Machine vision-based industrial robot intelligent sorting device

Abstract

This invention provides an intelligent sorting device for industrial robots based on machine vision, relating to the field of industrial robot technology. It includes: an identification platform with an identification end fixed at its top center; two sets of receiving frames arranged vertically offset inside the platform; a conveyor platform at the front end of the platform; a robotic arm assembly installed at the rear end; a first receiving platform positioned opposite the identification platform on the outer side of the robotic arm assembly; and a second receiving platform fixed to one side of the first receiving platform. A fifth electric push rod extends through a circular hole to press and push objects inside the receiving frames, pushing qualified objects onto the first receiving platform. After the extended ends of the fifth and fourth electric push rods retract, the receiving frames and baffles rotate and reset via their own shafts and torsion springs, restoring the receiving frames to the state of the platform's entry end, facilitating the re-receiving of objects.

Description

Technical Field

[0001] This disclosure relates to the field of industrial robot technology, and more particularly to an intelligent sorting device for industrial robots based on machine vision. Background Technology

[0002] Industrial robots are mechanical devices that perform tasks such as handling, assembly, welding, painting, and inspection of objects in industrial production environments through automatic control and reprogrammability. They typically possess programmability, automatic controllability, and multi-degree-of-freedom motion capabilities, and can execute specific industrial tasks under pre-set programs or external control system instructions, thereby replacing or assisting manual labor in performing repetitive and precision-required operations. They are an important component of industrial automation equipment, and their performance is usually measured by indicators such as repeatability, load capacity, speed, and workspace. They typically consist of a main mechanical structure, joint drive and transmission mechanisms, a control system, sensors, and an end effector.

[0003] In existing sorting systems, robots are also used to sort the identified items, such as sorting out defective products. However, in the current sorting methods, robots usually take out unqualified products after one-to-one detection and identification. This method is inefficient and has a lot of downtime. Summary of the Invention

[0004] This disclosure aims to at least partially address one of the technical problems in the related art.

[0005] Therefore, the purpose of this disclosure is to provide an intelligent sorting device for industrial robots based on machine vision.

[0006] To achieve the above objectives, this disclosure provides an intelligent sorting device for industrial robots based on machine vision, comprising: an identification platform, an identification end fixed at the top center of the identification platform, two sets of receiving frames arranged vertically offset inside the identification platform, a conveyor platform at the front end of the identification platform, a robotic arm assembly installed at the rear end of the identification platform, a first receiving platform positioned opposite the identification platform on the outer side of the robotic arm assembly, and a second receiving platform fixed to one side of the first receiving platform, pushing components on both sides of the identification platform, and a delivery component at the bottom of the identification component; the pushing component includes a horizontal groove, two sets of horizontal grooves are formed vertically on the inner walls of both sides of the identification platform, and vertical grooves are formed at both ends of the horizontal grooves on the inner walls of both sides of the identification platform, the horizontal grooves and vertical grooves are connected, and the receiving frames slide along the interior of the horizontal and vertical grooves; the robotic arm assembly includes a moving frame, a first robotic arm and three sets of second robotic arms are slidably mounted inside the moving frame; the delivery component includes a baffle, the baffle is vertically arranged at the rear end of the identification platform, and the bottom sides of the baffle are rotatably connected to the sides of the identification platform via a pivot and a torsion spring.

[0007] Optionally, the front end of the recognition platform is provided with side plates on both sides, and a connecting plate is fixed to the bottom of the two side plates. A sliding frame is fixed at the bottom of the recognition platform at the bottom of the connecting plate. A first screw is rotatably installed inside the sliding frame. A screw block is threaded onto the surface of the first screw, and the screw block is fixedly connected to the bottom of the connecting plate. The inner wall of the side plate is provided with grooves that are the same as the horizontal and vertical grooves of the inner wall of the recognition platform.

[0008] Optionally, the pushing assembly further includes: a vertical plate, a horizontal plate, a retaining frame, and a bidirectional electric push rod. The vertical plates are slidably inserted into the two vertical slots, and the two vertical plates on the same side of the recognition platform are inserted from the top and bottom ends respectively. The horizontal plates are fixed to the outer ends of the two vertical plates inserted at the same position on the recognition platform. The bidirectional electric push rods are fixed to the outer walls on both sides of the recognition platform, and the extended ends of the bidirectional electric push rods are fixed to retaining frames. The retaining frames are slidably engaged with the surface of the horizontal plate. Slide plates are rotatably mounted on both sides of the receiving frame via a pivot and a torsion spring, and the slide plates alternately slide along the horizontal and vertical slots.

