Device for directionally sorting and positioning bulk parts

Abstract

The invention discloses a device for directionally sorting and positioning bulk parts, and relates to the technical field of part sorting, the device comprises a pedestal, the top surface of the pedestal is fixedly connected with a support frame, the top surface of the support frame is provided with a control terminal, and the rear side of the support frame is provided with a material placing platform; the bottom face of the control terminal is fixedly connected with a grabbing mechanism used for grabbing materials, a protective filter mechanism used for capturing material images is installed on the side face of the grabbing mechanism, a material receiving buffering mechanism is arranged above the pedestal, a material suction capturing mechanism is arranged above the material receiving buffering mechanism, and a material conveying mechanism is arranged above the material suction capturing mechanism. A discharging hopper is installed on the side face of the discharging platform. According to the device, the interior of the suction cup is in a vacuum state, air pressure is reduced, materials are adsorbed, and the state of parts sucked by the suction cup can be conveniently adjusted through the protective filter mechanism and the control terminal.

Description

Technical Field

[0001] The invention relates to the technical field of parts sorting, and in particular to a device for directional sorting and positioning of bulk parts. Background Art

[0002] Devices for rapid directional sorting and precise positioning of bulk parts are generally used in the field of industrial automation, especially in industries such as assembly lines, warehousing and logistics, and electronic product manufacturing. The goal of such devices is to achieve efficient and accurate sorting and positioning of bulk parts through mechanical or robotic technology for subsequent automated processing and assembly.

[0003] The patent with announcement number CN208066776U discloses a precise positioning device for an automobile parts logistics sorting line, comprising a guide part, a matching part, a driving part and a clamping part, wherein the guide part remains fixed; the matching part passes through the guide part and is retractably arranged with the guide part; the driving part is arranged at a distance from the guide part and is connected to the driving of the matching part; the clamping part with a matching recess is fixed to the other end of the guide part opposite to the driving part, and is releasably locked with the matching part; the matching part is driven by the driving part to extend along the guide part, and is automatically positioned and locked after it is sunk into the recess of the matching part; the structure is simplified and the operation is convenient, and the positioning and locking can be automatically achieved, and the switching between the locked and released states can be completed quickly, and the rotating workbench can be locked and immobilized at the docking position, and the docking is precise, and the electronic detection equipment and system can be automatically unlocked and released under a large thrust without connecting incorrectly, and it has high reliability, but the patent has the problem that the placement state of complex parts cannot be effectively adjusted. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides a device for directional sorting and positioning of bulk parts, which solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a device for directional sorting and positioning of bulk parts, comprising a pedestal, the top surface of the pedestal is fixedly connected to a support frame, the top surface of the support frame is installed with a control terminal, the rear side of the support frame is provided with a material discharge platform, the bottom surface of the control terminal is fixedly connected to a grabbing mechanism for grabbing materials, the side of the grabbing mechanism is installed with a protective filter mechanism for capturing material images, a material receiving buffer mechanism is provided above the pedestal, a material suction and capture mechanism is provided above the material receiving buffer mechanism, and a discharge hopper is installed on the side of the discharge platform; The grabbing mechanism includes a boom, the side of the boom is fixedly connected to three mounting plates, a driving motor is installed on the side of the mounting plate, the end of the output shaft of the driving motor is fixedly connected to a flip arm, the end of the flip arm away from the driving motor is hingedly connected to a hinge connecting rod, both ends of the hinge connecting rod are hingedly connected to a supporting boom, the bottom end of the supporting boom is also connected to a hinge connecting rod, the end of the hinge connecting rod located below is hingedly connected to a lifting seat plate, the middle top side of the lifting seat plate is fixedly connected to a hollow shaft motor, the top output shaft of the hollow shaft motor is rotatably connected to a sleeve joint, and the bottom end of the output shaft of the hollow shaft motor is fixedly connected to a suction cup.

[0006] According to the above technical scheme, the boom is fixedly connected to the bottom surface of the control terminal, the flip arm is rotatably connected to the boom, the boom as a whole is composed of three mounting plates spliced ​​around a central array, and a mounting plate and a flip arm are installed on the side of each mounting plate. When grabbing materials, the camera module in the protective filter mechanism visually captures the materials below to determine the location, and transmits the image capture information of the camera module to the control terminal. After receiving the image information, the control terminal calculates the coordinates of the grabbed materials and controls the drive motor on the side of the boom to start working. The three flip arms are driven by the drive motor to deflect in different directions and angles, and the hinge connecting rod connected to the flip arm is controlled to push or pull the connected supporting booms, so that the two groups of supporting booms are connected through the bottom ends to push the hinge connecting rod lifting seat plate, and one group of supporting booms pushes the lifting seat plate to bear force, so that the lifting seat plate can achieve horizontal movement while controlling the lifting seat plate to achieve synchronous up and down movement. When grabbing materials, the air in the suction cup is sucked away through the built-in air pump through the sleeve joint connected to the hollow shaft motor.

[0007] According to the above technical solution, the protective filter mechanism includes a camera module, a protective end shell is provided on the outside of the camera module, a guide wheel and a winding wheel are rotatably connected inside the protective end shell, a filter film is wrapped around the outside of the winding wheel, a guide shaft is provided at the bottom end of the camera module, a scraper ring is fixedly connected inside the protective end shell, the flip arm closest to the camera module is fixedly connected to a linkage shaft, the linkage shaft is fixedly connected to a coupling frame at one end away from the flip arm, the coupling frame is rotatably connected to a coupling member on the inside, the coupling member is rotatably connected to another coupling frame on the side away from the linkage shaft, and the coupling frame is fixedly connected to a coupling disk on the side away from the linkage shaft, and a transmission belt is transmission-connected to the outer side of the coupling disk.

