Industrial robot sorting device based on machine vision

Abstract

The invention relates to the technical field of robots, and discloses an industrial robot sorting device based on machine vision, the bottom of a first motor of a clamping mechanism is connected with a first driving gear and a base plate, the first motor is included, the first driving gear is in meshed connection with a sliding plate, and a limiting strip is arranged at the bottom of the sliding plate; the bottom of the sliding plate is fixedly connected with a clamping plate, the sliding plate is slidably connected with a sliding groove, the base plate is fixedly connected with a fixing plate, and the fixing plate is provided with a sliding groove. According to the industrial robot sorting device based on machine vision, all parts of the clamping mechanism and the lifting mechanism are connected in a matched mode, so that cargoes needing to be sorted can be clamped after recognition of a visual sensor, the cargoes are moved to another belt from an original belt, and the working process of descending, clamping and ascending is completed; and through full-automatic work of the device, manpower and material resources are greatly saved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an industrial robot sorting device based on machine vision. Background Art

[0002] With the development of the times and the progress of technology, robots have gradually come into people's view and gradually replaced humans in performing some cumbersome, heavy, and high-intensity labor. With the intensification of population aging and the continuous development of automation technology, industrial robots are increasingly widely used in industries such as automotive, photovoltaic, 3C electronics, and processing. For goods of different shapes and weights in factories, sorting is often required for classification, which is a type of industrial robot sorting currently.

[0003] However, in the prior art, there are various types of sorting robots such as belt sorting machines, chain sorting machines, and inclined belt sorting machines. However, these sorting robots usually have complex structures, high failure rates during heavy work, low efficiency, cumbersome operations, and high sorting error rates for various differently shaped goods, which have a negative impact on the sorting work.

[0004] According to Chinese Patent No. CN115213107A, this patent discloses an industrial robot sorting device, including a robot sorting structure, a chassis frame, a movable adjustment seat, and a top plate mounting frame. The lower end of the top plate mounting frame is rotatably connected to the robot sorting structure, the lower end of the robot sorting structure is rotatably connected to the movable adjustment seat, and the bottom end of the movable adjustment seat is rotatably connected to the chassis frame. However, this patent cannot lift goods in the vertical direction, and the angle adjustability of the goods clamping mechanism is relatively small, with poor adaptability.

[0005] In order to solve the above problems, the inventor provides an industrial robot sorting device based on machine vision. Summary of the Invention

[0006] Aiming at the problems of complex structure, high failure rate, low efficiency, cumbersome operation, and high sorting error rate existing in the devices in the prior art, the present invention provides an industrial robot sorting device based on machine vision, which has the advantages of simple structure, low failure rate, and excellent efficiency.

[0007] To achieve the above object, the present invention provides the following technical solution: An industrial robot sorting device based on machine vision, comprising a first motor, a first driving gear, a sliding plate, a limiting strip, a sliding groove, a fixing plate, an elastic plate, a spring, a fixing block, a circular groove, a cushion block, a vision sensor, a backing plate, a lifting shaft, a rotating plate, a fastening block, a belt, a first tooth, a second motor, an output shaft, a second driving gear, a third output shaft, a rotating shaft, a second tooth, a rotating edge, a rotating groove, a third motor, a fourth output shaft, a third driving gear, a base, a bottom plate, a stabilizing block, a fourth motor, a bottom column, a clamping mechanism, a lifting mechanism, a clamping plate, and a small notch.

[0008] The positions and connection relationships of the above structures are as follows:

[0009] The clamping mechanism: The bottom of the first motor is respectively connected with a first driving gear and a backing plate. The first driving gear is meshed with a sliding plate. The bottom of the sliding plate is provided with a limiting strip. The bottom of the sliding plate is fixedly connected with a clamping plate. The sliding plate is slidably connected with a sliding groove. The backing plate is fixedly connected with a fixing plate. The fixing plate is provided with a sliding groove. The sliding plate is slidably connected with the fixing plate through the sliding groove. An elastic plate is slidably connected inside the sliding groove. A fixing block is provided above the fixing plate. The elastic plate and the fixing block are connected by a spring;

[0010] A circular groove is provided inside the fixing plate. A cushion block is fixed above the circular groove. A vision sensor is fixed above the cushion block. A lifting shaft is fixed in the middle of the fixing plate.

