A device for orienting and positioning bulk parts

Abstract

The present invention discloses a device for orienting and positioning bulk parts, which relates to the technical field of part sorting. It includes a pedestal. The top surface of the pedestal is fixedly connected with a support frame. A control terminal is installed on the top surface of the support frame. A feeding platform is arranged at the rear side of the support frame. The bottom surface of the control terminal is fixedly connected with a grasping mechanism for grasping materials. A protective filter mechanism for capturing material images is installed on the side of the grasping mechanism. A receiving buffer mechanism is arranged above the pedestal. A suction material capture mechanism is arranged above the receiving buffer mechanism. A discharge hopper is installed on the side of the feeding platform; the grasping mechanism includes a boom. In the present invention, the inside of the suction cup is in a vacuum state to reduce air pressure and adsorb materials, which is convenient for adjusting the state of the parts sucked by the suction cup through the protective filter mechanism and the control terminal.

Description

Technical Field

[0001] The present invention relates to the technical field of parts sorting, and specifically to a device for orienting and positioning bulk parts. Background Art

[0002] Devices for quickly orienting and accurately positioning bulk parts are generally used in the field of industrial automation, especially in industries such as assembly lines, warehousing 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 technologies for subsequent automated processing and assembly.

[0003] The patent with the publication number CN208066776U discloses a precise positioning device for an automotive parts logistics sorting line, including a guiding part, a mating part, a driving part, and a clamping part. Among them, the guiding part remains fixed; the mating part passes through the guiding part and is telescopically arranged therewith; the driving part is arranged at an interval from the guiding part and is drivingly connected to the mating part; the clamping part with a mating recess is fixed at the other end opposite to the guiding part and the driving part and is releasably locked and clamped with the mating part; by driving the mating part to extend along the guiding part and fall into the recess of the mating part, automatic positioning and locking are achieved; the structure is simplified, the operation is convenient, automatic positioning and locking can be achieved, and quick switching between the locked and released states can be completed. It can lock the rotating workbench at the docking position and keep it stationary, and the docking is precise. It can be automatically unlocked and released under a large thrust without connecting the wrong electronic detection equipment and system, and has high reliability. However, this 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 orienting and positioning bulk parts, which solves the problems raised in the above background art.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A device for orienting and positioning bulk parts, including 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, a feeding platform is arranged at the rear side of the support frame, the bottom surface of the control terminal is fixedly connected with a grasping mechanism for grasping materials, a protective filter mechanism for capturing material images is installed on the side of the grasping mechanism, a receiving buffer mechanism is arranged above the pedestal, a suction capturing mechanism is arranged above the receiving buffer mechanism, and a discharge hopper is installed on the side of the feeding platform;

[0006] 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.

[0007] 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.

[0008] 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.

[0009] 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 through the top surface of the scraping ring from the bottom surface, the coupling disk is rotatably connected to the boom, the transmission belt of the coupling disk and the take-up wheel form a transmission structure. Each time the suction cup adsorbs materials, the turning arm rod on the side of the boom will deflect under the action of the driving motor. When the turning arm rod connected to the linkage shaft deflects, the turning arm rod will drive the coupling bracket connected to the linkage shaft to deflect, so that the deflected coupling bracket drives the coupling member to rotate. The rotation of the coupling member drives another coupling bracket to rotate the coupling disk. The rotation of the coupling disk drives the transmission belt to drive the take-up wheel, so that the filter film wound outside the take-up wheel is wound or unwound. The filter film wound or unwound outside the take-up wheel is attached to the bottom surface of the camera module through the outside of the guide wheel. By attaching the filter film to the bottom surface of the camera module, the light and shadow interference caused by indoor light sources to the capture of the material image is reduced, the interference of the reflective parts to the camera capturing the material image information is reduced, and the capture accuracy is improved. At the same time, using the filter film to surround 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 winds the filter film, the filter film passes around the guide wheel and replaces the filter film with dust attached below the camera module, and the dust on the filter film is cleaned by the scraping ring, and the clean part of the filter film is attached to the camera module.