[0009] Optionally, movable notches are provided on the outer walls of both sides of the recognition platform, and the movable notches are in the same position as the horizontal grooves at the top and bottom. A push plate is slidably connected inside the horizontal groove, and two push plates on the same side of the recognition platform are respectively set at opposite ends of the horizontal groove; wherein, a turntable is rotatably installed on the outer wall of the recognition platform, and long rods are fixed at both ends of the turntable. A sliding sleeve is slidably sleeved on the surface of the long rod, and the sliding sleeve is rotatably connected to the push plate.

[0010] Optionally, the robotic arm assembly further includes: a slide, a connecting frame, a telescopic column, a bidirectional screw cylinder, and a clamping plate. Both the first and second robotic arms have slides at their bottoms, and the slides slide along the inside of the moving frame. A telescopic column is rotatably mounted on the top of the slide, and a connecting frame is fixed on the top of the telescopic column. A bidirectional screw cylinder is rotatably mounted on one end of the connecting frame, and clamping plates are threaded onto both ends of the bidirectional screw cylinder. The receiving frame has partitions fixed at equal intervals inside, and slots are provided on the inner surface of each partition.

[0011] Optionally, a toothed ring is fixed to the bottom of the telescopic column, and a fixed plate is fixed to the bottom of the recognition platform near the moving frame. A second electric push rod is symmetrically fixed inside the fixed plate, and a rack is fixed to the extended end of the second electric push rod. The rack is moved by the second electric push rod to engage with the toothed ring, thereby driving the telescopic column to rotate.

[0012] Optionally, a mounting plate is fixed to the outer surface of the telescopic column of the first robotic arm, a first electric push rod is fixed to the outer surface of the mounting plate, a top plate is fixed to the extended end of the first electric push rod, a plug-in frame is slidably inserted into the top plate, a plug hole is opened at one end of the connecting frame facing the plug-in frame, and an electric plug rod is installed at the position of each plug hole on the plug-in frame; wherein, a third electric push rod is fixed to both ends of the top plate, and the extended end of the third electric push rod is fixedly connected to the plug-in frame.

[0013] Optionally, a shaft bracket is fixed at one end of the top plate corresponding to the position of the bidirectional screw cylinder. A shaft rod is slidably inserted inside the bidirectional screw cylinder. One end of the shaft rod is rotatably mounted on the shaft bracket. A motor for driving the shaft rod to rotate is installed at the outer end of the shaft bracket. A second screw rod is rotatably mounted inside the moving frame. The slide of the first robot arm is threadedly sleeved on the surface of the second screw rod. A protrusion is fixed on the surface of the shaft rod, and the bidirectional screw cylinder is slidably engaged with the protrusion.

[0014] Optionally, the delivery component further includes: a fourth electric push rod and a contact plate. Two fourth electric push rods are symmetrically and rotatably mounted on the bottom of the identification platform, and the extended end of the fourth electric push rod is rotatably connected to the contact plate. The contact plate slides in contact with the bottom of the receiving frame.

[0015] Optionally, a fifth electric push rod is fixed on the surface of the contact plate at the position corresponding to each receiving frame compartment. A circular hole is opened inside each compartment of the receiving frame, and the extended end of the fifth electric push rod slides out of the circular hole.