[0011] Preferably, the other end of the lifting shaft is slidably connected with a rotating plate. A lifting mechanism is provided on the top of the rotating plate. The lifting mechanism comprises a second motor and a fastening block. The second motor is connected with an output shaft. The output shaft is fixedly connected with a second driving gear. Above the fastening block, the lifting shaft is semi-circular and is provided with a first tooth on the plane. The first tooth is meshed with the second driving gear.

[0012] Preferably, a rotating shaft is fixedly connected to the middle of the rotating plate. A second tooth is provided on the outer side of the rotating shaft. A rotating edge is provided at the bottom of the rotating shaft. The rotating edge is meshed with a rotating groove. The rotating groove is provided on the bottom column. Third motors are provided on both sides of the bottom column. The top of the third motor is connected with a fourth output shaft. The top of the fourth output shaft is fixedly connected with a third driving gear. The third driving gear is meshed with the second tooth. Thus, the rotating plate is driven to rotate by the rotating shaft, and the clamping mechanism and the lifting mechanism are rotated to another belt through rotation for sorting work.

[0013] Preferably, a base is fixedly connected to the bottom of the bottom column, a bottom plate is fixed to the bottom of the base, stabilizing blocks are fixedly connected to both sides of the bottom plate, a third output shaft is rotatably connected to the stabilizing blocks, a fourth motor is rotatably connected to the third output shaft, and a belt is rotatably connected to the outside of the third output shaft. Thereby providing transportation for the device to cooperate with the device for sorting work.

[0014] Preferably, the clamping mechanism and the lifting mechanism are divided into three groups, with an included angle of 120° for each group, and are evenly arranged on the upper and lower sides of the rotating plate. Thereby, within the rotation range, the sorting efficiency can be improved as much as possible, and the sorting work can be continuously carried out while the rotating plate is rotating all the time.

[0015] Preferably, the connection between the lifting shaft and the fastening block is tight, and the relative static state of the lifting shaft and the fastening block can be maintained only under the action of gravity. Only when the second driving gear is engaged with the first cogs, the up and down movement of the lifting shaft will be driven. Thereby enabling the lifting shaft to remain stationary when the lifting mechanism is not working, without affecting the sorting work of the goods.

[0016] Preferably, small notches are provided on the inner sides of the clamping plate and the elastic plate. Thereby increasing the friction between the clamping plate and the elastic plate and the goods, making the clamping of the goods more firm, and enabling the clamping of heavier goods.

[0017] Preferably, there are two third motors, which are respectively fixed on both sides of the rotating shaft. Thereby, driven by the third motors, the rotating shaft is driven to swing intermittently from side to side, thereby driving the rotating shaft to carry out sorting work.

[0018] Beneficial effects:

[0019] 1. For the industrial robot sorting device based on machine vision, through the coordinated connection between the components of the clamping mechanism and the lifting mechanism, after being recognized by the vision sensor, the goods to be sorted can be clamped, and the goods can be moved from the original belt to another belt, thereby completing the working process of descending, clamping and rising. Through the automatic operation of the device, manpower and material resources are greatly saved.

[0020] 2. For the industrial robot sorting device based on machine vision, through the coordinated connection between the components, by driving the rotation of the rotating plate, the clamping mechanism that has clamped the goods is driven to rotate, and through the cooperation of the clamping mechanism and the lifting mechanism, the goods are placed on another belt, thereby completing the sorting work of the goods. Description of the drawings

[0021] Figure 1 Schematic structural diagram of the clamping mechanism of an industrial robot sorting device based on machine vision proposed by the present invention;

[0022] Figure 2 Left view schematic diagram of the clamping mechanism of an industrial robot sorting device based on machine vision proposed by the present invention;

[0023] Figure 3 Rear view schematic diagram of the clamping mechanism of an industrial robot sorting device based on machine vision proposed by the present invention;

[0024] Figure 4 Overall structure schematic diagram of the lifting mechanism of an industrial robot sorting device based on machine vision proposed by the present invention;

[0025] Figure 5 Overall structure schematic diagram of an industrial robot sorting device based on machine vision proposed by the present invention;

[0026] Figure 6 Enlarged schematic diagram A of an industrial robot sorting device based on machine vision proposed by the present invention.