[0008] According to the above technical solution, the protective end shell is fixedly connected to the bottom surface of the control terminal, the guide shaft is fixedly connected to the protective end shell, the filter film slides from the bottom surface to penetrate the top surface of the scraper ring, the coupling disk is rotatably connected to the suspension arm, the coupling disk transmission belt and the winding wheel constitute a transmission structure, and each time the suction cup absorbs material, the flip arm rod on the side of the suspension arm will deflect under the action of the driving motor, and when the flip arm rod connected to the linkage shaft deflects, the flip arm rod will drive the coupling frame connected to the linkage shaft to deflect, so that the deflected coupling frame drives the coupling member to rotate, and the rotation of the coupling member will drive another coupling frame to rotate the coupling disk, and the transmission belt is driven by the rotation of the coupling disk to transmit the winding wheel The filter film wound outside the winding wheel is moved to wind up or unwind the filter film, and the filter film wound or unwound outside the winding wheel is fitted with the bottom surface of the camera module through the outside of the guide wheel. The light and shadow interference caused by the indoor light source on the material image capture is reduced by attaching the filter film to the bottom surface of the camera module, and the interference of reflective parts on the camera capturing the material image information is reduced, thereby improving the capture accuracy. At the same time, using the filter film to wrap around the bottom surface of the camera module can prevent dust particles from adhering to the camera module and affecting image capture. When the guide wheel rolls up the filter film, the filter film with dust attached to the bottom is replaced by the guide wheel passing through the camera module, and the dust on the filter film is cleaned by the scraper ring, and the clean part of the replaced filter film is fitted with the camera module.

[0009] The top end of the lifting paddle shifters is fixedly provided with a lifting paddle shifters, and the lifting paddle shifters are installed in a fixed manner at the bottom of the lifting paddle shifters, and the lifting paddle shifters are installed in a fixed manner at the bottom of the lifting paddle shifters.

[0010] According to the above technical solution, the fixed strip is fixedly connected to the filter membrane, the vertical sliding rod is slidably connected to the vibration base, the pressure rod is composed of an L-shaped rod and a cylindrical rod as a whole, the flip frame is rotatably connected to the receiving tray, the coil is electrically connected to the conductive contact sheet, the support plate is fixedly connected to the receiving tray, and the support plate is slidably connected to the discharge hopper. When the winding wheel drives the filter membrane to wind up, the filter membrane will pull the fixed strip to move the sling upward, and the baffle is pulled by the sling to make the baffle slide along the side of the discharge platform. Under the action of the pulling force, the baffle will drive the groove pressing frame to pull the groove rod to be stressed, and the stressed groove rod will drive the connected hopper to flip downward around the connection of the support plate. At this time, the material falling out of the discharge platform through the discharge hopper will first fall into the receiving hopper. The flip frame is pressed and flipped upward around the inside of the receiving tray. The flipped flip frame contacts the energized slide through the side conductive contact sheet, so that the energized slide supplies power to the coil through the conductive contact sheet, and the coil is energized to generate magnetism, which blocks the falling material through the flipped flip frame and uses magnetism to adsorb parts with iron components, thereby slowing down the impact of the falling material on the frame of the receiving hopper due to inertia. At the same time, the magnetic adsorption can correct the side of the parts with iron metal facing downward, which is convenient for adjusting the position behind the suction cup.

[0011] The top of the adjusting screw is slidably connected to the adjusting screw rod, and the top of the adjusting screw rod is threadably connected to the extending rod, and the top of the extending rod is hingedly connected to the upper handle, and the side of the upper handle is fixedly connected to a reflecting frame, and the inner side of the reflecting frame is rotatably connected to a mirror frame, and the front side of the mirror frame is fixedly connected to a reflecting lens, and the bottom surface of the lifting seat is fixedly connected to a swivel seat, and the bottom surface of the swivel seat is rotatably connected to a lower swivel, and the bottom surface of the lower swivel is rotatably connected to an upper swivel, and the edge sides of the lower swivel and the upper swivel are fixedly connected to a marking rod, and the outer side of the marking rod is slidably connected to a marking block, and the bottom surface of the marking block is rotatably connected to an adjusting column.

[0012] According to the above technical solution, the upper deflection handle is rotatably connected to the top of the support plate, there is damping between the upper swivel and the lower swivel, there is damping between the lower swivel and the swivel seat, and a scale is provided on the outer surface of the adjusting column. When the sling is in a lowered state, the baffle moves downward under the action of gravity to close the discharge hopper. At this time, the slot pressing frame moves downward and pushes the slot rod. After the slot rod is subjected to force, it drives the connected hopper to flip around the connection with the support plate. The flipping of the connected hopper drives the connected lower deflection and flips upward and pushes the deflection handle connecting rod to move obliquely upward. At this time, the deflection handle connecting rod pushes the extension rod connected to the adjusting screw to move obliquely upward together with the deflection handle connecting rod, and the extension rod in the moving state pushes the upper deflection handle to rotate around The top of the support plate flips and drives the reflection frame to change its angle. By rotating the adjusting screw, the adjusting screw is extended through the thread to extend the length from the top of the extension rod to the bottom of the offset handle connecting rod, thereby adjusting the pitch angle of the reflection frame, allowing the camera module to align the suction cup with the reflective lens in the reflection frame to grab the material, and judge the state of the suction cup grabbing and placing, so that the subsequent camera module receives information and is adjusted by the control terminal. By rotating the lower swivel and the upper swivel, the marking rods on the lower swivel and the upper swivel are staggered, and the marking block on the marking rod is slid so that the marking block is aligned with the material as a reference through the scale on the adjustment column, so that the camera module can capture the state of the suction cup adsorbing the material through the reflective lens.