[0010] According to the above technical solution, the material receiving and buffering mechanism includes a fixed strip. A sling is fixedly connected to one side of the fixed strip away from the filter film. The bottom end of the sling is fixedly connected to a baffle. The bottom end of the baffle is fixedly connected to a pressure groove frame. A groove rod is slidably connected to the front end of the bottom side of the pressure groove frame. A material receiving hopper is fixedly connected to the top surface of the groove rod. Support plates are rotatably connected to both sides of the material receiving hopper. A vertical sliding rod is slidably connected to the side surface of the groove rod. A pressing rod is fixedly connected to the bottom end of the vertical sliding rod. A turning frame is fixedly connected and slidably connected to the front end of the pressing rod. Conductive contacts are fixedly connected to both sides of the turning frame. A plurality of iron cores are arranged inside the turning frame. Each iron core is wound with a coil. The coils are connected end to end through series pieces. A vibrating base is fixedly connected to the top surface of the pedestal. A material receiving tray is arranged above the vibrating base. An energized sliding piece is fixedly connected to the inner wall of the material receiving tray.

[0011] According to the above technical solution, the fixing strip is fixedly connected to the filter film, the vertical sliding rod is slidably connected to the vibration base, the pressing rod is integrally composed of an L-shaped rod and a cylindrical rod, the flipping frame is rotatably connected to the material receiving tray, the coil is electrically connected to the conductive contact piece, the support plate is fixedly connected to the material receiving tray, the support plate is slidably connected to the discharge hopper. When the winding wheel drives the winding of the filter film, the filter film will pull the fixing strip and the sling moves upward. The sling pulls the baffle, causing the baffle to slide along the side of the feeding platform. The baffle will drive the pressure groove frame to pull the groove rod under the action of the pulling force. The stressed groove rod will drive the connected hopper to turn downward around the connection of the support plate. At this time, the material discharged from the feeding platform through the discharge hopper will first fall into the receiving hopper to prevent the material from bouncing off. As the receiving hopper turns, the material will tilt and fall into the material receiving tray along with it. At this time, the turned receiving hopper pushes the vertical sliding rod to move vertically through the connected groove rod, causing the vertical sliding rod to drive the pressing rod to move downward, so that the pressing rod presses the flipping frame to turn. The flipping frame turns upward around the inside of the material receiving tray. The turned flipping frame contacts and energizes the sliding contact through the side conductive contact piece, so that the sliding contact supplies power to the coil through the conductive contact piece. The coil generates magnetism when energized. The falling material is blocked by the turned flipping frame, and the parts with iron components are adsorbed by the magnetism, 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 part with iron metal to face downward, which is convenient for the subsequent adjustment of the suction cup.

[0012] According to the above technical solution, the material suction and capture mechanism includes a lower deflector. A deflecting handle link is hinged to the side of the lower deflector. An adjusting screw rod is rotatably connected to the top of the deflecting handle link. An extension rod is threadedly connected to the top of the adjusting screw rod. An upper deflecting handle is hinged to the top of the extension rod. A reflecting frame is fixedly connected to the side of the upper deflecting handle. A spectacle frame is rotatably connected to the inside of the reflecting frame. A reflecting lens is fixedly connected to the front side of the spectacle frame. A rotating ring seat is fixedly connected to the bottom surface of the lifting seat plate. A lower rotating ring is rotatably connected to the bottom surface of the rotating ring seat. An upper rotating ring is rotatably connected to the bottom surface of the lower rotating ring. Marking rods are fixedly connected to the edge sides of the lower rotating ring and the upper rotating ring. Marking blocks are slidably connected to the outside of the marking rods. An adjusting column is rotatably connected to the bottom surface of the marking blocks.

