Intelligent bar sorting robot

Abstract

The invention discloses an intelligent bar sorting robot. The intelligent bar sorting robot comprises a mechanical arm, a manipulator mounting bracket and a clamping device, the multi-degree-of-freedom mechanical arm is composed of a plurality of joints, and the joints can move relatively, so that the multi-degree-of-freedom mechanical arm can flexibly move and be accurately positioned in a three-dimensional space, and target bars are grabbed and sorted. The tail end of the mechanical arm is fixedly connected with a mounting support, and a clamping device is mounted at the bottom of the mounting support. The clamping device comprises a mechanical claw, an adjustable V-shaped groove structure is arranged in the clamping device, and the height and the clamping range of a V-shaped groove can be accurately adjusted through mutual matching of a worm gear and a worm and a trapezoidal lead screw, so that the clamping device adapts to bars of different specifications, and frequent replacement of the clamping claw or complex mechanical arm posture adjustment is avoided. Compared with a traditional manual sorting or vibration feeding sorting mode, the sorting efficiency can be remarkably improved, and the labor cost can be reduced; and meanwhile, the robot can continuously work without fatigue, the sorting task of a large number of bars can be completed within a short time, and the production automation level is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and mainly relates to an intelligent bar sorting robot. Background Art

[0002] At present, bars (such as steel bars, aluminum bars, etc.) are widely used in industrial production in links such as parts manufacturing, assembly, and logistics turnover. However, traditional bar sorting methods mostly rely on manual labor or simple vibrating feeding devices: Manual sorting not only has a high labor intensity and low efficiency, but also easily causes problems such as material mixing, missed sorting, or scratches on the surface of the bars, affecting the product quality of subsequent processes; while the vibrating feeding device needs to frequently adjust or replace fixtures when facing bars of multiple specifications, resulting in poor adaptability and insufficient versatility. With the continuous improvement of industrial automation and intelligence levels, the demand for high-efficiency, high-precision, and multi-specification bar sorting is becoming increasingly urgent.

[0003] The currently common bar sorting equipment mainly has the following problems: ① There is no general clamping method for bars of different diameters, lengths, or materials, and it is impossible to take into account the sorting of bars of multiple specifications; ② In long-term and high-frequency sorting operations, manual operations are prone to fatigue and even safety hazards, and the sorting accuracy is difficult to guarantee; ③ Some automated equipment is cumbersome to adjust in the face of a production mode of multiple varieties and small batches, and lacks flexible and intelligent sorting capabilities. Therefore, developing an intelligent equipment that can automatically identify, grasp, and sort bars of different specifications under complex working conditions is of great significance for improving production efficiency, reducing labor costs, and ensuring operation safety.

[0004] Therefore, an intelligent bar sorting robot combining a robotic arm, a manipulator mounting bracket, and an adjustable clamping mechanism has emerged. It realizes precise grasping and sorting operations by detecting information such as the shape and size of the bars, and uses adjustable V-grooves and jaws, greatly reducing the manual labor intensity and improving the sorting accuracy. In summary, the present invention proposes an intelligent bar sorting robot, aiming to solve the problems of high labor intensity, poor adaptability, and low sorting efficiency in the existing sorting methods. Summary of the Invention

[0005] Aiming at the above problems existing in the prior art, the purpose of the present invention is to provide an intelligent bar sorting robot with high sorting efficiency and strong adaptability to bar specifications.

[0006] To solve the deficiencies of the prior art, the present invention adopts the following technical solutions: An intelligent bar sorting robot, comprising a robotic arm, a robotic hand mounting bracket, and a clamping device. The robotic arm consists of multiple joints that can move relative to each other, enabling the multi-degree-of-freedom robotic arm to flexibly move and precisely position within a three-dimensional space, thereby achieving the grasping and sorting operations of target bars. A mounting bracket is fixedly connected to the end of the robotic arm, and the clamping device is mounted at the bottom of the mounting bracket. The clamping device includes a mechanical claw with an adjustable V-shaped groove structure inside. Through the cooperation of a worm and worm gear and a trapezoidal lead screw, the height and clamping range of the V-shaped groove can be precisely adjusted, so as to adapt to bars of different specifications and avoid frequently replacing the clamping jaws or performing complex robotic arm posture adjustments.

