Intelligent robot with automatic sorting function

Abstract

The invention provides an intelligent robot with an automatic sorting function, and relates to the technical field of sorting robots. The intelligent robot with the automatic sorting function comprises a six-axis mechanical arm, a dustproof execution terminal is mounted at the movable tail end of the six-axis mechanical arm and comprises a terminal mounting disc, an integrated storage compartment is fixedly connected to the bottom of the terminal mounting disc, and guide rail mounting frames are fixedly connected to the left side and the right side of the integrated storage compartment correspondingly; and an X-axis linear driving mechanism is mounted in the guide rail mounting frame. The problem that a photoelectric sensor cannot detect the distance between a robot and a glass plate due to dust shielding is solved, by means of the exhaust mechanism, it can be guaranteed that the negative-pressure suction cup and the glass are discharged within a short time after making contact, the glass plate can be prevented from being crushed by a dustproof execution terminal, and the service life of the robot is prolonged. And meanwhile, it is ensured that high-pressure wind can be discharged when the photoelectric sensor needs to detect the distance between the dustproof execution terminal and the glass, and the situation of dust diffusion caused by excessive use of the high-pressure wind is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of sorting robots, and specifically to an intelligent robot for automatic sorting. Background Art

[0002] During glass production, the main raw materials such as silica sand and soda ash need to be first mixed in proportion and purified, and then put into a high-temperature furnace at 1500 - 1600 °C to be melted into glass liquid. Then, through specific forming processes such as the float process and the rolling process, glass sheets are formed. The glass sheets are moved from the hot end to the cold end, and stress is eliminated through annealing to enhance strength and stability. The annealed glass sheets will be transported to cutting equipment and cut according to predetermined sizes and specifications. After cutting, the glass sheets enter the sorting process. At this time, the sorting robot plays a key role. The sorting robot accurately sorts the cut glass onto a glass aggregate rack through a high-precision vision recognition system and a robotic arm.

[0003] However, in the actual production process, to prevent the glass from sticking to each other, an isolation powder needs to be sprayed on the glass surface before the glass is loaded into the glass aggregate rack; at the same time, to prevent mildew on the glass surface, a moisture-proof powder also needs to be sprayed in advance. The use of these two powders results in a large amount of dust on the production line. These dusts will adhere to the photoelectric sensors of the robot and accumulate in the space below the photoelectric sensors, causing the light emitted by the sensors to be scattered and absorbed during propagation, so that the reflected light cannot be accurately received to precisely detect the distance between the robot and the glass. When the robot cannot accurately judge the distance from the glass, during the process of grasping the glass, it may exert too much force due to incorrect distance judgment, resulting in a collision between the robotic arm and the glass, causing the glass to break; or the grasping position of the robotic arm is inaccurate, resulting in uneven stress on the glass during handling, ultimately causing the glass to be damaged.

[0004] Based on the above viewpoints, those skilled in the art have proposed an intelligent robot for automatic sorting to solve the above existing problems. Summary of the Invention

[0005] (1) Technical Problems to be Solved

[0006] Aiming at the deficiencies of the prior art, the present invention provides an intelligent robot for automatic sorting, which solves the problem that the photoelectric sensor cannot detect the distance between the robot and the glass plate due to dust occlusion. By using an exhaust mechanism, it can ensure that the exhaust is carried out within a short time after the negative pressure suction cup contacts the glass, that is, it can avoid the glass plate being crushed by the dust-proof execution terminal, and at the same time, it also ensures that the high-pressure air can be exhausted when the photoelectric sensor needs to detect the distance between the dust-proof execution terminal and the glass, avoiding the situation of dust diffusion caused by excessive use of high-pressure air.