[0016] The technical solution provided in this disclosure may include the following beneficial effects: This invention uses a motor to drive a turntable to rotate, a long rod to move a push plate along a horizontal groove and a moving notch, and a sliding sleeve to slide along the long rod, moving a slide plate inside the horizontal groove. This allows for the lateral movement of two sets of receiving frames. Because the two receiving frames are arranged vertically, they can avoid each other during movement. The receiving frame at the upper end is used for detection. When the receiving frame moves laterally, a bidirectional electric push rod moves a vertical plate away from the vertical groove without interfering with the long rod. When the horizontal plate moves to the vertical groove, the bidirectional electric push rod drives the horizontal and vertical plates to insert into the vertical groove, pushing the slide plate inside the horizontal groove to the other end, thus achieving the height replacement of the two sets of receiving frames. The receiving frame at the inlet end is driven by a motor to rotate a first screw. The screw block engages with the first screw threadedly, and the connecting plate and two side plates move along the sliding frame. The receiving frames inside the side plates move laterally, aligning different compartments with the outlet position of the conveyor table, thereby alternately storing objects into the compartments, facilitating the detection and identification of multiple sets in a batch. This invention uses a first electric push rod to lower a telescopic column. After the clamping plate is inserted into the slot, the shaft rotates, causing the bidirectional screw to rotate. The two clamping plates clamp the object inside the compartment. Then, the clamping plates are moved upward to remove the object. The second electric push rod drives the rack to engage with the toothed rings of the first and second robotic arms. When the first and second robotic arms return, the toothed rings engage with the rack, rotating one clamping end towards the receiving platform. When the object moves to the second receiving platform, the clamping is released, allowing the defective product to fall onto the second receiving platform and be sent out. This invention can be used in conjunction with an identification terminal to determine the location of the defective product, select the first and second robotic arms to be moved, and their new positions, and then remove and send out the corresponding defective product separately. This invention uses a third electric push rod to drive the insertion post frame through the top plate and connect with the connecting frame. This allows the first and second robotic arms to move synchronously along the inside of the moving frame and enter the exit position of the recognition platform. The second screw is driven by a motor to rotate, and the slide of the first robotic arm moves along the inside of the moving frame with the threaded engagement of the second screw. The bidirectional screw cylinder slides along the surface of the shaft. When it enters the range of the exit position of the recognition platform, the bidirectional screw cylinder engages with the protrusion. The shaft can drive the bidirectional screw cylinder to rotate, achieving synchronous clamping and lifting movement with the clamping plate of the moving second robotic arm, which is connected to the first robotic arm. For example, if the items in the first and third compartments of the receiving frame are defective and need to be removed, the first robotic arm is first driven to move along the moving frame. When the first robotic arm is one body length away from the nearest second robotic arm, the third electric push rod drives the insertion post frame through the top plate. The electric insertion rods at the first and third positions are inserted into the insertion holes of the first and second robotic arms. At this time, the two sets of robotic arms move synchronously and stop when they correspond to the position of the item to be removed. In this invention, after the receiving frame moves to the exit end of the recognition platform along with the pushing component, the bottom of the receiving frame contacts the contact plate. The fourth electric push rod extends, causing the receiving frame to rotate along the axis of the sliding plate, merging with the baffle and leaving only an opening at the top to prevent objects from falling out. This also facilitates the robotic arm in gripping and removing objects. After removing defective objects, the fourth electric push rod and the contact plate continue to push the receiving frame to rotate. The baffle, under pressure, rotates to a horizontal position, flush with the first receiving platform, achieving an overlap. The position of the circular hole in the receiving frame is such that when the receiving frame and baffle rotate towards the first receiving platform, the fifth electric push rod is aligned with the circular hole. The extended end of the fifth electric push rod passes through the circular hole, squeezing and pushing the objects inside the receiving frame, pushing qualified objects onto the first receiving platform. After the extended ends of the fifth and fourth electric push rods retract, the receiving frame and baffle rotate and reset via their own axis and torsion spring, restoring the receiving frame to the state on the entry side of the recognition platform, facilitating the re-reception of objects.