[0007] As a further optimized solution of the present invention, the intelligent bar sorting robot is characterized in that: the robotic arm includes a robotic arm base; the robotic arm base is the foundation of the entire robotic arm system and is a fixed structure for supporting other components of the multi-degree-of-freedom robotic arm; the robotic arm base is installed on the workbench through M8 screws, enabling the robotic arm to move within the working space; the robotic arm base and each arm segment are made of high-strength materials to maintain the stability and durability of the overall structure during the sorting operation.

[0008] As a further optimized solution of the present invention, the robotic hand mounting bracket includes a robotic hand mounting bracket main body and a bar detection camera; the robotic hand mounting bracket main body is the main structure of the entire mounting bracket and is usually made of a sturdy material such as metal or high-strength plastic; the main function of the robotic hand mounting bracket main body is to provide a stable support platform for fixing the robotic hand and other related components to ensure a firm connection of the robotic hand; the bar detection camera is a depth camera for taking images of the target bar. Using computer vision technology, such as image recognition algorithms, it analyzes information such as the position and depth of the bar, and this information can be used to guide the robotic hand to select the bar for sorting and can also monitor the position and posture of the bar in real time.

[0009] As a further optimized solution of the present invention, the clamping device includes a mounting seat, a worm and worm gear mechanism is installed inside the mounting seat, two clamping jaws distributed left and right are hinged at both ends of the mounting seat, an adjustable V-shaped groove is provided inside the clamping jaws, and the V-shaped groove is threadedly connected to the worm and worm gear mechanism through a trapezoidal lead screw for realizing the lifting or clamping range adjustment of the V-shaped groove driven by the worm and worm gear mechanism, so as to adapt to bars of different specifications; a hydraulic cylinder is also hinged on one side of the clamping jaw, and the output end of the hydraulic cylinder is connected to the clamping jaw for driving the opening and closing of the clamping jaw to realize the clamping or release of the bar; a connecting rod is arranged between the two clamping jaws for providing stable support and preventing the clamping jaws from deflecting when the hydraulic cylinder drives the clamping jaws to move.

[0010] As a further optimized solution of the present invention, the worm and worm gear mechanism includes a worm installed inside the mounting seat and a worm gear meshing with the worm. The worm is rotatably supported on the mounting seat through a bearing assembly and is connected to an adjusting handwheel at one end; the worm gear is in threaded cooperation with the trapezoidal screw rod and is used to drive the trapezoidal screw rod to move up and down when the worm rotates, so as to realize the adjustment of the clamping range of the V-shaped groove; a guide rod parallel to the trapezoidal screw rod is further arranged inside the mounting seat, and the V-shaped groove can slide along the guide rod during the adjustment process to ensure the smoothness and accuracy during the up-and-down or clamping range adjustment process.

[0011] As a further optimized solution of the present invention, the V-shaped groove is integrally formed by a single piece of material and has an inclined V-shaped concave surface for fitting with the bar stock when clamping the bar stock; anti-slip textures are provided on the inner surface of the V-shaped groove to increase the friction during clamping and reduce the wear on the surface of the bar stock; the V-shaped groove is made of wear-resistant engineering plastic and is surface-treated according to sorting requirements to ensure its service life in high-frequency sorting operations.

[0012] Compared with the existing technology, an intelligent bar stock sorting robot provided by the present invention has the following beneficial effects: The robotic arm can drive the entire mechanical claw to move, and the hydraulic cylinder in the mechanical claw can drive the two jaws to open and close to realize the grasping and releasing of the bar stock. When sorting bar stocks of different specifications, the worm and worm gear mechanism and the trapezoidal screw rod can be used to adjust the height or clamping range of the V-shaped groove, so as to adapt to bar stocks of various diameters and lengths. When the hydraulic cylinder drives the jaws to move, the connecting rod structure can effectively keep the jaws stable and avoid yaw. The mechanical claw can flexibly and efficiently grasp bar stocks of different specifications, with simple operation and strong adaptability. Description of the Drawings

[0013] Figure 1 is a schematic structural diagram of the robotic arm of the present invention; Figure 2 is a schematic structural diagram of the clamping device of the present invention; Figure 3 is a schematic structural diagram of the mounting bracket of the manipulator of the present invention; Figure 4 is a schematic structural diagram of the adjustable V-shaped groove of the present invention; Figure 5 is a schematic structural diagram of the worm and worm gear device of the present invention; Reference numerals in the figure: 1. robotic arm; 2. clamping mechanism; 3. manipulator mounting bracket; 4. worm and worm gear device; 21. connecting rod; 22. hydraulic cylinder; 23. single claw; 24. V-shaped groove; 31. mounting seat; 32. support connecting piece; 33. buckle block; 41. fixing bracket; 42. handwheel; 43. worm and worm gear device; 44. T-shaped lead screw; 45. shaft end retaining ring; 431. worm gear; 432. worm. Detailed implementation mode