[0007] (2) Technical Solutions

[0008] To achieve the above object, the present invention is realized through the following technical solutions: An intelligent robot for automatic sorting, including a six-axis robotic arm, a dust-proof execution terminal is installed at the movable end of the six-axis robotic arm. The dust-proof execution terminal includes a terminal mounting disc, an integrated storage box is fixedly connected to the bottom of the terminal mounting disc. Guide rail mounting frames are fixedly connected to both the left and right sides of the integrated storage box. An X-axis linear drive mechanism is installed inside the guide rail mounting frame. A Y-axis linear drive mechanism is installed on the movable slider of the X-axis linear drive mechanism. Suction cup assemblies are connected to the movable sliders on the front and rear sides of the Y-axis linear drive mechanism through springs;

[0009] The suction cup assembly includes a negative pressure suction cup. A suction cup connecting pipe communicates with the top of the negative pressure suction cup. A negative pressure air pipe is fixedly connected to the top of the suction cup connecting pipe. A top connecting pipe is slidably connected to the outer side wall of the negative pressure air pipe. The center of the bottom of the top connecting pipe is fixedly connected to an outer connecting pipe. The outer connecting pipe is sleeved outside the suction cup connecting pipe and is in close contact with the inner side wall of the suction cup connecting pipe. The bottom of the outer connecting pipe is connected to the top of the negative pressure suction cup through a spring. A vacuum generator is installed on the outer side wall of the top connecting pipe. A three-way pipe is fixedly connected to the top of the top connecting pipe. The three-way pipe has two output ports and one input port. The two output ports of the three-way pipe are respectively communicated with the inner cavity of the top connecting pipe and the input port of the vacuum generator;

[0010] An electromagnetic valve is installed on the outer side wall of the integrated storage box. A multi-way pipe is installed inside the integrated storage box. The input port of the multi-way pipe is connected to the output end of the electromagnetic valve. A shunt hose is connected between several output ports of the multi-way pipe and the input port of the three-way pipe;

[0011] The suction port opened on the outer side wall of the negative pressure air pipe is located below the suction port of the vacuum generator. A one-way valve is installed on the upper inner wall of the top connecting pipe and directly below the output end of the three-way pipe. An exhaust air pipe is fixedly connected to the outer side wall of the top connecting pipe. The exhaust air pipe is communicated with the inner cavity of the top connecting pipe. A cross-shaped pipe is fixedly connected below the exhaust air pipe. A pressure-dividing spring rod is connected to the lower inner wall of the cross-shaped pipe through a spring. A high-pressure exhaust air pipe is arranged on the outer side wall of the exhaust air pipe and outside the exhaust air pipe. A photoelectric sensor is installed at the center position of the bottom of the integrated storage box. Several pressure exhaust nozzles are installed at the bottom of the integrated storage box and outside the photoelectric sensor. A high-pressure exhaust hose is connected between several pressure exhaust nozzles and the adjacent high-pressure exhaust air pipe.

[0012] Preferably, a rod plug is connected to the middle position of the cross-shaped pipe through a spring. The inner side wall of the rod plug is in close contact with the outer side wall of the negative pressure air pipe. A rod groove is opened on the rod plug. The arrangement direction of the rod groove is the same as the longitudinal pipe distribution direction of the cross-shaped pipe.

[0013] Preferably, a rod hole for inserting a rod plug is provided on the outer side wall of the negative pressure air duct, and the inner side wall of the rod hole is provided with an elastic material for sealing.

[0014] Preferably, a filter screen is installed inside the negative pressure air duct and below the air suction port on the negative pressure air duct.

[0015] Preferably, exhaust slots are provided on the cross-shaped pipe and the top connecting pipe. The exhaust slots are directly above the pressure-dividing spring rod. A jet pipe is provided on the inner side wall of the negative pressure air duct and below the filter screen, and the jet pipe is used in cooperation with the exhaust slots.

[0016] Preferably, a diversion cone is provided at the center of the bottom of the filter screen, and the nozzle of the jet pipe faces the diversion cone.