[0027] In the figure: 1. First motor; 2. First driving gear; 3. Sliding plate; 4. Limit bar; 5. Chute; 6. Fixed plate; 7. Elastic plate; 8. Spring; 9. Fixed block; 10. Circular groove; 11. Spacer block; 12. Vision sensor; 13. Base plate; 14. Lifting shaft; 15. Rotating plate; 16. Fastening block; 17. Belt; 18. First tooth; 19. Second motor; 20. Output shaft; 21. Second driving gear; 22. Third output shaft; 23. Rotating shaft; 24. Second tooth; 25. Rotating edge; 26. Rotating groove; 27. Third motor; 28. Fourth output shaft; 29. Third driving gear; 30. Base; 31. Bottom plate; 32. Stabilizing block; 33. Fourth motor; 34. Bottom column; 35. Clamping mechanism; 36. Lifting mechanism; 37. Clamping plate; 38. Small notch. Specific embodiments

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] Embodiment 1:

[0030] Please refer to Figures 1-5, An industrial robot sorting device based on machine vision, comprising a first motor 1, a first driving gear 2, a sliding plate 3, a limiting strip 4, a sliding groove 5, a fixing plate 6, an elastic plate 7, a spring 8, a fixing block 9, a circular groove 10, a cushion block 11, a vision sensor 12, a backing plate 13, a lifting shaft 14, a rotating plate 15, a fastening block 16, a belt 17, a first tooth 18, a second motor 19, an output shaft 20, a second driving gear 21, a third output shaft 22, a rotating shaft 23, a second tooth 24, a rotating edge 25, a rotating groove 26, a third motor 27, a fourth output shaft 28, a third driving gear 29, a base 30, a bottom plate 31, a stabilizing block 32, a fourth motor 33, a bottom column 34, a clamping mechanism 35, a lifting mechanism 36, a clamping plate 37, and a small notch 38.

[0031] The positions and connection relationships of the above structures are as follows:

[0032] The clamping mechanism 35 and the first motor 1 are respectively connected to the first driving gear 2 and the backing plate 13 at the bottom. The clamping mechanism 35 includes the first motor 1. The first driving gear 2 is meshed with the sliding plate 3. The bottom of the sliding plate 3 is provided with a limiting strip 4. The bottom of the sliding plate 3 is fixedly connected to the clamping plate 37. The sliding plate 3 is slidably connected to the sliding groove 5. The backing plate 13 is fixedly connected to the fixing plate 6. The fixing plate 6 is provided with the sliding groove 5. The sliding plate 3 is slidably connected to the fixing plate 6 through the sliding groove 5. The elastic plate 7 is slidably connected inside the sliding groove 5. A fixing block 9 is provided above the fixing plate 6. The elastic plate 7 and the fixing block 9 are connected by a spring 8.

[0033] A circular groove 10 is provided inside the fixing plate 6. A cushion block 11 is fixed above the circular groove 10. A vision sensor 12 is fixed above the cushion block 11. A lifting shaft 14 is fixed in the middle of the fixing plate 6.

[0034] The clamping mechanism 35 and the lifting mechanism 36 are divided into three groups, with an angle of 120° between each group, and are evenly arranged on the upper and lower sides of the rotating plate 15.

[0035] Small notches 38 are provided on the inner sides of the clamping plate 37 and the elastic plate 7.