[0013] According to the above technical solution, the upper offset handle is rotatably connected to the top end of the support plate. There is damping between the upper rotating ring and the lower rotating ring, and there is damping between the lower rotating ring and the rotating ring seat. A scale is provided on the outer surface of the adjusting column. When the sling is in the lowering state, the baffle moves downward under the action of gravity to close the discharge hopper. At this time, the pressure groove frame moves downward and pushes the groove rod. After the groove rod is stressed, it drives the connected hopper to flip around the connection of the support plate. The flipping of the connected hopper drives the connected lower deflection to flip upward and pushes the offset handle link to move obliquely upward. At this time, the offset handle link pushes the extension rod connected to the adjusting screw to move obliquely upward together with the offset handle link. The moving extension rod pushes the upper offset handle to flip around the top of the support plate to drive the reflector to change the angle. By rotating the adjusting screw, the length from the top end of the extension rod to the bottom end of the offset handle link is extended through the thread, so as to adjust the pitching angle of the reflector, enabling the camera module to align with the suction cup through the reflecting lens in the reflector to grasp the material, and judging the state of the suction cup grasping and placing, so that the subsequent camera module can receive information and be adjusted by the control terminal. By rotating the lower rotating ring and the upper rotating ring, after the marking rods on the lower rotating ring and the upper rotating ring are staggered, the marking block on the marking rod is slid, and the marking block is aligned with the material through the scale on the adjusting column as a reference object, so that the camera module can capture the state of the suction cup adsorbing the material through the reflecting lens.

[0014] The present invention provides a device for orienting and positioning bulk parts. It has the following beneficial effects:

[0015] In the present invention, there are provided a grasping mechanism, a jib, a driving motor, a mounting disc, a flipping arm rod, a hinge connecting rod, a supporting suspension rod, a lifting seat disc, a sleeve joint, a hollow shaft motor, and a suction cup. The air in the suction cup is sucked away through the air pipe joint connected to the hollow shaft motor by the built-in air pump, so that the inside of the suction cup is in a vacuum state to reduce the air pressure and adsorb the material, which is convenient for adjusting the state of the parts held by the suction cup through the protective filter mechanism and the control terminal;

[0016] In the present invention, there are provided a camera module, a protective end shell, a guide wheel, a winding wheel, a filter film, a guide shaft, a scraping ring, a linkage shaft, a coupling frame, a coupling piece, a coupling disc, and a transmission belt. By attaching the filter film to the bottom surface of the camera module, the light and shadow interference caused by indoor light sources to the capture of the material image is reduced, and the interference of the reflective parts to the camera's capture of the material image information is reduced, improving the capture accuracy. At the same time, the filter film attached with dust below the camera module is replaced by passing around the guide wheel, and the dust on the filter film is cleaned by the scraping ring, and the clean part of the filter film is attached to the camera module. While the filter film plays a role in reducing the light source interference for the camera module to capture images, it can also protect the lens of the camera module, preventing dust from adhering and affecting image recognition, and reducing the steps of manual cleaning;

[0017] In the present invention, there are provided a fixing bar, a sling, a baffle, a pressure groove frame, a groove rod, a material receiving hopper, a support plate, a vertical sliding rod, a pressing rod, a flipping frame, an iron core, a conductive contact piece, a coil, a series piece, and a power-on sliding piece. When the coil is energized, it generates magnetism. The flipping frame blocks the falling materials during flipping, and uses magnetism to adsorb the parts with iron components, slowing down the impact of the falling materials on the border of the material receiving hopper due to inertia. At the same time, through magnetic adsorption, the side of the part with iron metal can be corrected to face downward, facilitating the subsequent adjustment of the suction cup.

[0018] In the present invention, there are provided a lower deflector, a deflecting handle connecting rod, an adjusting screw, an extension rod, an upper deflecting handle, a reflecting frame, a lens frame, a reflecting lens, a rotating ring seat, a lower rotating ring, an upper rotating ring, a marking rod, a marking block, and an adjusting column. The visual field capture range of the camera module is expanded, and the image visual field angle is enlarged. By rotating the lower rotating ring and the upper rotating ring, after the marking rods on the lower rotating ring and the upper rotating ring are staggered, the marking block on the marking rod is slid so that the marking block aligns with the material through the scale on the adjusting column as a reference object, so that the camera module can capture the state of the suction cup adsorbing the material through the reflecting lens. If the suction cup adsorbs the edges and corners of the material or the reference edge line does not align with the scale on the adjusting column, the camera module will transmit the information to the control terminal, and then the control terminal will control the hollow shaft motor to drive the suction cup to rotate to adjust the placement state of the material sucked by the suction cup, capturing both the placement state of the material in the material receiving tray and the state of the suction cup. In addition, through the above structure linkage, the reflecting lens will change the angle as the flipping arm rod flips, allowing the reflecting lens to reflect the material adsorbed by the suction cup to the camera module. Description of the Drawings