[0017] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which: Figure 1 This is a schematic diagram of the overall structure of an intelligent sorting device for industrial robots based on machine vision, according to an embodiment of this disclosure. Figure 2 This is a schematic diagram of the outer structure of the identification platform in an intelligent sorting device for industrial robots based on machine vision, according to an embodiment of this disclosure. Figure 3 This is a schematic diagram of the pusher component structure in an intelligent sorting device for industrial robots based on machine vision, according to an embodiment of this disclosure. Figure 4 This is a schematic diagram of the inner structure of the identification platform in an intelligent sorting device for industrial robots based on machine vision, according to an embodiment of this disclosure. Figure 5 This is a schematic diagram of the bottom structure of the side plate in an intelligent sorting device for industrial robots based on machine vision, according to an embodiment of this disclosure. Figure 6 This is a schematic diagram of the delivery component structure in an intelligent sorting device for industrial robots based on machine vision, according to an embodiment of this disclosure. Figure 7 This is a schematic diagram of the internal structure of the moving frame in an intelligent sorting device for industrial robots based on machine vision, according to an embodiment of this disclosure. Figure 8 This is a schematic diagram of the bottom structure of the first and second robotic arms in an industrial robot intelligent sorting device based on machine vision, according to an embodiment of this disclosure. Figure 9 This is a schematic diagram of the robotic arm component structure in an industrial robot intelligent sorting device based on machine vision, according to an embodiment of this disclosure. Figure 10 This is a schematic diagram of the connection between the top plate and the connecting frame in an intelligent sorting device for industrial robots based on machine vision, according to an embodiment of this disclosure. As shown in the figure: 1. Identification platform; 11. Identification end; 12. Conveyor platform; 13. First receiving platform; 14. Second receiving platform; 15. Side plate; 16. Movable notch; 17. Sliding frame; 18. Connecting plate; 19. Screw block; 110. First screw; 2. Receiver frame; 21. Partition plate; 22. Slot; 23. Round hole; 3. Pushing component; 31. Vertical plate; 32. Horizontal plate; 33. Frame; 34. Two-way electric push rod; 35. Turntable; 36. Long rod; 37. Sliding sleeve; 38. Push plate; 39. Horizontal groove; 310. Vertical groove; 311. Slide plate; 4. Robotic arm assembly; 41. Moving frame; 42. Second screw; 43. First robotic arm; 44. Second robotic arm; 45. Slide; 46. Top plate; 47. Shaft bracket; 48. Shaft; 49. First electric push rod; 410. Second electric push rod; 411. Rack; 412. Fixing plate; 413. Mounting plate; 414. Connecting frame; 415. Bidirectional screw barrel; 416. Clamping plate; 417. Telescopic column; 418. Third electric push rod; 419. Insertion column frame; 420. Protruding strip; 421. Gear ring; 5. Delivery component; 51. Fourth electric actuator; 52. Contact plate; 53. Fifth electric actuator; 54. Baffle. Detailed Implementation

[0019] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are used only to explain this disclosure, and should not be construed as limiting this disclosure. Rather, embodiments of this disclosure include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0020] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 7 and Figure 8As shown, this disclosure proposes an intelligent sorting device for industrial robots based on machine vision, comprising: an identification platform 1, with an identification end 11 fixed at the top center of the identification platform 1; two sets of receiving frames 2 are provided inside the identification platform 1, the two sets of receiving frames 2 being staggered vertically; a conveying platform 12 is provided at the front end of the identification platform 1; a robotic arm assembly 4 is installed at the rear end of the identification platform 1; a first receiving platform 13 is provided on the outer side of the robotic arm assembly 4, directly opposite the identification platform 1, and a second receiving platform 14 is fixed on one side of the first receiving platform 13; pushing components 3 are provided on both sides of the identification platform 1, and a delivery component 5 is provided at the bottom of the identification component; the pushing component 3 includes a horizontal groove 39, with two sets of horizontal grooves 39 opening vertically on the inner walls of both sides of the identification platform 1, and vertical grooves 310 opening at both ends of the horizontal grooves 39 on the inner walls of both sides of the identification platform 1; the horizontal grooves 39 and the vertical grooves 310 are connected; the receiving frames 2 slide along the interior of the horizontal grooves 39 and the vertical grooves 310; the robotic arm assembly 4 includes a moving frame 41, the moving frame 41... Inside the moving frame 41, a first robotic arm 43 and three second robotic arms 44 are slidably installed. The delivery component 5 includes a baffle 54, which is vertically set at the rear end of the identification platform 1. The bottom sides of the baffle 54 are rotatably connected to the sides of the identification platform 1 via a rotating shaft and a torsion spring. The identification end 11 in this solution refers to the existing machine vision device to identify the object and thus select and determine the position of the defective product. The control principle of the robotic arm component 4 in this solution can refer to the industrial robots, special operation robots, and service consumption robots used in the intelligent manufacturing equipment industry and additive manufacturing equipment manufacturing of the existing technology. When using the device, the objects are placed on the conveyor 12 with gaps and alternately received into the receiving frame 2. By pushing the component 3, a batch of objects are entered into the identification station for defective product identification. Then, they are sent to the tail end of the identification platform 1. The robotic arm component 4 clamps and removes the unqualified products and sends the defective products out from the second receiving platform 14. The delivery component 5 sends the qualified products out from the first receiving platform 13.