[0036] Working process and principle: When the goods are transmitted forward through the belt 17, the visual sensor 12 inside the clamping mechanism 35 directly above the belt 17 identifies the size and other information of the goods through the circular groove 10 downward, and sorts the goods that meet the requirements as needed. Specifically, through the visual sensor 12, it is recognized that the goods below need to be sorted. At this time, the lifting mechanism 36 lowers the clamping mechanism 35 to a suitable position, and then the first motor 1 is started, driving the first driving gear 2 to rotate, and through the meshing connection, drives the sliding plate 3 to slide forward in the slide 5. At this time, the pad 13 fixed under the first motor 1 can buffer the vibration generated when the first motor 1 is working, and the limit bar 4 can ensure that the sliding plate 3 will not fall off the slide 5 when sliding in the slide 5. Through the work of this series of components, the sliding plate 3 drives the clamping plate 37 to move forward, and presses against the goods, pressing the goods against the elastic plate 7. At this time, the pressure generated by the displacement of the clamping plate 37 toward the elastic plate 7 is transmitted to the elastic plate 7 through the goods. In order to avoid damage to the goods due to excessive squeezing, during the squeezing process, since the spring 8 is fixed between the elastic plate 7 and the fixed block 9, when the spring 8 is compressed, the elastic plate 7 will slowly move backwards, providing a buffer for the squeezing of the goods. In addition, small notches 38 are provided on the inner sides of the clamping plate 37 and the elastic plate 7, which increases the friction when clamping the goods, making the clamping of the goods more convenient and stable. When the clamping mechanism 35 has finished clamping the goods, the lifting mechanism 36 will start to work, driving the clamping mechanism 35 to move upward.

[0037] Embodiment 2:

[0038] See also Figure 4 The other end of the lifting shaft 14 is slidably connected to a rotating plate 15, and a lifting mechanism 36 is provided on the top of the rotating plate 15. The lifting mechanism 36 includes a second motor 19 and a fastening block 16. The second motor 19 is connected to an output shaft 20, and the output shaft 20 is fixedly connected to the second driving gear 21. Above the fastening block 16, the lifting shaft 14 is semicircular and has a first latch tooth 18 on the plane, and the first latch tooth 18 is meshed with the second driving gear 21.

[0039] The lifting shaft 14 and the fastening block 16 are tightly connected and can keep the lifting shaft 14 and the fastening block 16 relatively still under the condition of gravity alone. Only when the second driving gear 21 is meshed with the first latching tooth 18 can the lifting shaft 14 be driven to move up and down.

[0040] Working process and principle: When it is confirmed that the clamping mechanism 35 has clamped the goods, the second motor 19 starts to operate. By driving the output shaft 20 to rotate, the output shaft 20 drives the second driving gear 21 to rotate. Then, through the meshing connection between the second driving gear 21 and the first cogs 18, the lifting shaft 14 is driven to move up and down. And through the tight connection between the lifting shaft 14 and the fastening block 16, the lifting shaft 14 can maintain relative rest with the fastening block 16 under the condition of only being affected by gravity, facilitating the clamping work of the clamping mechanism 35 and subsequent rotary sorting.

[0041] Embodiment 3:

[0042] Please refer to Figures 4-5 , a rotating shaft 23 is fixedly connected to the middle of the rotating plate 15. A second set of cogs 24 is provided on the outer side of the rotating shaft 23. A rotating edge 25 is provided at the bottom of the rotating shaft 23. The rotating edge 25 meshes with a rotating groove 26, and the rotating groove 26 is provided on the bottom column 34. Two third motors 27 are provided on both sides of the bottom column 34. The top of the third motor 27 is connected to a fourth output shaft 28, and a third driving gear 29 is fixedly connected to the top of the fourth output shaft 28. The third driving gear 29 is meshed and connected with the second set of cogs 24.

[0043] The bottom of the bottom column 34 is fixedly connected to a base 30. The bottom of the base 30 is fixed with a bottom plate 31. Two stabilizing blocks 32 are fixedly connected to both sides of the bottom plate 31. A third output shaft 22 is rotatably connected to the stabilizing block 32. The third output shaft 22 is rotatably connected to a fourth motor 33. A belt 17 is rotatably connected to the outer side of the third output shaft 22.

[0044] There are two third motors 27, which are respectively fixed on both sides of the rotating shaft 23.

[0045] Working process and principle: Through the fixed connection between the rotating shaft 23 and the rotating plate 15, when the third motor 27 drives the fourth output shaft 28 and the third driving gear 29, and the third driving gear 29 meshes with the second set of cogs 24 fixed on the rotating shaft 23, the entire rotating plate 15 and the clamping mechanism 35 and the lifting mechanism 36 provided on the rotating plate 15 are driven to rotate. At this time, through the connection between the rotating edge 25 of the rotating shaft 23 and the rotating groove 26, while the bottom column 34 supports the rotating shaft 23, it ensures that the rotating shaft 23 can freely rotate at the top. The base 30 fixed to the bottom of the bottom column 34 provides stable support for the entire device. On both sides, the fourth motor 33, the third output shaft 22 and the stabilizing block 32 for stabilizing the rotation of the third output shaft 22 drive the belt 17 to rotate, continuing to provide goods for the sorting of the device.