[0014] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation modes: As Figures 1 - 5 shown, an intelligent bar sorting robot of the present invention includes a robotic arm (1), a clamping device (2), and a manipulator mounting bracket (3). The robotic arm (1) consists of arm segments sequentially connected by multiple joints, and can flexibly move and accurately position in three-dimensional space to complete the grasping and sorting operations of target bars. The end of the robotic arm (1) is fixedly connected to the mounting bracket (3) through a two-hole flange, and the clamping device (2) is installed at the bottom of the mounting bracket. The clamping device (2) includes two single claws (23) distributed left and right, and is internally provided with an adjustable V-shaped groove (24) structure. The V-shaped groove (24) can achieve precise adjustment of height and clamping range through the cooperation of a worm and worm gear (43) and a trapezoidal lead screw (44), so as to adapt to bars of different specifications, avoiding frequent replacement of clamping jaws or complex robotic arm posture adjustment.

[0015] The robotic arm (1) includes a robotic arm base; the robotic arm base is the foundation of the entire robotic arm system, is a fixed structure, and is used to support other components of the robotic arm (1); the robotic arm base is installed on the workbench through M8 screws, so that the robotic arm (1) can move within the working space; the robotic arm base and each arm segment are made of high-strength materials to maintain the overall structural stability and durability during the sorting operation.

[0016] The manipulator mounting bracket (3) includes a manipulator mounting bracket main body (41) and a bar detection camera; the manipulator mounting bracket main body (41) is the main structure of the entire mounting bracket, usually made of a sturdy material such as metal or high-strength plastic; the main function of the manipulator mounting bracket main body (41) is to provide a stable support platform for fixing the manipulator and other related components to ensure the stable connection of the manipulator; the bar detection camera is a depth camera, which is used to capture images of the target bar, and uses image recognition algorithms to analyze information such as the position and depth of the bar. The information can be used to guide the manipulator to select bars for sorting, and can also monitor the position and posture of the bar in real time.

[0017] The clamping device (2) includes a mounting base (31). A worm and worm gear mechanism (43) is installed at the lower part of the mounting base (31). Single claws (23) distributed left and right are respectively hinged at both ends of the mounting base (31), and an adjustable V-shaped groove (24) is provided inside the single claws (23). The V-shaped groove (24) is threadedly connected to a trapezoidal lead screw (44) and is driven by the worm and worm gear mechanism (43) to realize the lifting or clamping range adjustment of the V-shaped groove (24), so as to meet the adaptive clamping of bar stocks with different diameters. A hydraulic cylinder (22) is hinged to one side of the single claw (23), and its output end is connected to the single claw (23) for driving the single claw (23) to perform opening and closing operations to clamp or release the bar stock. The two single claws (23) are connected by a connecting rod (21), and the connecting rod (21) provides symmetric support when the hydraulic cylinder (22) works, avoiding the yaw problem caused by uneven force on one-sided claws.

[0018] The worm and worm gear mechanism (43) includes a worm (431) installed inside the mounting base (31) and a worm gear (432) meshing with it. One end of the worm (431) is connected to an adjusting handwheel (42) and is fixed to the mounting base through a T-shaped thread structure. The worm gear (432) is threadedly connected to the trapezoidal lead screw (44). When the handwheel (42) is rotated to drive the worm (431) to rotate, the worm gear (432) rotates accordingly, thereby driving the trapezoidal lead screw (44) to move up and down to realize the height adjustment of the V-shaped groove (24). A guide rod (47) parallel to the trapezoidal lead screw (44) is also provided inside the mounting base (31) for guiding the V-shaped groove (24) to slide smoothly along its direction to ensure the stability and accuracy of the V-shaped groove (24) during the adjustment process.