[0017] Preferably, an iron block placement rack is provided at the middle position of the top of the negative pressure air duct. An electromagnet ring is installed on the top of the iron block placement rack. The inner bottom wall of the iron block placement rack is connected to a spring-connected iron block with a spring. The diameter of the spring-connected iron block is the same as the inner diameter of the electromagnet ring but smaller than the inner diameter of the iron block placement rack.

[0018] (III) Beneficial effects

[0019] The present invention provides an intelligent robot for automatic sorting. It has the following technical points and beneficial effects:

[0020] 1. By instantaneously blowing high-pressure air through the pressure-exhausting nozzles, a high-speed airflow area can be formed in the direction detected by the sensor. The airflow speed in this area is much greater than that of the surrounding air. The strong convection generated will quickly disperse the dust diffused around, opening up a clean path for the photoelectric sensor for detection, ensuring that the light propagation is not interfered by dust. At the same time, since there is an overlapping area in the air outlet positions of multiple pressure-exhausting nozzles, the convection between them can produce a synergistic effect. When multiple nozzles work simultaneously, the high-pressure air flows from each nozzle affect each other, forming a complex and orderly airflow field. When the high-pressure air blown out by different pressure-exhausting nozzles meets, the differences in airflow direction and speed will trigger strong convection, which will generate a local air pressure difference, making it easier for the dust to be driven under the action of the air pressure difference, thereby improving its ability to entrain dust and reducing the dust on the light path of the photoelectric sensor.

[0021] 2. Using the exhaust mechanism composed of a rod plug, an exhaust pipe, and a pressure-dividing spring rod can ensure that the exhaust is carried out within a short time after the negative pressure suction cup contacts the glass. This can not only prevent the glass plate from being damaged by the dust-proof execution terminal but also ensure that the high-pressure air can be exhausted when the photoelectric sensor needs to detect the distance between the dust-proof execution terminal and the glass, avoiding the situation of excessive use of high-pressure air resulting in dust diffusion.

[0022] 3. Part of the air flow is discharged into the negative pressure air duct together with the air injection pipe through the exhaust slot. The air injection pipe is facing the flow guide cone. After the air flow is dispersed by the flow guide cone, the dust blocked on the filter screen is blown away, thus avoiding the situation that the dust blocks the filter screen and reduces the suction force of the negative pressure suction cup.

[0023] 4. The air flow enters the top connecting pipe through the gap between the iron block placement rack and the iron block with spring. Then, the dust sucked into the lower half of the negative pressure air duct is blown back onto the glass panel, avoiding the dust at this place from detaching from the glass plate, resulting in the adhesion between the four corners of the glass plate and the upper glass plate. At the same time, the injection of the air flow is beneficial to breaking the vacuum environment formed inside the negative pressure air duct, preventing the dust-proof execution terminal from sticking to the glass plate when leaving the glass plate and causing damage to the glass plate. Description of the Drawings

[0024] Figure 1 is a schematic structural diagram of the present invention;

[0025] Figure 2 is a schematic diagram of the dust-proof execution terminal of the present invention;

[0026] Figure 3 is a front view schematic diagram of the dust-proof execution terminal of the present invention;

[0027] Figure 4 is a bottom view schematic diagram of the dust-proof execution terminal of the present invention;

[0028] Figure 5 is a schematic diagram of the suction cup assembly of the dust-proof execution terminal of the present invention;

[0029] Figure 6 is an isometric sectional view of the suction cup assembly of the dust-proof execution terminal of the present invention;

[0030] Figure 7 is Figure 6 an enlarged schematic diagram of part A in

[0031] Figure 8 is Figure 6 an enlarged schematic diagram of part B in

[0032] Among them, 1. Six-axis robotic arm; 2. Dust-proof execution terminal;