[0019] Figure 1 is a front three-dimensional structure schematic diagram of the whole of the present invention;

[0020] Figure 2 is a structure schematic diagram of the overall mechanism position distribution of the present invention;

[0021] Figure 3 is a structure schematic diagram of the overall grasping mechanism of the present invention;

[0022] Figure 4 is the whole of the present invention Figure 3 is an enlarged structure schematic diagram of A in the present invention;

[0023] Figure 5 is a structure schematic diagram of the overall protection filter mechanism of the present invention;

[0024] Figure 6 is the whole of the present invention Figure 5 is an enlarged structure schematic diagram of B in the present invention;

[0025] Figure 7 is a structure schematic diagram of the overall coupling disk connection of the present invention;

[0026] Figure 8 is the whole of the present inventionFigure 7 Schematic diagram of the enlarged structure of C in

[0027] Figure 9 Schematic diagram of the structure of the overall material receiving and buffering mechanism of the present invention;

[0028] Figure 10 of the present invention as a whole Figure 9 Schematic diagram of the enlarged structure of D in

[0029] Figure 11 Schematic diagram of the structure of the overall material suction and capture mechanism of the present invention.

[0030] In the figure: 1, pedestal; 2, support frame; 3, control terminal; 4, material discharging platform; 5, grasping mechanism; 51, boom; 52, driving motor; 53, mounting disc; 54, turning arm rod; 55, hinge connecting rod; 56, supporting suspension rod; 57, lifting seat disc; 58, sleeve joint; 59, hollow shaft motor; 510, suction cup; 6, material receiving and buffering mechanism; 61, fixing strip; 62, suspension cable; 63, baffle; 64, pressure groove frame; 65, groove rod; 66, material receiving hopper; 67, support plate; 68, vertical sliding rod; 69, pressing rod; 610, turning frame; 611, iron core; 612, conductive contact piece; 613, coil; 614, series piece; 615, energized sliding piece; 616, material receiving disc; 617, vibrating base; 7, material suction and capture mechanism; 71, lower deflector; 72, offset handle connecting rod; 73, adjusting screw; 74, extension rod; 75, upper offset handle; 76, reflection frame; 77, frame; 78, reflection lens; 79, swivel base; 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 film; 86, guide shaft; 87, scraping ring; 88, linkage shaft; 89, coupling frame; 810, coupling piece; 811, coupling disc; 812, transmission belt; 9, discharge hopper. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0032] Please refer to Figures 1-11, an embodiment of the present invention is: a device for orienting and positioning bulk parts, including 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 feeding platform 4 is arranged at the rear side of the support frame 2, a grasping mechanism 5 for grasping 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 grasping mechanism 5, a receiving buffer mechanism 6 is arranged above the pedestal 1, a suction material capturing mechanism 7 is arranged above the receiving buffer mechanism 6, and a discharge hopper 9 is installed on the side of the feeding platform 4;