[0013] The present invention provides a device for directional sorting and positioning of bulk parts. It has the following beneficial effects: The present invention is provided with a grabbing mechanism, a suspension arm, a driving motor, a mounting plate, a flip arm, a hinge connecting rod, a supporting suspension rod, a lifting seat plate, a sleeve joint, a hollow shaft motor, and a suction cup. The air in the suction cup is sucked away by a built-in air pump through an air pipe joint connected to the hollow shaft motor, so that the suction cup is in a vacuum state to reduce the air pressure and absorb the material, and the state of the parts sucked by the suction cup can be conveniently adjusted through a protective filter mechanism and a control terminal; The present invention is provided with a camera module, a protective end shell, a guide wheel, a winding wheel, a filter film, a guide shaft, a scraper ring, a linkage shaft, a coupling frame, a coupling member, a coupling disk, and a transmission belt. The filter film is attached to the bottom surface of the camera module to reduce the light and shadow interference caused by the indoor light source on the material image capture, reduce the interference of the reflective member on the camera capturing the material image information, and improve the capture accuracy. At the same time, the filter film with dust attached to the bottom is replaced by the guide wheel passing through the camera module, and the dust on the filter film is cleaned by the scraper ring, and the replaced filter film is attached to the camera module. The filter film can reduce the interference of the light source on the camera module capturing the image, and can also protect the camera module lens, avoid the influence of dust adhesion on the image recognition, and reduce the steps of manual cleaning. The present invention is provided with a fixing bar, a sling, a baffle, a trough frame, a trough rod, a receiving hopper, a support plate, a vertical sliding rod, a pressure rod, a turning frame, an iron core, a conductive contact sheet, a coil, a series sheet, and an energized sliding sheet. The coil is energized to generate magnetism, and the turning frame is turned over to block the falling materials, and the parts with iron parts are adsorbed by magnetism, so that the falling materials can be slowed down from hitting the frame of the receiving hopper due to inertia. At the same time, the magnetic adsorption can correct the side of the parts with iron metal to face downward, so that the rear position adjustment of the suction cup is convenient. The present invention expands the field of view capture range of the camera module and the image field of view angle by arranging a lower deflection and a deflection handle connecting rod, an adjusting screw, an extension rod, an upper deflection handle, a reflection frame, a mirror frame, a reflecting lens, a swivel seat, a lower swivel, an upper swivel, a marking rod, a marking block and an adjusting column. The lower swivel and the upper swivel are rotated to stagger the marking rods on the lower swivel and the upper swivel, and then the marking block on the marking rod is slid to align the marking block with the material as a reference through the scale on the adjusting column, so that the camera module can capture the state of the suction cup adsorbing the material through the reflecting lens. If the edges or reference ridges of the material adsorbed by the suction cup are not aligned with the scale on the adjusting column, the camera module will transmit the information to the control terminal, and the control terminal will control the hollow shaft motor to drive the suction cup to rotate, so as to adjust the placement state of the material adsorbed by the suction cup, and the placement state of the material in the docking tray and the state of the suction cup are captured at the same time. In addition, through the linkage of the above structure, the reflecting lens will change its angle as the flip arm is flipped, so that the reflecting lens reflects the material adsorbed by the suction cup to the camera module. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall front three-dimensional structure of the present invention; Figure 2 It is a structural schematic diagram of the overall mechanism position distribution of the present invention; Figure 3 It is a structural schematic diagram of the overall grabbing mechanism of the present invention; Figure 4 For the present invention as a whole Figure 3 A is a schematic diagram of the enlarged structure of the middle part; Figure 5 It is a structural schematic diagram of the overall protective filter mechanism of the present invention; Figure 6 For the present invention as a whole Figure 5 Schematic diagram of the enlarged structure of B; Figure 7 It is a schematic diagram of the integral coupling disc connection structure of the present invention; Figure 8 For the present invention as a whole Figure 7 Schematic diagram of the enlarged structure of C; Fig. 9 It is a structural schematic diagram of the integral material receiving buffer mechanism of the present invention; Fig.10 For the present invention as a whole Fig. 9 Schematic diagram of the enlarged structure of D in the middle; Fig.11 It is a structural schematic diagram of the overall material suction and capture mechanism of the present invention.