[0033] 21. Terminal mounting plate; 22. Integrated storage box; 23. Guide rail mounting frame; 24. X-axis linear drive mechanism; 25. Y-axis linear drive mechanism; 26. Shunt hose; 27. High-pressure exhaust hose; 28. Suction cup assembly; 29. Solenoid valve; 210. Multi-way pipe; 211. Photoelectric sensor; 212. Exhaust pressure exhaust nozzle;

[0034] 281. Negative pressure suction cup; 282. Suction cup connecting pipe; 283. Outer connecting pipe; 284. Top connecting pipe; 285. Three-way pipe; 286. Vacuum generator; 287. Negative pressure air duct; 288. Iron block placement rack; 289. Electromagnetic iron ring; 2810. Spring-loaded iron block; 2811. Check valve; 2812. Exhaust air duct; 2813. Filter screen; 2814. Cross connecting pipe; 2815. Rod plug; 2816. Rod groove; 2817. High-pressure exhaust air duct; 2818. Pressure-dividing spring rod; 2819. Jet pipe; 2820. Exhaust air groove. Detailed implementation manner

[0035] 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] Embodiment 1, as Figure 1 、 Figure 2 and Figure 3 shown, the embodiment of the present invention provides an intelligent robot for automatic sorting, including a six-axis robotic arm 1. A dust-proof execution terminal 2 is installed at the movable end of the six-axis robotic arm 1. The dust-proof execution terminal 2 includes a terminal mounting plate 21. A integrated storage box 22 is fixedly connected to the bottom of the terminal mounting plate 21. Guide rail mounting frames 23 are fixedly connected to both the left and right sides of the integrated storage box 22. An X-axis linear drive mechanism 24 is installed inside the guide rail mounting frame 23. A Y-axis linear drive mechanism 25 is installed on the movable slider of the X-axis linear drive mechanism 24. Suction cup assemblies 28 are connected to the movable sliders on the front and back sides of the Y-axis linear drive mechanism 25 through springs. When the glass is conveyed by the conveying rollers to below the vision recognition system, the vision recognition system detects the glass plate below, quickly captures the contour, shape and position information of the glass through the vision recognition system, and then identifies whether the glass has cracks or damages. At the same time, the vision recognition system will feed back the position information of the glass to the six-axis robotic arm 1. The dust-proof execution terminal 2 adjusts the X-axis linear drive mechanism 24 and the Y-axis linear drive mechanism 25 respectively according to the length and width information of the glass plate scanned by the vision detection system, so that the four suction cup assemblies 28 are aligned with the four corners of the glass plate, and then the six-axis robotic arm 1 drives the dust-proof execution terminal 2 to approach the glass.

[0037] As Figure 2 、 Figure 3 、 Figure 4 and Figure 5As shown, the suction cup assembly 28 includes a negative pressure suction cup 281. A suction cup connecting pipe 282 is connected to the top of the negative pressure suction cup 281. A negative pressure air pipe 287 is fixedly connected to the top of the suction cup connecting pipe 282. A top connecting pipe 284 is slidably connected to the outer side wall of the negative pressure air pipe 287. A connecting pipe 283 is fixedly connected to the center of the bottom of the top connecting pipe 284. The connecting pipe 283 is sleeved outside the suction cup connecting pipe 282 and is in mutual contact with the inner side wall of the suction cup connecting pipe 282. The bottom of the connecting pipe 283 is connected to the top of the negative pressure suction cup 281 by a spring. A vacuum generator 286 is installed on the outer side wall of the top connecting pipe 284. A tee pipe 285 is fixedly connected to the top of the top connecting pipe 284. The tee pipe 285 has two output ports and one input port. The two output ports of the tee pipe 285 are respectively communicated with the inner cavity of the top connecting pipe 284 and the input port of the vacuum generator 286. An electromagnetic valve 29 is installed on the outer side wall of the integrated storage box 22. A multi-way pipe 210 is installed inside the integrated storage box 22. The input port of the multi-way pipe 210 is connected to the output end of the electromagnetic valve 29. A shunt hose 26 is connected between several output ports of the multi-way pipe 210 and the input port of the tee pipe 285. The input end of the electromagnetic valve 29 is connected to an external air pump.