[0033] The grasping mechanism 5 includes a boom 51. Three mounting plates 53 are fixedly connected to the side of the boom 51. A driving motor 52 is installed on the side of the mounting plate 53. The end of the output shaft of the driving motor 52 is fixedly connected to a turning arm rod 54. One end of the turning arm rod 54 away from the driving motor 52 is hinged to a hinge connecting rod 55. Both ends of the hinge connecting rod 55 are hinged to a support hanging rod 56. The bottom end of the support hanging rod 56 is also connected to a hinge connecting rod 55. The end of the hinge connecting rod 55 located below is hinged to a lifting seat plate 57. An airshaft motor 59 is fixedly connected to the middle top side of the lifting seat plate 57. The top output shaft of the airshaft motor 59 is rotatably connected to a sleeve joint 58. The bottom end of the output shaft of the airshaft motor 59 is fixedly connected to a suction cup 510. The boom 51 is fixedly connected to the bottom surface of the control terminal 3. The turning arm rod 54 is rotatably connected to the boom 51. The boom 51 is integrally composed of three mounting plates spliced around the center in an array, and a mounting plate 53 and a turning arm rod 54 are installed on the side of each mounting plate. When grasping materials, the camera module 81 in the protective filter mechanism 8 visually captures the materials below, judges the position, and transmits 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 grasped materials and controls the driving motor 52 on the side of the boom 51 to start working. The driving motor 52 drives the three turning arm rods 54 to deflect in different directions and angles, and controls the hinge connecting rod 55 connected to the turning arm rod 54 to push or pull the connected support hanging rods 56, so that the two groups of support hanging rods 56 push the hinge connecting rod 55 lifting seat plate 57 through the bottom connection. One group of support hanging rods 56 pushes the lifting seat plate 57 to be stressed, so that the lifting seat plate 57 realizes horizontal movement and simultaneously controls the lifting seat plate 57 to realize vertical movement. When grasping materials, the air in the suction cup 510 is sucked away by the sleeve joint 58 connected to the airshaft motor 59 through the built-in air pump, so that the inside of the suction cup 510 is in a vacuum state to reduce the air pressure and adsorb the materials.

[0034] The protective filter mechanism 8 includes a camera module 81. A protective end housing 82 is provided on the outer side of the camera module 81. A guide wheel 83 and a winding wheel 84 are respectively rotatably connected inside the protective end housing 82. A filter film 85 is wound around the outer side of the winding wheel 84. A guide shaft 86 is provided at the bottom end of the camera module 81. A scraping ring 87 is fixedly connected inside the protective end housing 82. The flipping arm lever 54 closest to the camera module 81 is fixedly connected with a linkage shaft 88. One end of the linkage shaft 88 away from the flipping arm lever 54 is fixedly connected with a coupling frame 89. A coupling member 810 is rotatably connected inside the coupling frame 89. The coupling member 810 is rotatably connected with another coupling frame 89 on the side away from the linkage shaft 88. And a coupling disk 811 is fixedly connected to the side of the coupling frame 89 away from the linkage shaft 88. A transmission belt 812 is drivingly connected to the outer side of the coupling disk 811. The protective end housing 82 is fixedly connected to the bottom surface of the control terminal 3. The guide shaft 86 is fixedly connected to the protective end housing 82. The filter film 85 slides out through the top surface of the scraping ring 87 from the bottom surface. The coupling disk 811 is rotatably connected to the boom 51. The transmission belt 812 of the coupling disk 811 and the winding wheel 84 form a transmission structure. When the flipping arm lever 54 connected to the linkage shaft 88 deflects, the flipping arm lever 54 will drive the coupling frame 89 connected to the linkage shaft 88 to deflect, causing 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 drive the winding wheel 84, so that the filter film 85 wound around the outer side of the winding wheel 84 is wound or unwound. The filter film 85 wound or unwound on the outer side 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. By attaching the filter film 85 to the bottom surface of the camera module 81, the light and shadow interference caused by indoor light sources to the capture of the material image is reduced, and the interference of reflective parts to the camera's capture of the material image information is reduced, improving the capture accuracy. At the same time, using the filter film 85 to wind around the bottom surface of the camera module 81 can prevent dust particles from attaching to the camera module 81 and affecting image capture. When the guide wheel 83 winds the filter film 85, the filter film 85 attached with dust below is replaced around the camera module 81 through the guide wheel 83, and the dust on the filter film 85 is cleaned by the scraping ring 87, and the clean part of the filter film 85 is attached to the camera module 81. While the filter film 85 plays a role in reducing light source interference for the camera module 81 to capture images, it can also protect the lens of the camera module 81, prevent dust from attaching and affecting image recognition, and reduce the steps of manual cleaning.