[0015] In the figure: 1, pedestal; 2, support frame; 3, control terminal; 4, material discharging platform; 5, grabbing mechanism; 51, boom; 52, driving motor; 53, mounting plate; 54, flip arm; 55, hinged rod; 56, support boom; 57, lifting seat plate; 58, sleeve joint; 59, hollow shaft motor; 510, suction cup; 6, material receiving buffer mechanism; 61, fixed bar; 62, sling; 63, baffle; 64, slot pressing frame; 65, slot rod; 66, material receiving hopper; 67, support plate; 68, vertical slide rod; 69, pressure rod; 610, flip frame; 611, iron core; 612, conductive contact sheet; 613, coil; 614, series sheet; 615, energized slide sheet; 616, Receiving tray; 617, vibrating base; 7, suction and catching mechanism; 71, lower deflection; 72, eccentric handle connecting rod; 73, adjusting screw; 74, extension rod; 75, upper eccentric handle; 76, reflection frame; 77, mirror frame; 78, reflecting lens; 79, swivel seat; 710, lower swivel; 711, upper swivel; 712, marking rod; 713, marking block; 714, adjusting column; 8, protective filter mechanism; 81, camera module; 82, protective end shell; 83, guide wheel; 84, winding wheel; 85, filter membrane; 86, guide shaft; 87, scraper ring; 88, linkage shaft; 89, coupling frame; 810, coupling; 811, coupling plate; 812, conveyor belt; 9, discharge hopper. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0017] See also Figure 1-11 One embodiment of the present invention is: a device for directional sorting and positioning of bulk parts, comprising a pedestal 1, a support frame 2 is fixedly connected to the top surface of the pedestal 1, a control terminal 3 is installed on the top surface of the support frame 2, a material discharge platform 4 is arranged on the rear side of the support frame 2, a grabbing mechanism 5 for grabbing materials is fixedly connected to the bottom surface of the control terminal 3, a protective filter mechanism 8 for capturing material images is installed on the side of the grabbing mechanism 5, a material receiving buffer mechanism 6 is arranged above the pedestal 1, a material suction and capture mechanism 7 is arranged above the material receiving buffer mechanism 6, and a discharge hopper 9 is installed on the side of the discharge platform 4; The grabbing mechanism 5 includes a suspension arm 51, the side of the suspension arm 51 is fixedly connected to three mounting plates 53, the side of the mounting plate 53 is installed with a driving motor 52, the end of the output shaft of the driving motor 52 is fixedly connected to a flip arm 54, the end of the flip arm 54 away from the driving motor 52 is hingedly connected to a hinge rod 55, both ends of the hinge rod 55 are hingedly connected to a supporting suspension rod 56, and the bottom end of the supporting suspension rod 56 is also connected to the hinge rod 55. , the end of the hinged connecting rod 55 at the bottom is hingedly connected with a lifting seat plate 57, the middle top side of the lifting seat plate 57 is fixedly connected with a hollow shaft motor 59, the top output shaft of the hollow shaft motor 59 is rotatably connected with a sleeve joint 58, and the bottom end of the output shaft of the hollow shaft motor 59 is fixedly connected with a suction cup 510, the boom 51 is fixedly connected to the bottom surface of the control terminal 3, the flip arm 54 is rotatably connected to the boom 51, and the boom 51 as a whole is composed of three mounting plates spliced ​​around the central array, and the side of each mounting plate is installed with a mounting plate 53 and a flip arm 54. When grabbing materials, the camera module 81 in the protective filter mechanism 8 is used to visually capture the materials below to determine the location, and transmit the image capture information of the camera module 81 to the control terminal 3, and the control After receiving the image information, the terminal 3 calculates the coordinates of the material to be grabbed and controls the driving motor 52 on the side of the boom 51 to start working. The driving motor 52 drives the three flip arms 54 to deflect in different directions and angles, and controls the hinged rod 55 connected to the flip arm 54 to push or pull the connected supporting boom 56, so that the two groups of supporting booms 56 are connected at the bottom to push the hinged rod 55 to lift the seat plate 57. One group of supporting booms 56 pushes the lifting seat plate 57 to bear force, so that the lifting seat plate 57 can achieve horizontal movement and control the lifting seat plate 57 to achieve synchronous up and down movement. When grabbing materials, the air in the suction cup 510 is sucked away by the built-in air pump through the sleeve joint 58 connected to the hollow shaft motor 59, so that the suction cup 510 is in a vacuum state to reduce the air pressure and adsorb the materials.