[0038] As Figure 5 、 Figure 6 and Figure 8 , the suction port opened on the outer side wall of the negative pressure air pipe 287 is located below the suction port of the vacuum generator 286. A one-way valve 2811 is installed on the upper inner wall of the top connecting pipe 284 and directly below the output end of the tee pipe 285. An exhaust air pipe 2812 is fixedly connected to the outer side wall of the top connecting pipe 284. The exhaust air pipe 2812 is communicated with the inner cavity of the top connecting pipe 284. A cross pipe 2814 is fixedly connected below the exhaust air pipe 2812. A pressure-dividing spring rod 2818 is connected to the lower inner wall of the cross pipe 2814 by a spring. A high-pressure exhaust air pipe 2817 is arranged on the outer side wall of the exhaust air pipe 2812 and outside the exhaust air pipe 2812. A photoelectric sensor 211 is installed at the center of the bottom of the integrated storage box 22. A number of pressure-exhaust air nozzles 212 are installed at the bottom of the integrated storage box 22 and outside the photoelectric sensor 211. A high-pressure exhaust air hose 27 is connected between the number of pressure-exhaust air nozzles 212 and the adjacent high-pressure exhaust air pipe 2817.

[0039] Embodiment 2, as Figure 5 、 Figure 6 and Figure 8, on the basis of the first embodiment, this embodiment provides another technical solution. A rod plug 2815 is connected to the middle position of the cross-connecting pipe 2814 by a spring. The inner side wall of the rod plug 2815 is in close contact with the outer side wall of the negative pressure air duct 287. A rod groove 2816 is formed in the rod plug 2815. The arrangement direction of the rod groove 2816 is the same as the longitudinal pipe distribution direction of the cross-connecting pipe 2814. A rod hole for inserting the rod plug 2815 is formed in the outer side wall of the negative pressure air duct 287. The inner side wall of the rod hole is provided with an elastic material for sealing. A filter screen 2813 is installed inside the negative pressure air duct 287 and below the air suction port on the negative pressure air duct 287. Exhaust slots 2820 are formed in the cross-connecting pipe 2814 and the top connecting pipe 284. The exhaust slots 2820 are directly above the pressure-dividing spring rod 2818. A jet pipe 2819 is provided on the inner side wall of the negative pressure air duct 287 and below the filter screen 2813. The jet pipe 2819 is used in cooperation with the exhaust slots 2820. A flow guide cone is provided at the center of the bottom of the filter screen 2813. The nozzle of the jet pipe 2819 faces the flow guide cone.

[0040] As Figure 6 shown in Figure 7 , at the middle position of the top of the negative pressure air duct 287, an iron block placement rack 288 is provided. An electromagnet ring 289 is installed on the top of the iron block placement rack 288. A spring-connected spring iron block 2810 is provided on the lower inner wall of the iron block placement rack 288. The diameter of the spring iron block 2810 is the same as the inner diameter of the electromagnet ring 289 but smaller than the inner diameter of the iron block placement rack 288.

[0041] Working principle: When the glass is conveyed by the conveying roller to below the visual recognition system, the visual recognition system detects the glass plate below, quickly captures the contour, shape and position information of the glass through the visual recognition system, and then identifies whether the glass has cracks or damages. At the same time, the visual recognition system will feedback the position information of the glass to the six-axis robotic arm 1. The dust-proof execution terminal 2 adjusts the X-axis linear drive mechanism 24 and the Y-axis linear drive mechanism 25 respectively according to the length and width information of the glass plate scanned by the visual detection system, so that the four suction cup assemblies 28 are aligned with the four corners of the glass plate. Subsequently, the six-axis robotic arm 1 drives the dust-proof execution terminal 2 to approach the glass. During the process of the six-axis robotic arm 1 driving the dust-proof execution terminal 2 to approach the glass plate, the external air pump injects air into the solenoid valve 29, and the air flow is distributed into each three-way pipe 285 through the multi-way pipe 210. After the air flow enters the three-way pipe 285, it will be sent into the top inner cavity of the top connecting pipe 284 and the vacuum generator 286 through the two output ends respectively. At this time, since the air suction holes of the negative pressure air duct 287 are not aligned with the air suction holes of the vacuum generator 286, the negative pressure suction cup 281 does not generate suction, and another part of the air flow cannot be discharged after entering the inner cavity of the top connecting pipe 284 through the one-way valve 2811. Therefore, the air pressure in the top connecting pipe 284 gradually increases.