[0035] The material receiving buffer mechanism 6 includes a fixed bar 61. On the side of the fixed bar 61 away from the filter film 85, a suspension cable 62 is fixedly connected. At the bottom end of the suspension cable 62, a baffle 63 is fixedly connected. At the bottom end of the baffle 63, a groove pressing frame 64 is fixedly connected. At the front end of the bottom side of the groove pressing frame 64, a groove rod 65 is slidably connected. On the top surface of the groove rod 65, a material receiving hopper 66 is fixedly connected. On both sides of the material receiving hopper 66, support plates 67 are rotatably connected. On the side surface of the groove rod 65, a vertical sliding rod 68 is slidably connected. At the bottom end of the vertical sliding rod 68, a pressing rod 69 is fixedly connected. At the front end of the pressing rod 69, a flipping frame 610 is slidably and fixedly connected. On both sides of the flipping frame 610, conductive contacts 612 are fixedly connected. Inside the flipping frame 610, a plurality of iron cores 611 are arranged. Around the outside of each iron core 611, a coil 613 is wound. Between each coil 613, they are connected end to end through a series connection piece 614. On the top surface of the pedestal 1, a vibrating base 617 is fixedly connected. Above the vibrating base 617, a material receiving tray 616 is arranged. On the inner wall of the material receiving tray 616, a power-on sliding piece 615 is fixedly connected. The fixed bar 61 is fixedly connected to the filter film 85. The vertical sliding rod 68 is slidably connected to the vibrating base 617. The pressing rod 69 is integrally composed of an L-shaped rod and a cylindrical rod. The flipping frame 610 is rotatably connected to the material receiving tray 616. The coil 613 is electrically connected to the conductive contact 612. The support plate 67 is fixedly connected to the material receiving tray 616. The support plate 67 is slidably connected to the discharge hopper 9. When the filter film 85 pulls the fixed bar 61, the suspension cable 62 moves upward. By pulling the baffle 63 through the suspension cable 62, the baffle 63 slides along the side surface of the feeding 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. The stressed groove rod 65 will drive the connected material receiving hopper 66 to turn downward around the connection point of the support plate 67. At this time, the material discharged from the feeding platform 4 through the discharge hopper 9 will first fall into the material receiving hopper 66, preventing the material from bouncing off. As the material receiving hopper 66 turns, the material will fall into the material receiving tray 616 along with its inclination. At this time, the turned material receiving hopper 66 pushes the vertical sliding rod 68 to move vertically through the connected groove rod 65, so that the vertical sliding rod 68 drives the pressing rod 69 to move downward, making the pressing rod 69 press the flipping frame 610 to turn. The flipping frame 610 turns upward around the inside of the material receiving tray 616. After turning, the flipping frame 610 contacts the power-on sliding piece 615 through the conductive contact 612 on the side surface, so that the power-on sliding piece 615 supplies power to the coil 613 through the conductive contact 612. By energizing the coil 613, magnetism is generated. The falling material is blocked by the turned flipping frame 610, and the parts with iron components are adsorbed by the magnetism, slowing down the impact of the falling material on the frame of the material receiving hopper 66 due to inertia. At the same time, through magnetic adsorption, the side of the part with iron metal can be corrected to face downward, which is convenient for the subsequent adjustment of the suction cup 510.