[0018] The protective filter mechanism 8 includes a camera module 81, a protective end shell 82 is arranged on the outside of the camera module 81, a guide wheel 83 and a winding wheel 84 are rotatably connected inside the protective end shell 82, a filter film 85 is wound around the outside of the winding wheel 84, a guide shaft 86 is arranged at the bottom end of the camera module 81, a scraper ring 87 is fixedly connected inside the protective end shell 82, a linkage shaft 88 is fixedly connected to the flip arm 54 closest to the camera module 81, a coupling frame 89 is fixedly connected to the end of the linkage shaft 88 away from the flip arm 54, the coupling frame 89 is rotatably connected to the inner side with a coupling member 810, and the coupling member 810 is away from the linkage member One side of the shaft 88 is rotatably connected to another coupling frame 89, and the coupling frame 89 is fixedly connected to a coupling plate 811 on the side away from the linkage shaft 88. The outer side of the coupling plate 811 is transmission-connected to a transmission belt 812. The protective end shell 82 is fixedly connected to the bottom surface of the control terminal 3. The guide shaft 86 is fixedly connected to the protective end shell 82. The filter film 85 slides from the bottom surface to pass through the top surface of the scraper ring 87. The coupling plate 811 is rotatably connected to the suspension arm 51. The coupling plate 811 transmission belt 812 and the winding wheel 84 constitute a transmission structure. When the flip arm 54 connected to the linkage shaft 88 deflects, the flip arm 54 will drive the linkage shaft 88 connected to the linkage shaft 88. The shaft frame 89 deflects, allowing the deflected coupling frame 89 to drive the coupling member 810 to rotate. The rotation of the coupling member 810 will drive another coupling frame 89 to rotate the coupling disk 811. The rotation of the coupling disk 811 drives the transmission belt 812 to transmit the winding wheel 84, so that the filter film 85 wound outside the winding wheel 84 is wound or unwound. The filter film 85 wound or unwound outside the winding wheel 84 is attached to the bottom surface of the camera module 81 through the outer side of the guide wheel 83. The light and shadow interference caused by the indoor light source on the material image capture is reduced by attaching the filter film 85 to the bottom surface of the camera module 81, and the interference of reflective components on the camera capturing material image information is reduced, thereby improving the capture accuracy. At the same time, by wrapping the filter film 85 around the bottom surface of the camera module 81, dust particles can be prevented from adhering to the camera module 81 and affecting image capture. When the guide wheel 83 reels the filter film 85, the filter film 85 with dust attached below is replaced by the guide wheel 83 passing through the camera module 81, and the dust on the filter film 85 is cleaned by the scraper ring 87, and the filter film 85 is replaced and attached to the camera module 81. The filter film 85 can reduce the interference of light source on the camera module 81 in capturing images, and can also protect the lens of the camera module 81, prevent dust from adhering to and affecting image recognition, and reduce the steps of manual cleaning.

[0019] The material receiving buffer mechanism 6 includes a fixed strip 61, a side of the fixed strip 61 away from the filter film 85 is fixedly connected to a sling 62, the bottom end of the sling 62 is fixedly connected to a baffle 63, the bottom end of the baffle 63 is fixedly connected to a groove pressing frame 64, the bottom front end of the groove pressing frame 64 is slidably connected to a groove rod 65, the top surface of the groove rod 65 is fixedly connected to a material receiving hopper 66, both sides of the material receiving hopper 66 are rotatably connected to support plates 67, the side of the groove rod 65 is slidably connected to a vertical sliding rod 68, the bottom end of the vertical sliding rod 68 is fixedly connected to a pressure rod 69, the front end of the pressure rod 69 is fixedly connected and slidably connected to a flip frame 610, both sides of the flip frame 610 are fixedly connected to conductive contacts 612, the flip frame 610 A plurality of iron cores 611 are arranged inside, a coil 613 is wound around the outside of each iron core 611, and each coil 613 is connected end to end through a series connection piece 614. A vibration base 617 is fixedly connected to the top surface of the pedestal 1, a receiving tray 616 is arranged above the vibration base 617, an energized sliding piece 615 is fixedly connected to the inner wall of the receiving tray 616, a fixed strip 61 is fixedly connected to the filter film 85, a vertical sliding rod 68 is slidably connected to the vibration base 617, a pressure rod 69 is composed of an L-shaped rod and a cylindrical rod, a flip frame 610 is rotatably connected to the receiving tray 616, a coil 613 is electrically connected to a conductive contact sheet 612, a support plate 67 is fixedly connected to the receiving tray 616, and a support plate 67 is fixedly connected to the receiving tray 616. The support plate 67 is slidably connected to the discharge hopper 9, and the filter film 85 will pull the fixed strip 61 to move the sling 62 upward, and the baffle plate 63 will be pulled by the sling 62 to slide along the side of the discharge platform 4. The baffle plate 63 will drive the groove pressing frame 64 to pull the groove rod 65 under the action of the pulling force, and the groove rod 65 under force will drive the connected hopper 66 to flip downward around the connection of the support plate 67. At this time, the material dropped from the discharge platform 4 through the discharge hopper 9 will first fall into the receiving hopper 66 to prevent the material from bouncing and detaching. As the receiving hopper 66 flips, the material falls into the receiving tray 616 with its tilt. At this time, the flipped receiving hopper 66 pushes the vertical sliding rod 68 to move vertically through the connected groove rod 65, so that The vertical slide bar 68 drives the pressure rod 69 to move downward, so that the pressure rod 69 makes the flip frame 610 flip under pressure, and the flip frame 610 flips upward around the inner side of the receiving plate 616. The flipped flip frame 610 contacts the energized slide 615 through the side conductive contact 612, so that the energized slide 615 supplies power to the coil 613 through the conductive contact 612, and the coil 613 is energized to generate magnetism, and the flipped flip frame 610 blocks the falling materials, and uses magnetism to adsorb the parts with attached iron parts, slowing down the falling materials from hitting the frame of the receiving hopper 66 due to inertia. At the same time, the magnetic adsorption can correct the side of the parts with iron metal to face downward, which is convenient for adjusting the rear position of the suction cup 510.