[0021] like Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, in some embodiments, side plates 15 are provided on both sides of the front end of the recognition platform 1, and connecting plates 18 are fixed to the bottom of the two side plates 15. A sliding frame 17 is fixed at the bottom of the recognition platform 1 at the bottom of the connecting plate 18. A first screw 110 is rotatably installed inside the sliding frame 17. A screw block 19 is threaded onto the surface of the first screw 110, and the screw block 19 is fixedly connected to the bottom of the connecting plate 18. The inner wall of the side plate 15 is provided with grooves identical to the horizontal groove 39 and vertical groove 310 of the inner wall of the recognition platform 1. The pushing assembly 3 also includes: a vertical plate 31, a horizontal plate 32, a frame 33, and a bidirectional electric push rod 34. The vertical plate 31 is slidably inserted into the two vertical grooves 310, and the two vertical plates 31 on the same side of the recognition platform 1 are inserted from the top and bottom ends respectively. A horizontal plate 31 is fixed to the outer end of the two vertical plates 31 inserted at the same position of the recognition platform 1. 2. Two bidirectional electric push rods 34 are fixed on the outer walls of both sides of the recognition platform 1, and a frame 33 is fixed to the extended end of the bidirectional electric push rods 34. The frame 33 is slidably engaged with the surface of the horizontal plate 32. The receiving frame 2 is rotatably mounted on both sides of the receiving frame 311 via a rotating shaft and a torsion spring. The slide plate 311 slides alternately along the horizontal groove 39 and the vertical groove 310. The outer walls of both sides of the recognition platform 1 are provided with movable notches 16, and the movable notches 16 are in the same position as the horizontal grooves 39 at the upper and lower ends. A push plate 38 is slidably connected inside the horizontal groove 39. The two push plates 38 on the same side of the recognition platform 1 are respectively set at opposite ends of the horizontal groove 39. The outer wall of the recognition platform 1 is rotatably mounted with a turntable 35, and long rods 36 are fixed at both ends of the turntable 35. A sliding sleeve 37 is slidably sleeved on the surface of the long rod 36, and the sliding sleeve 37 is rotatably connected to the push plate 38.

[0022] Understandably, by driving the turntable 35 to rotate via the motor, the long rod 36 drives the push plate 38 to move along the transverse groove 39 and the moving notch 16, and the sliding sleeve 37 slides along the long rod 36, moving the slide plate 311 inside the transverse groove 39 along the transverse groove 39. This allows the two sets of receiving frames 2 to move laterally. Because the two receiving frames 2 are arranged vertically, they can avoid each other during movement. The receiving frame 2 at the upper end is used for detection. When the receiving frame 2 moves laterally, the bidirectional electric push rod 34 drives the vertical plate 31 away from the vertical groove 310. At this time, it will not interfere with the long rod 36. When the horizontal plate 32 moves to the vertical groove 310, the bidirectional electric push rod 34 drives the vertical plate 31 away from the vertical groove 310. The electric push rod 34 drives the horizontal plate 32 and the vertical plate 31 to insert into the vertical groove 310, pushing the slide plate 311 in the horizontal groove 39 to the other end, thereby realizing the height replacement of the two sets of receiving frames 2. The receiving frame 2 located at the inlet end is driven by the motor to rotate the first screw 110. The screw block 19 is threadedly engaged with the first screw 110. The connecting plate 18 and the two side plates 15 move along the sliding frame 17. The receiving frame 2 inside the side plate 15 moves laterally, aligning the different compartments with the outlet position of the conveyor table 12, thereby alternately storing the objects into the compartments, which is convenient for batch testing and identification of multiple sets.