[0036] The material suction and capture mechanism 7 includes a lower deflector 71. A deflecting handle link 72 is hinged to the side surface of the lower deflector 71. The top end of the deflecting handle link 72 is rotatably connected to an adjusting screw 73. The top end of the adjusting screw 73 is threadedly connected to an extension rod 74. The top end of the extension rod 74 is hinged to an upper deflecting handle 75. A reflecting frame 76 is fixedly connected to the side surface of the upper deflecting handle 75. A spectacle frame 77 is rotatably connected to the inner side of the reflecting frame 76. A reflecting lens 78 is fixedly connected to the front side surface of the spectacle frame 77. A rotating ring seat 79 is fixedly connected to the bottom surface of the lifting seat plate 57. A lower rotating ring 710 is rotatably connected to the bottom surface of the rotating ring seat 79. An upper rotating ring 711 is rotatably connected to the bottom surface of the lower rotating ring 710. Marking rods 712 are fixedly connected to the edge side surfaces of the lower rotating ring 710 and the upper rotating ring 711. A marking block 713 is slidably connected to the outer side of the marking rod 712. An adjusting column 714 is rotatably connected to the bottom surface of the marking block 713. The upper deflecting handle 75 is rotatably connected to the top end of the support plate 67. There is damping between the upper rotating ring 711 and the lower rotating ring 710, and there is damping between the lower rotating ring 710 and the rotating ring seat 79. A scale is provided on the outer surface of the adjusting column 714. The baffle 63 moves downward under the action of gravity to close the discharge hopper 9. At this time, the pressing groove frame 64 moves downward and pushes the groove rod 65. After the groove rod 65 is stressed, it drives the connected hopper 66 to flip around the connection point of the support plate 67. The flipping of the connected hopper 66 drives the connected lower deflector 71 to flip upward and pushes the deflecting handle link 72 to move obliquely upward. At this time, the deflecting handle link 72 pushes the extension rod 74 connected to the adjusting screw 73 to move obliquely upward together with the deflecting handle link 72. The moving extension rod 74 pushes the upper deflecting handle 75 to flip around the top of the support plate 67, driving the reflecting frame 76 to change the angle. By rotating the adjusting screw 73, the length from the top end of the extension rod 74 to the bottom end of the deflecting handle link 72 is extended through the thread of the adjusting screw 73, so as to adjust the pitching angle of the reflecting frame 76, enabling the camera module 81 to align with the suction cup 510 to grasp the material through the reflecting lens 78 in the reflecting frame 76, and judging the state of the suction cup 510 grasping and placing the material, so that the subsequent camera module 81 can receive information and be adjusted by the control terminal 3. By rotating the lower rotating ring 710 and the upper rotating ring 711, after the marking rods 712 on the lower rotating ring 710 and the upper rotating ring 711 are staggered, the marking block 713 on the marking rod 712 is slid, so that the marking block 713 aligns with the material as a reference through the scale on the adjusting 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 suction cup 510 adsorbs the material edge or the reference rib line is not aligned with the scale on the adjusting column 714, the camera module 81 will transmit the information to the control terminal 3, and then the control terminal 3 controls the hollow shaft motor 59 to drive the suction cup 510 to rotate to adjust the placing state of the suction cup 510 sucking the material.

[0037] Working principle: When grasping materials, the camera module 81 in the protective filter mechanism 8 visually captures the materials below, determines their positions, and transmits 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 grasped materials and controls the driving motor 52 on the side of the boom 51 to start working. The driving motor 52 drives the three turning arm rods 54 to deflect in different directions and angles, and the hinge connecting rod 55 connected to the turning arm rod 54 pushes or pulls the connected support suspension rod 56, enabling the two groups of support suspension rods 56 to push the lifting seat plate 57 of the hinge connecting rod 55 through their bottom connections. When one group of support suspension rods 56 pushes the lifting seat plate 57 to be stressed, the lifting seat plate 57 realizes horizontal movement while controlling the lifting seat plate 57 to simultaneously realize vertical movement. When grasping 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, making the inside of the suction cup 510 in a vacuum state to reduce air pressure and adsorb the materials;

[0038] Each time the suction cup 510 adsorbs materials, the turning arm rod 54 on the side of the boom 51 will deflect under the action of the driving motor 52. When the turning arm rod 54 connected to the linkage shaft 88 deflects, the turning arm rod 54 will drive the coupling frame 89 connected to the linkage shaft 88 to deflect, causing 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 make the coupling disc 811 rotate. The rotation of the coupling disc 811 drives the transmission belt 812 to drive the take-up wheel 84, so that the filter film 85 wound around the take-up wheel 84 is taken up or released. The filter film 85 taken up or released outside the take-up wheel 84 is attached to the bottom surface of the camera module 81 through the outside of the guide wheel 83. By attaching the filter film 85 to the bottom surface of the camera module 81, the light and shadow interference caused by indoor light sources during the image capture of the materials is reduced, and the interference of reflective parts on the camera's capture of the material image information is reduced, improving the capture accuracy. At the same time, using the filter film 85 to wind around the bottom surface of the camera module 81 can prevent dust particles from attaching to the camera module 81 and affecting image capture. When the guide wheel 83 takes up the filter film 85, the filter film 85 around the guide wheel 83 passes through the camera module 81 to replace the filter film 85 with attached dust below, and the dust on the filter film 85 is cleaned by the scraping ring 87, and the clean part of the filter film 85 is attached to the camera module 81. While the filter film 85 plays a role in reducing light source interference for the image captured by the camera module 81, it can also protect the lens of the camera module 81, prevent dust from attaching and affecting image recognition, and reduce the steps of manual cleaning;