[0020] The material suction and catching mechanism 7 comprises a lower deflection handle 71, the side of the lower deflection handle 71 is hingedly connected to a deflection handle connecting rod 72, the top of the deflection handle connecting rod 72 is rotatably connected to an adjusting screw 73, the top of the adjusting screw 73 is threadedly connected to an extension rod 74, the top of the extension rod 74 is hingedly connected to an upper deflection handle 75, the side of the upper deflection handle 75 is fixedly connected to a reflection frame 76, the inner side of the reflection frame 76 is rotatably connected to a mirror frame 77, the front side of the mirror frame 77 is fixedly connected to a reflection lens 78, the bottom surface of the lifting seat plate 57 is fixedly connected to a swivel seat 79, the bottom surface of the swivel seat 79 is rotatably connected to a lower swivel 710, the bottom surface of the lower swivel 710 is rotatably connected to an upper swivel 711, the lower swivel 710 and the upper swivel The edge sides of 711 are fixedly connected with marking rods 712, the outer side of marking rods 712 is slidably connected with marking blocks 713, the bottom surface of marking blocks 713 is rotatably connected with adjusting columns 714, the upper deflection handle 75 is rotatably connected with the top of the support plate 67, there is damping between the upper swivel 711 and the lower swivel 710, there is damping between the lower swivel 710 and the swivel seat 79, the outer surface of the adjusting column 714 is provided with scales, the baffle 63 moves downward under the action of gravity to close the discharge hopper 9, at this time, the groove pressing frame 64 moves downward and pushes the groove rod 65, after the groove rod 65 is subjected to force, it drives the connected hopper 66 to flip around the connection of the support plate 67, the connected hopper 66 flips and drives the connected lower deflection 71 upward The eccentric handle connecting rod 72 is flipped and pushed to move diagonally upward. At this time, the eccentric handle connecting rod 72 pushes the extension rod 74 connected to the adjusting screw 73 to move diagonally upward together with the eccentric handle connecting rod 72. The moving extension rod 74 pushes the upper eccentric handle 75 to flip around the top of the support plate 67, driving the reflection frame 76 to change its angle. By rotating the adjusting screw 73, the adjusting screw 73 can extend the length from the top of the extension rod 74 to the bottom of the eccentric handle connecting rod 72 through the thread, thereby adjusting the pitch angle of the reflection frame 76, allowing the camera module 81 to align with the suction cup 510 through the reflective lens 78 in the reflection frame 76 to grab the material, and judge the state of the suction cup 510 grabbing and placing, so that the subsequent camera module 81 can receive the signal The information is adjusted by the control terminal 3 by rotating the lower rotating ring 710 and the upper rotating ring 711 to stagger the marking rods 712 on the lower rotating ring 710 and the upper rotating ring 711, and then sliding the marking block 713 on the marking rod 712 so that the marking block 713 is aligned with the material as a reference through the scale on the adjustment column 714, so that the camera module 81 can capture the state of the suction cup 510 adsorbing the material through the reflecting lens 78. If the corners or reference ridges of the material adsorbed by the suction cup 510 are not aligned with the scale on the adjustment column 714, the camera module 81 will transmit the information to the control terminal 3, and then the control terminal 3 will control the hollow shaft motor 59 to drive the suction cup 510 to rotate, so as to adjust the placement state of the material adsorbed by the suction cup 510.

