is circumferentially distributed outside the inner shaft rod, and the inner lower end of the hinge frame is hinged to the inner shaft rod; The 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 sealed and 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. The inner upper end of the hinge shaft frame is hinged to the slip ring. A side plate is provided corresponding to each hinge frame, the side plate is vertically connected to the outside of the hinge frame, the lower end of the outer side of the hinge frame 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 frame is connected to the fixed block; A second electromagnet is fixed to each side plate; A connecting cavity is provided on the inner upper side of the outer lining plate, a sealing tube is slidably connected to the upper end of the inner shaft, 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; 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.

2. The industrial robot intelligent sorting mechanical arm according to claim 1, characterized in that: A hydraulic telescopic rod is vertically fixed in the middle of the mounting plate, and the 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.

3. The industrial robot intelligent sorting mechanical arm according to claim 1, characterized in that: The marginal magnetizing unit adjusts the magnetizing points according to the shape and size of the parts, so that each magnetizing point covers the edge of the parts; 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.

4. The industrial robot intelligent sorting mechanical arm according to claim 1, characterized in that: The marginal magnetization unit includes: 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 provided corresponding to each guide rod, and the first electromagnet is fixed on an end of the guide rod away from the center of the ring seat; Axis nail, fixed vertically on the guide rod; The swivel is connected to the ring seat with the same center of the circle, and a plurality of inclined grooves are distributed in the swivel, and each shaft pin 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.

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