[0039] When the take-up reel 84 drives the take-up of the filter film 85, the filter film 85 will pull the fixed bar 61, causing the sling 62 to move upward. The sling 62 pulls the baffle 63, causing the baffle 63 to slide along the side of the feeding 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. The stressed groove rod 65 will drive the connected hopper 66 to rotate downward around the connection of the support plate 67. At this time, the material discharged from the feeding platform 4 through the discharge hopper 9 will first fall into the receiving hopper 66 to prevent the material from bouncing off. As the receiving hopper 66 rotates, the material will fall into the receiving tray 616 along with its inclination. At this time, the rotating receiving hopper 66 pushes the vertical sliding rod 68 to move vertically through the connected groove rod 65, causing the vertical sliding rod 68 to drive the pressure rod 69 to move downward, so that the pressure rod 69 presses the rotating frame 610 to rotate. The rotating frame 610 rotates upward around the inside of the receiving tray 616. After rotation, the rotating frame 610 contacts the energized sliding piece 615 through the side conductive contact piece 612, causing the energized sliding piece 615 to supply power to the coil 613 through the conductive contact piece 612. The coil 613 generates magnetism when energized. The falling material is blocked by the rotating frame 610, and the parts with iron components are adsorbed by the magnetism, slowing down the impact of the falling material on the frame of the receiving hopper 66 due to inertia. At the same time, through magnetic adsorption, the side of the part with iron metal can be corrected to face downward, which is convenient for the rear position adjustment of the suction cup 510;

[0040] 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 stressed, it drives the connected hopper 66 to flip around the connection point of the support plate 67. The flipping of the connected hopper 66 drives the connected lower deflection and the 71 to flip upward and push the offset handle link 72 to move obliquely upward. At this time, the offset handle link 72 pushes the extension rod 74 connected to the adjusting screw 73 to move obliquely upward together with the offset handle link 72. The moving extension rod 74 pushes the upper offset handle 75 to flip around the top of the support plate 67, driving the reflector 76 to change the angle. By rotating the adjusting screw 73, the length from the top end of the extension rod 74 to the bottom end of the offset handle link 72 is extended through the thread of the adjusting screw 73, so as to adjust the pitching angle of the reflector 76, enabling the camera module 81 to align with the suction cup 510 through the reflecting lens 78 in the reflector 76 to grasp the material, judging the state of the suction cup 510 grasping and placing the material, so that the subsequent camera module 81 can receive information and be adjusted by the control terminal 3. By rotating the lower rotating ring 710 and the upper rotating ring 711, after the marking rods 712 on the lower rotating ring 710 and the upper rotating ring 711 are staggered, the marking block 713 on the marking rod 712 is slid, so that the marking block 713 aligns with the material through the scale on the adjusting column 714 as a reference object, 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 suction cup 510 adsorbs the edges and corners of the material or the reference rib line is not aligned with the scale on the adjusting 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 suction cup 510 sucking the material.

[0041] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within 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); 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), 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; 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).

2. The device for directional sorting and positioning of bulk parts according to claim 1, 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.

3. The device for directional sorting and positioning of bulk parts according to claim 2, 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).

4. The device for directional sorting and positioning of bulk parts according to claim 3, 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).

5. The device for directional sorting and positioning of bulk parts according to claim 4, 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).

6. The device for directional sorting and positioning of bulk parts according to claim 5, 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