[0042] When the six-axis robotic arm 1 drives the dust-proof execution terminal 2 to make the negative pressure suction cup 281 fit with the glass plate, with the continuous execution of the six-axis robotic arm 1, the spring between the outer connecting pipe 283 and the negative pressure suction cup 281 is compressed. The negative pressure air duct 287 slides upward along the inner wall of the top connecting pipe 284 driven by the suction cup connecting pipe 282 until the suction port on the negative pressure air duct 287 is aligned with the suction port of the vacuum generator 286, and at the same time, the rod hole on the negative pressure air duct 287 is aligned with the rod plug 2815. At this time, the suction force generated by the vacuum generator 286 acts inside the negative pressure air duct 287 through the suction hole of the negative pressure air duct 287, and the rod slot 2816 is driven into the rod hole of the negative pressure air duct 287, thereby making the positions of the top connecting pipe 284 and the negative pressure air duct 287 relatively fixed. And the rod slot 2816 will connect the longitudinal pipe orifice part of the cross connecting pipe 2814, so that the high-pressure air flow originally sealed in the upper cavity part of the top connecting pipe 284 enters the bottom of the cross connecting pipe 2814 through the exhaust duct 2812 and the longitudinal pipe part of the cross connecting pipe 2814. Since the air pressure of the gas just entering the cross connecting pipe 2814 is relatively high, the pressure dividing spring rod 2818 will be pushed downward by the gas, and the high-pressure exhaust duct 2817 is opened. After the high-pressure air flow enters the high-pressure exhaust duct 2817 and the high-pressure exhaust hose 27, it is transported into the pressure exhaust nozzle 212 and then discharged from the pressure exhaust nozzle 212. By blowing out with high-pressure air instantly, a high-speed air flow area can be formed in the direction detected by the sensor. The air flow speed in this area is much greater than that of the surrounding air, and the strong convection effect generated will quickly discharge the dust diffused around, opening up a clean path for the photoelectric sensor for detection, ensuring that the light propagation is not interfered by dust, enabling the sensor to accurately receive the reflected light, and thus realizing the precise detection of the distance between the robot and the glass, avoiding damage to the glass due to incorrect distance judgment.

[0043] Moreover, since there are overlapping regions in the air outlet positions of multiple pressure relief and exhaust nozzles 212, a synergistic effect can be generated by the convection between them. When multiple exhaust nozzles work simultaneously, the high-pressure air streams affect each other, forming a complex and orderly airflow field. When the high-pressure air blown out by different pressure relief and exhaust nozzles 212 meets, the differences in the airflow direction and speed will trigger strong convection. This convection will generate a local air pressure difference, making it easier for dust to be carried under the action of the air pressure difference, thereby enhancing its ability to entrain dust and reducing the dust on the optical path of the photoelectric sensor 211. The photoelectric sensor 211 can detect the distance between the dust-proof execution terminal 2 and the glass, avoiding damage to the glass plate caused by the six-axis robotic arm 1 driving the dust-proof execution terminal 2. The exhaust mechanism composed of the rod plug 2815, the exhaust pipe 2812, and the pressure-dividing spring rod 2818 can ensure that the exhaust is carried out within a short time after the negative pressure suction cup 281 contacts the glass. This can not only prevent the glass plate from being damaged by the dust-proof execution terminal 2 but also ensure that the high-pressure air can be exhausted when the photoelectric sensor 211 needs to detect the distance between the dust-proof execution terminal 2 and the glass, avoiding the occurrence of the situation where excessive use of high-pressure air leads to dust diffusion.