[0046] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate 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 industrial robot sorting device based on machine vision, comprising a gripping mechanism (35), characterized in that: The clamping mechanism (35) comprises a first motor (1), the bottom of the first motor (1) is respectively connected to a first driving gear (2) and a backing plate (13), the first driving gear (2) is meshingly connected to a sliding plate (3), the bottom of the sliding plate (3) is provided with a limit strip (4), the bottom of the sliding plate (3) is fixedly connected to a clamping plate (37), the sliding plate (3) is slidably connected to a slide groove (5), the backing plate (13) is fixedly connected to a fixed plate (6), the fixed plate (6) is provided with a slide groove (5), the sliding plate (3) is slidably connected to the fixed plate (6) through the slide groove (5), the inside of the slide groove (5) is slidably connected to an elastic plate (7), a fixed block (9) is provided above the fixed plate (6), and the elastic plate (7) and the fixed block (9) are connected via a spring (8); A circular groove (10) is provided inside the fixing plate (6), a cushion block (11) is fixed above the circular groove (10), a visual sensor (12) is fixed above the cushion block (11), and a lifting shaft (14) is fixed in the middle of the fixing plate (6).

2. The industrial robot sorting device based on machine vision according to claim 1, characterized in that: The other end of the lifting shaft (14) is slidably connected to a rotating plate (15), and a lifting mechanism (36) is provided on the top of the rotating plate (15). The lifting mechanism (36) comprises a second motor (19) and a fastening block (16). The second motor (19) is connected to an output shaft (20), and the output shaft (20) is fixedly connected to a second driving gear (21). Above the fastening block (16), the lifting shaft (14) is semicircular and is provided with a first latch tooth (18) on a plane, and the first latch tooth (18) is meshed with the second driving gear (21).

3. The industrial robot sorting device based on machine vision according to claim 2, characterized in that: A rotating shaft (23) is fixedly connected to the middle of the rotating plate (15), a second latching tooth (24) is provided on the outer side of the rotating shaft (23), a rotating edge (25) is provided at the bottom of the rotating shaft (23), a rotating groove (26) is meshed with the rotating edge (25), the rotating groove (26) is provided on the bottom column (34), a third motor (27) is provided on both sides of the bottom column (34), a fourth output shaft (28) is connected to the top of the third motor (27), a third driving gear (29) is fixedly connected to the top of the fourth output shaft (28), and the third driving gear (29) is meshed with the second latching tooth (24).

4. The industrial robot sorting device based on machine vision according to claim 3, characterized in that: The bottom of the bottom column (34) is fixedly connected to a base (30), the bottom of the base (30) is fixedly connected to a bottom plate (31), both sides of the bottom plate (31) are fixedly connected to stabilizing blocks (32), the stabilizing blocks (32) are rotatably connected to a third output shaft (22), the third output shaft (22) is rotatably connected to a fourth motor (33), and the outer side of the third output shaft (22) is rotatably connected to a belt (17).

5. The industrial robot sorting device based on machine vision according to claim 1, characterized in that: The clamping mechanism (35) and the lifting mechanism (36) are divided into three groups, each group has an included angle of 120°, and are evenly arranged on the upper and lower sides of the rotating plate (15).

6. The industrial robot sorting device based on machine vision according to claim 1, characterized in that: The lifting shaft (14) and the fastening block (16) are tightly connected, and can keep the lifting shaft (14) and the fastening block (16) relatively still when only subjected to gravity. Only when the second driving gear (21) is meshed with the first latching tooth (18) can the lifting shaft (14) be driven to move up and down.

7. The industrial robot sorting device based on machine vision according to claim 1, characterized in that: Small notches (38) are provided on the inner sides of the clamping plate (37) and the elastic plate (7).

8. The industrial robot sorting device based on machine vision according to claim 3, characterized in that: There are two third motors (27), which are respectively fixed on both sides of the rotating shaft (23).

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