[0021] Working principle: when grabbing materials, the camera module 81 in the protective filter mechanism 8 is used to visually capture the materials below, determine the location, and transmit the image capture information of the camera module 81 to the control terminal 3. After receiving the image information, the control terminal 3 calculates the coordinates of the grabbed materials and controls the driving motor 52 on the side of the boom 51 to start working. The driving motor 52 drives the three flip arms 54 to deflect in different directions and angles, and controls the hinge connecting rod 55 connected to the flip arm 54 to push or pull the connected supporting boom 56, so that the two groups of supporting booms 56 are connected at the bottom to push the hinge connecting rod 55 to lift the seat plate 57. One group of supporting booms 56 pushes the lifting seat plate 57 to bear force, so that the lifting seat plate 57 can move horizontally and control the lifting seat plate 57 to move up and down synchronously. When grabbing materials, the air in the suction cup 510 is sucked away by the built-in air pump through the sleeve joint 58 connected to the hollow shaft motor 59, so that the suction cup 510 is in a vacuum state to reduce the air pressure and adsorb the materials; Every time the suction cup 510 absorbs materials, the flip arm 54 on the side of the boom 51 will deflect under the action of the drive motor 52. When the flip arm 54 connected to the linkage shaft 88 deflects, the flip arm 54 will drive the coupling frame 89 connected to the linkage shaft 88 to deflect, so that the deflected coupling frame 89 drives the coupling member 810 to rotate. The rotation of the coupling member 810 will drive another coupling frame 89 to rotate the coupling disk 811. The rotation of the coupling disk 811 drives the transmission belt 812 to transmit the winding wheel 84, so that the filter film 85 wound on the outside of the winding wheel 84 is wound or unwound. The filter film 85 wound or unwound on the outside of the winding wheel 84 is attached to the bottom surface of the camera module 81 through the outer side of the guide wheel 83. The filter film 85 attached to the bottom surface of the camera module 81 reduces the indoor light source. The light and shadow interference caused by capturing the image of the material is reduced, and the interference of reflective parts on the camera capturing the image information of the material is reduced, so as to improve the capturing accuracy. At the same time, the filter film 85 is used to wrap around the bottom surface of the camera module 81 to prevent dust particles from adhering to the camera module 81 and affecting the image capturing. When the guide wheel 83 rolls up the filter film 85, the filter film 85 with dust attached below is replaced by the guide wheel 83 through the camera module 81, and the dust on the filter film 85 is cleaned by the scraper ring 87, and the replaced filter film 85 is attached to the camera module 81. The filter film 85 can reduce the interference of light source on the camera module 81 capturing the image, and can also protect the lens of the camera module 81, so as to prevent dust from adhering to the image and affecting the image recognition, and reduce the steps of manual cleaning. When the reel 84 drives the filter film 85 to reel up, the filter film 85 will pull the fixed strip 61 to make the sling 62 move upward, and the baffle 63 will be pulled by the sling 62 to make the baffle 63 slide along the side of the discharge platform 4. The baffle 63 will drive the groove pressing frame 64 to pull the groove rod 65 under the action of the pulling force, and the groove rod 65 under the force will drive the connected hopper 66 to flip downward around the connection of the support plate 67. At this time, the material dropped from the discharge platform 4 through the discharge hopper 9 will first fall into the receiving hopper 66 to prevent the material from bouncing and detaching. As the receiving hopper 66 flips, the material falls into the receiving tray 616 with its tilt. At this time, the flipped receiving hopper 66 pushes the vertical slide rod 68 to move vertically through the connected groove rod 65 , so that the vertical slide bar 68 drives the pressure rod 69 to move downward, and the pressure rod 69 makes the flip frame 610 flip under pressure, and the flip frame 610 flips upward around the inner side of the receiving plate 616. The flipped flip frame 610 contacts the energized slide 615 through the side conductive contact 612, so that the energized slide 615 supplies power to the coil 613 through the conductive contact 612, and the coil 613 is energized to generate magnetism, and the flipped flip frame 610 blocks the falling materials, and uses magnetism to adsorb the parts with iron parts, slowing down the impact of the falling materials on the frame of the receiving hopper 66 due to inertia. At the same time, through magnetic adsorption, the side of the parts with iron metal can be corrected to face downward, which is convenient for adjusting the rear position of the suction cup 510; When the sling 62 is in the lowering state, the baffle 63 moves downward under the action of gravity to close the discharge hopper 9. At this time, the groove pressing frame 64 moves downward and pushes the groove rod 65. After the groove rod 65 is subjected to force, it drives the connected hopper 66 to flip around the connection with the support plate 67. The connected hopper 66 flips and drives the connected lower deflection and 71 to flip upward and push the eccentric handle connecting rod 72 to move obliquely upward. At this time, the eccentric handle connecting rod 72 pushes the extension rod 74 connected to the adjusting screw 73 to move obliquely upward together with the eccentric handle connecting rod 72. The extension rod 74 in the moving state pushes the upper eccentric handle 75 to flip around the top of the support plate 67, driving the reflection frame 76 to change its angle. By rotating the adjusting screw 73, the adjusting screw 73 can extend the length from the top of the extension rod 74 to the bottom of the eccentric handle connecting rod 72 through the thread, thereby adjusting the pitch angle of the reflection frame 76, so that the camera module 81 can pass through the reflection frame The reflective lens 78 in 76 is aligned with the suction cup 510 to grab the material, and the state of the suction cup 510 grabbing and placing is judged so that the camera module 81 can receive information and adjust it later by the control terminal 3. By rotating the lower rotating ring 710 and the upper rotating ring 711, the marking rods 712 on the lower rotating ring 710 and the upper rotating ring 711 are staggered, and then the marking block 713 on the marking rod 712 is slid so that the marking block 713 is aligned with the material as a reference through the scale on the adjustment column 714, so that the camera module 81 can capture the state of the suction cup 510 adsorbing the material through the reflective lens 78. If the corners or reference ridges of the material adsorbed by the suction cup 510 are not aligned with the scale on the adjustment column 714, the camera module 81 will transmit the information to the control terminal 3, and then the control terminal 3 will control the hollow shaft motor 59 to drive the suction cup 510 to rotate to adjust the placement state of the material adsorbed by the suction cup 510.

[0022] The above description 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 device for directional sorting and positioning of bulk parts, comprising a base (1), characterized in that: The top surface of the pedestal (1) is fixedly connected to a support frame (2), a control terminal (3) is installed on the top surface of the support frame (2), a material discharge platform (4) is arranged on the rear side of the support frame (2), a gripping mechanism (5) for gripping materials is fixedly connected to the bottom surface of the control terminal (3), a protective filter mechanism (8) for capturing material images is installed on the side of the gripping mechanism (5), a material receiving buffer mechanism (6) is arranged above the pedestal (1), a material suction and catching mechanism (7) is arranged above the material receiving buffer mechanism (6), and a material discharge hopper (9) is installed on the side of the material discharge platform (4); The grabbing mechanism (5) comprises a suspension arm (51), the side of the suspension arm (51) is fixedly connected to three mounting plates (53), the side of the mounting plate (53) is installed with a driving motor (52), the end of the output shaft of the driving motor (52) is fixedly connected to a flip arm (54), the end of the flip arm (54) away from the driving motor (52) is hingedly connected to a hinged rod (55), both ends of the hinged rod (55) are hingedly connected to a supporting suspension rod (56), the bottom end of the supporting suspension rod (56) is also connected to a hinged rod (55), the end of the hinged rod (55) located below is hingedly connected to a lifting seat plate (57), the middle top side of the lifting seat plate (57) is fixedly connected to a hollow shaft motor (59), the top output shaft of the hollow shaft motor (59) is rotatably connected to a sleeve joint (58), and the bottom end of the output shaft of the hollow shaft motor (59) is fixedly connected to a suction cup (510).