[0044] With the injection of high-pressure air, the suction force generated by the vacuum generator 286 acts on the negative pressure suction cup 281, causing the glass plate to be sucked by the negative pressure suction cup 281. The dust sucked into the negative pressure air duct 287 can be filtered through the filter screen 2813. At the same time, part of the air flow is discharged into the interior of the negative pressure air duct 287 together with the exhaust air groove 2820 and the air injection pipe 2819. The air injection pipe 2819 is directly opposite the diversion cone. After the air flow is dispersed by the diversion cone, the dust blocked on the filter screen 2813 is blown away, thereby avoiding the situation where the suction force of the negative pressure suction cup 281 is reduced due to dust clogging the filter screen 2813.

[0045] After the six-axis robotic arm 1 drives the dust-proof execution terminal 2 to successfully place the glass plate onto the glass aggregate rack, the solenoid valve 29 and the external air pump are turned off together. The vacuum generator 286 no longer generates suction, and the rod plug 2815 resets. At the same time, the originally energized electromagnet ring 289 is de-energized, and thus no longer limits the spring-loaded iron block 2810. As the six-axis robotic arm 1 drives the dust-proof execution terminal 2 to slowly rise, the negative pressure air duct 287 slides downward along the inner wall of the top connecting pipe 284 under the action of the spring. The negative pressure air duct 287 is misaligned with the suction port of the vacuum generator 286. At this time, the solenoid valve 29 and the external air pump are turned on again, and the air flow continues to be injected into the inner cavity of the top connecting pipe 284, causing the spring-loaded iron block 2810 to be driven downward by the air flow. At this time, the air flow will enter the top connecting pipe 284 through the gap between the iron block placement rack 288 and the spring-loaded iron block 2810, and then blow the dust sucked into the lower half of the negative pressure air duct 287 back onto the glass panel, preventing the dust at this location from detaching from the glass plate and causing adhesion between the four corners of the glass plate and the upper glass plate. At the same time, the injection of the air flow helps to break the vacuum environment formed inside the negative pressure air duct 287, preventing the dust-proof execution terminal 2 from sticking to the glass plate when leaving the glass plate and causing damage to the glass plate.