[0023] like Figure 2 , Figure 7 , Figure 8 , Figure 9 and Figure 10 As shown, in some embodiments, the robotic arm assembly 4 further includes: a slide 45, a connecting frame 414, a telescopic column 417, a bidirectional screw barrel 415, and a clamping plate 416. The first robotic arm 43 and the second robotic arm 44 both have slides 45 at their bottoms, and the slides 45 slide along the inside of the moving frame 41. A telescopic column 417 is rotatably mounted on the top of the slide 45. A connecting frame 414 is fixed to the top of the telescopic column 417. A bidirectional screw barrel 415 is rotatably mounted on one end of the connecting frame 414, and clamping plates 416 are threaded onto both ends of the bidirectional screw barrel 415. The receiving frame 2 has partitions 21 fixed at equal intervals inside, and each partition 21 has a slot 22 on its inner surface. A toothed ring 421 is fixed to the bottom of the telescopic column 417. A fixing plate 412 is fixed to the bottom of the identification platform 1 near the moving frame 41, and a second electric push rod 410 is symmetrically fixed inside the fixing plate 412. A rack 411 is fixed to the extended end of the second electric push rod 410. The rack 411 is moved by the second electric push rod 410 to engage with the toothed ring 421, thereby rotating the telescopic column 417. A mounting plate 413 is fixed to the outer surface of the telescopic column 417 of the first robotic arm 43. A first electric push rod 49 is fixed to the outer surface of the mounting plate 413. A top plate 46 is fixed to the extended end of the first electric push rod 49. A plug-in bracket 419 is slidably inserted into the top plate 46. A connecting frame 414 has a plug hole at one end facing the plug-in bracket 419. An electric plug rod is installed on the plug-in bracket 419 corresponding to each plug hole. A third electric push rod 418 is fixed to both ends of the top plate 46, and the extended end of the third electric push rod 418 is connected to the plug-in bracket 419. A fixed connection is provided, with a shaft bracket 47 fixed at one end of the top plate 46 corresponding to the position of the bidirectional screw cylinder 415. A shaft rod 48 is slidably inserted inside the bidirectional screw cylinder 415. One end of the shaft rod 48 is rotatably mounted on the shaft bracket 47. A motor for driving the shaft rod 48 to rotate is installed at the outer end of the shaft bracket 47. A second screw rod 42 is rotatably mounted inside the moving frame 41. The slide seat 45 of the first robot arm 43 is threaded onto the surface of the second screw rod 42. A protrusion 420 is fixed on the surface of the shaft rod 48, and the bidirectional screw cylinder 415 is slidably engaged with the protrusion 420.

[0024] It should be noted that the number of robotic arms to be moved and their final movement positions are selected based on the quantity and location of defective products inside the receiving frame 2 of the same batch. Firstly, it needs to be clarified that the first robotic arm 43 must move every time, while the second robotic arm 44 moves selectively based on the quantity of defective products inside the receiving frame 2. The third electric push rod 418 drives the insertion post frame 419 to pass through the top plate 46 and connect with the connecting frame 414, enabling the first robotic arm 43 and the second robotic arm 44 to move synchronously along the inside of the moving frame 41 to the exit position of the identification station 1. The second screw 42 is then driven by a motor to rotate, and the slide 45 of the first robotic arm 43... The second screw 42 moves along the inside of the moving frame 41 through a threaded engagement, and the bidirectional screw barrel 415 slides along the surface of the shaft 48. When entering the exit range of the identification station 1, the bidirectional screw barrel 415 engages with the protrusion 420. The shaft 48 can drive the bidirectional screw barrel 415 to rotate, achieving synchronous clamping and lifting movement with the first robotic arm 43 via the clamping plate 416 of the moving second robotic arm 44. For example, if the items in the first and third compartments of the receiving frame 2 are defective products that need to be removed, the first robotic arm 43 is first driven to move along the moving frame 41. When the first robotic arm 43 is one body length away from the nearest second robotic arm 44, the third electric push rod 418 drives the second robotic arm 415 to move along the moving frame 41. The insertion post 419 passes through the top plate 46. The electric insertion rods at the first and third positions are inserted into the insertion holes of the first robotic arm 43 and the second robotic arm 44. At this time, the two sets of robotic arms move synchronously and stop when they correspond to the position of the object to be retrieved. Because it enters the exit end of the recognition station 1, the bidirectional screw cylinder 415 is engaged with the protrusion 420. The remaining second robotic arm 44 will not lift, rotate, or clamp. The first electric push rod 49 drives the telescopic column 417 to descend. After the clamping plate 416 is inserted along the slot 22, the shaft 48 rotates, driving the bidirectional screw cylinder 415 to rotate. The two clamping plates 416 clamp the object inside the compartment, and then the clamping plates are... 416 moves upward to remove the object. The second electric push rod 410 drives the rack 411 to engage with the toothed ring 421 of the first robot 43 and the second robot 44. When the first robot 43 and the second robot 44 return, the toothed ring 421 engages with the rack 411, and the clamping end is rotated to face the receiving platform. When it moves to the position of the second receiving platform 14, the defective product is released and sent out onto the second receiving platform 14. It can cooperate with the identification end 11 to select the first robot 43 and the second robot 44 to be moved and the position after the movement after the movement after determining the position of the defective product, and take out the corresponding defective product and send it out separately.