2. The device for directional sorting and positioning of bulk parts according to claim 1, characterized in that: The boom (51) is fixedly connected to the bottom surface of the control terminal (3), and the flip arm (54) is rotatably connected to the boom (51). The boom (51) as a whole is composed of three mounting plates spliced ​​around a central array, and a mounting plate (53) and a flip arm (54) are mounted on the side of each mounting plate.

3. The device for directional sorting and positioning of bulk parts according to claim 2, characterized in that: The protective filter mechanism (8) comprises a camera module (81), a protective end shell (82) is arranged on the outside of the camera module (81), a guide wheel (83) and a winding wheel (84) are rotatably connected inside the protective end shell (82), a filter film (85) is wound around the outside of the winding wheel (84), a guide shaft (86) is arranged at the bottom end of the camera module (81), a scraper ring (87) is fixedly connected inside the protective end shell (82), and the flip arm (54) closest to the camera module (81) is The wiper is fixedly connected to a linkage shaft (88), one end of the linkage shaft (88) away from the flip arm (54) is fixedly connected to a coupling frame (89), the coupling frame (89) is rotatably connected to a coupling member (810) on the inner side, the coupling member (810) is rotatably connected to another coupling frame (89) on the side away from the linkage shaft (88), and the coupling frame (89) is fixedly connected to a coupling plate (811) on the side away from the linkage shaft (88), and the outer side of the coupling plate (811) is transmission-connected to a transmission belt (812).

4. The device for directional sorting and positioning of bulk parts according to claim 3, characterized in that: The protective end shell (82) is fixedly connected to the bottom surface of the control terminal (3), the guide shaft (86) is fixedly connected to the protective end shell (82), the filter film (85) slides from the bottom surface to pass through the top surface of the scraper ring (87), the coupling disk (811) is rotatably connected to the suspension arm (51), and the coupling disk (811), the transmission belt (812) and the winding wheel (84) form a transmission structure.

5. The device for directional sorting and positioning of bulk parts according to claim 4, characterized in that: The material receiving buffer mechanism (6) comprises a fixed strip (61), a side of the fixed strip (61) away from the filter film (85) is fixedly connected to a sling (62), the bottom end of the sling (62) is fixedly connected to a baffle (63), the bottom end of the baffle (63) is fixedly connected to a groove pressing frame (64), the bottom front end of the groove pressing frame (64) is slidably connected to a groove rod (65), the top surface of the groove rod (65) is fixedly connected to a material receiving hopper (66), both sides of the material receiving hopper (66) are rotatably connected to support plates (67), the side of the groove rod (65) is slidably connected to a vertical sliding rod (68), and the bottom end of the vertical sliding rod (68) is fixedly connected to a pressure rod ( 69), the front end of the pressure rod (69) is fixedly and slidably connected to a flip frame (610), both sides of the flip frame (610) are fixedly connected to conductive contact sheets (612), a plurality of iron cores (611) are arranged inside the flip frame (610), a coil (613) is wound around the outer side of each iron core (611), each of the coils (613) is connected end to end via a series connection sheet (614), the top surface of the pedestal (1) is fixedly connected to a vibration base (617), a material receiving tray (616) is arranged above the vibration base (617), and the inner wall of the material receiving tray (616) is fixedly connected to an energized sliding sheet (615).

6. The device for directional sorting and positioning of bulk parts according to claim 5, characterized in that: The fixed strip (61) is fixedly connected to the filter film (85), the vertical sliding rod (68) is slidably connected to the vibration base (617), the pressure rod (69) is composed of an L-shaped rod and a cylindrical rod, the flip frame (610) is rotatably connected to the receiving tray (616), the coil (613) is electrically connected to the conductive contact sheet (612), the support plate (67) is fixedly connected to the receiving tray (616), and the support plate (67) is slidably connected to the discharge hopper (9).

7. The device for directional sorting and positioning of bulk parts according to claim 6, characterized in that: The material suction and catching mechanism (7) comprises a lower deflection rod (71), the side of the lower deflection rod (71) is hingedly connected to a handle connecting rod (72), the top of the handle connecting rod (72) is rotatably connected to an adjusting screw (73), the top of the adjusting screw (73) is threadedly connected to an extension rod (74), the top of the extension rod (74) is hingedly connected to an upper handle (75), the side of the upper handle (75) is fixedly connected to a reflection frame (76), the inner side of the reflection frame (76) is rotatably connected to a mirror frame (77), and the front side of the mirror frame (77) is The lifting seat plate (57) is fixedly connected to a reflective lens (78) on its surface; the bottom surface of the lifting seat plate (57) is fixedly connected to a swivel seat (79); the bottom surface of the swivel seat (79) is rotatably connected to a lower swivel (710); the bottom surface of the lower swivel (710) is rotatably connected to an upper swivel (711); the edge sides of the lower swivel (710) and the upper swivel (711) are fixedly connected to a marking rod (712); the outer side of the marking rod (712) is slidably connected to a marking block (713); and the bottom surface of the marking block (713) is rotatably connected to an adjusting column (714).

8. The device for directional sorting and positioning of bulk parts according to claim 7, characterized in that: The upper deflection handle (75) is rotatably connected to the top of the support plate (67), damping exists between the upper rotating ring (711) and the lower rotating ring (710), damping exists between the lower rotating ring (710) and the rotating ring seat (79), and the outer surface of the adjustment column (714) is provided with a scale.

Images