[0046] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent robot for automatic sorting, comprising a six-axis robotic arm (1), characterized in that: The movable end of the six-axis robot arm (1) is equipped with a dustproof execution terminal (2), and the dustproof execution terminal (2) includes a terminal installation plate (21), the bottom of the terminal installation plate (21) is fixedly connected to an integrated storage compartment (22), the left and right sides of the integrated storage compartment (22) are fixedly connected to a guide rail mounting frame (23), an X-axis linear drive mechanism (24) is installed inside the guide rail mounting frame (23), a Y-axis linear drive mechanism (25) is installed on the movable slider of the X-axis linear drive mechanism (24), and the front and rear movable sliders of the Y-axis linear drive mechanism (25) are connected to suction cup assemblies (28) through springs; The suction cup assembly (28) comprises a negative pressure suction cup (281), the top of the negative pressure suction cup (281) is connected to a suction cup passage (282), the top of the suction cup passage (282) is fixedly connected to a negative pressure air duct (287), the outer side wall of the negative pressure air duct (287) is slidably connected to a top connecting pipe (284), the bottom center of the top connecting pipe (284) is fixedly connected to an outer connecting pipe (283), and the outer connecting pipe (283) is sleeved on the outside of the suction cup passage (282) and is connected to the inner side of the suction cup passage (282). The walls are fitted to each other, the bottom of the outer connecting tube (283) is connected to the top of the negative pressure suction cup (281) through a spring, and a vacuum generator (286) is installed on the outer side wall of the top connecting tube (284), and a three-way tube (285) is fixedly connected to the top of the top connecting tube (284), and the three-way tube (285) has two output ports and one input port, and the two output ports of the three-way tube (285) are respectively connected to the inner cavity of the top connecting tube (284) and the input port of the vacuum generator (286); A solenoid valve (29) is installed on the outer wall of the integrated storage compartment (22), a multi-way pipe (210) is installed inside the integrated storage compartment (22), an input port of the multi-way pipe (210) is connected to an output end of the solenoid valve (29), and a diversion hose (26) is connected between a plurality of output ports of the multi-way pipe (210) and an input port of the three-way pipe (285); The air inlet provided on the outer wall of the negative pressure air duct (287) is located below the air inlet of the vacuum generator (286); a one-way valve (2811) is installed on the upper inner wall of the top connecting pipe (284) and directly below the output end of the three-way pipe (285); an exhaust pipe (2812) is fixedly connected to the outer wall of the top connecting pipe (284); the exhaust pipe (2812) is communicated with the inner cavity of the top connecting pipe (284); a cross pipe (2814) is fixedly connected below the exhaust pipe (2812); the cross pipe (2814) is The lower inner wall is connected to a pressure-dividing spring rod (2818) via a spring, a high-pressure exhaust duct (2817) is arranged on the outer wall of the exhaust duct (2812) and located outside the exhaust duct (2812), a photoelectric sensor (211) is installed at the bottom center of the integrated storage compartment (22), a plurality of pressure exhaust nozzles (212) are installed at the bottom of the integrated storage compartment (22) and located outside the photoelectric sensor (211), and a high-pressure exhaust hose (27) is connected between the plurality of pressure exhaust nozzles (212) and the adjacent high-pressure exhaust duct (2817).

2. The automatic sorting intelligent robot according to claim 1, characterized in that: The middle position of the cross-tube (2814) is connected to a rod plug (2815) via a spring, the inner wall of the rod plug (2815) is in close contact with the outer wall of the negative pressure air duct (287), and the rod plug (2815) is provided with a rod groove (2816), and the arrangement direction of the rod groove (2816) is the same as the longitudinal pipeline distribution direction of the cross-tube (2814).

3. The automatic sorting intelligent robot according to claim 2, characterized in that: The outer wall of the negative pressure air duct (287) is provided with a rod hole for inserting the rod plug (2815), and the inner wall of the rod hole is provided with an elastic material for sealing.

4. The automatic sorting intelligent robot according to claim 1, characterized in that: A filter screen (2813) is installed inside the negative pressure air duct (287) and below the air intake port on the negative pressure air duct (287).

5. The automatic sorting intelligent robot according to claim 4, characterized in that: An exhaust slot (2820) is provided on the cross-through pipe (2814) and the top connecting pipe (284), and the exhaust slot (2820) is located directly above the pressure-dividing spring rod (2818). An air jet pipe (2819) is provided on the inner wall of the negative pressure air duct (287) and below the filter (2813), and the air jet pipe (2819) is used in conjunction with the exhaust slot (2820).

6. The automatic sorting intelligent robot according to claim 5, characterized in that: A guide cone is provided at the bottom center of the filter screen (2813), and the nozzle of the air injection pipe (2819) faces the guide cone.

7. The automatic sorting intelligent robot according to claim 1, characterized in that: An iron block placement rack (288) is arranged at the middle position of the top of the negative pressure air duct (287), an electromagnet ring (289) is installed on the top of the iron block placement rack (288), and a spring-loaded iron block (2810) is connected to the lower inner wall of the iron block placement rack (288) via a spring, and the diameter of the spring-loaded iron block (2810) is the same as the inner diameter of the electromagnet ring (289) but smaller than the inner diameter of the iron block placement rack (288).

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