[0019] In this embodiment of the device of the present invention, the invention first uses a depth vision camera installed on the manipulator mounting bracket to perform real-time detection and analysis on the diameter, length and spatial attitude of the bar stock to identify and screen out the target bar stock that meets the preset sorting conditions. According to the detection results, the operator manually adjusts the height of the V-shaped groove through the handwheel; subsequently, the hydraulic cylinder precisely controls the opening and closing of the claws to realize the flexible clamping of the bar stock. After the clamping is completed, the robotic arm transports the bar stock to the sorting position, and then the hydraulic cylinder releases the claws to complete an automated sorting cycle.

[0020] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. The present invention discloses an intelligent bar sorting robot, which includes a robotic arm, a manipulator mounting bracket, and a clamping device. The robotic arm is composed of multiple joints that can move relative to each other, enabling the multi-degree-of-freedom robotic arm to move flexibly and precisely position in three-dimensional space, thereby realizing the grasping and sorting operations of the target bar. The end of the robotic arm is fixedly connected with a mounting bracket, and the clamping device is installed at the bottom of the mounting bracket. The clamping device includes a mechanical claw with an adjustable V-groove structure inside. Through the cooperation of a worm gear and worm and a trapezoidal screw rod, the height and clamping range of the V-groove can be precisely adjusted to adapt to bars of different specifications, avoiding frequent replacement of the clamping jaw or complex robotic arm posture adjustment.

2. The intelligent bar sorting robot according to claim 1, characterized in that: The robotic arm includes a robotic arm base; the robotic arm base is the foundation of the entire robotic arm system, which is a fixed structure for supporting other components of the multi-degree-of-freedom robotic arm; the robotic arm base is installed on the workbench through M8 screws, enabling the robotic arm to move within the working space; the robotic arm base and each arm segment are made of high-strength materials to maintain the overall structural stability and durability during the sorting operation.

3. The intelligent bar stock detection robot according to claim 1, wherein: The manipulator mounting bracket includes a manipulator mounting bracket body and a bar detection camera; the manipulator mounting bracket body is the main structure of the entire mounting bracket, usually made of sturdy materials such as metal or high-strength plastic; the main function of the manipulator mounting bracket body is to provide a stable support platform for fixing the manipulator and other related components to ensure the firm connection of the manipulator; the bar detection camera is a depth camera used to capture images of the target bar. Using computer vision technology, such as image recognition algorithms, it analyzes information such as the position and depth of the bar. Its information can be used to guide the manipulator to select the bar for sorting and can also monitor the position and posture of the bar in real time.

4. The intelligent bar sorting robot according to claim 1, wherein: The clamping device includes a mounting seat, inside which a worm gear and worm mechanism is installed. Both ends of the mounting seat are hinged with two clamping jaws distributed left and right. An adjustable V-groove is provided inside the clamping jaws. The V-groove is threadedly connected to the worm gear and worm mechanism through a trapezoidal screw rod, used to realize the lifting or clamping range adjustment of the V-groove under the drive of the worm gear and worm mechanism, so as to adapt to bars of different specifications; one side of the clamping jaw is also hinged with a hydraulic cylinder, and the output end of the hydraulic cylinder is connected to the clamping jaw, used to drive the opening and closing of the clamping jaw to realize the clamping or release of the bar; a connecting rod is arranged between the two clamping jaws to provide stable support and prevent the clamping jaw from swaying when the hydraulic cylinder drives the clamping jaw to move.

5. The intelligent bar sorting robot according to claim 4, wherein: The worm and worm gear mechanism includes a worm installed inside the mounting seat and a worm gear meshing with the worm. The worm is rotatably supported on the mounting seat through a bearing assembly and is connected to an adjusting handwheel at one end. The worm gear is in threaded cooperation with a trapezoidal screw rod and is used to drive the trapezoidal screw rod to move up and down when the worm rotates, so as to realize the adjustment of the clamping range of the V-shaped groove. A guide rod parallel to the trapezoidal screw rod is further arranged inside the mounting seat, and the V-shaped groove can slide along the guide rod during the adjustment process to ensure the stability and accuracy during the up-and-down or clamping range adjustment process.

6. The intelligent bar sorting robot according to claim 5, characterized in that: The V-shaped groove is integrally formed by a single piece of material and has an inclined V-shaped concave surface for fitting with the bar stock when clamping the bar stock. Anti-slip textures are provided on the inner surface of the V-shaped groove to increase the friction during clamping and reduce the wear on the surface of the bar stock. The V-shaped groove is made of wear-resistant engineering plastic and is surface-treated according to sorting requirements to ensure its service life during high-frequency sorting operations.

Images