[0025] like Figure 6 and Figure 7As shown, in some embodiments, the delivery component 5 further includes: a fourth electric push rod 51 and a contact plate 52. Two fourth electric push rods 51 are symmetrically and rotatably mounted on the bottom of the identification platform 1, and the extended ends of the fourth electric push rods 51 are rotatably connected to the contact plate 52. The contact plate 52 slides in contact with the bottom of the receiving frame 2. A fifth electric push rod 53 is fixed on the surface of the contact plate 52 at the position corresponding to each compartment of the receiving frame 2. A circular hole 23 is opened inside each compartment of the receiving frame 2, and the extended end of the fifth electric push rod 53 slides through the circular hole 23.

[0026] It should be noted that after the receiving frame 2 moves to the exit end of the recognition station 1 along with the pushing component 3, the bottom of the receiving frame 2 contacts the contact plate 52. The fourth electric push rod 51 extends and drives the receiving frame 2 to rotate along the axis of the slide plate 311, merging with the baffle 54, leaving only an opening at the top to prevent objects from falling out. This also facilitates the robotic arm to grip and remove the objects. After removing the defective objects inside, the fourth electric push rod 51 and the contact plate 52 continue to push the receiving frame 2 to rotate. The baffle 54 is squeezed and rotates to a horizontal position, flush with the first receiving station 13, thus achieving the overlapping function. The position of the circular hole 23 in the receiving frame 2 is such that when the receiving frame 2 and the baffle 54 rotate toward the first receiving platform 13, the position of the fifth electric push rod 53 is exactly on the same straight line as the circular hole 23. The extended end of the fifth electric push rod 53 passes through the circular hole 23 and squeezes and pushes the object inside the receiving frame 2, pushing the qualified object out and sending it onto the first receiving platform 13. After the extended ends of the fifth electric push rod 53 and the fourth electric push rod 51 retract, the receiving frame 2 and the baffle 54 rotate and reset through their own pivot and torsion spring. The receiving frame 2 returns to the state on the side of the entry end of the identification platform 1, which is convenient for re-receiving the object.

[0027] Working principle: When using the device, objects are placed on the conveyor table 12 with gaps between them, and alternately received into the receiving frame 2. The turntable 35 is rotated by the motor, and the long rod 36 drives the push plate 38 to move along the transverse groove 39 and the moving notch 16. The sliding sleeve 37 slides along the long rod 36, moving the slide plate 311 inside the transverse groove 39 along the transverse groove 39. This allows the two sets of receiving frames 2 to move laterally. Because the two receiving frames 2 are set vertically, they can avoid each other during movement. The receiving frame 2 at the upper end is used for detection. When the receiving frame 2 moves laterally, the bidirectional electric push rod 34 drives the vertical plate 31 away from the vertical groove 310. At this time, it will not interfere with the long rod 36. When the horizontal plate 32 moves to the vertical groove 310, the bidirectional electric push rod 34 drives the horizontal plate 32 and the vertical plate 31 to insert into the vertical groove 310, thus moving the transverse groove 310 into the vertical groove 310. The slide plate 311 inside 9 is pushed to the other end, thereby realizing the height replacement of the two sets of receiving frames 2. The receiving frame 2 located at the inlet end is driven by the motor to rotate the first screw 110. The screw block 19 is threadedly engaged with the first screw 110. The connecting plate 18 and the two side plates 15 move along the slide frame 17. The receiving frame 2 inside the side plate 15 moves laterally, aligning the different compartments with the positions of the conveyor table 12 outlet, thereby alternately collecting the objects into the compartments, facilitating the detection and identification of multiple sets in one batch. Then, it is sent to the tail end of the identification table 1. According to the number and position of the defective products inside the receiving frame 2 of the same batch, the number of robotic arms to be moved and the final movement position are selected. First of all, it should be clarified here that the first robotic arm 43 must move every time, while the second robotic arm 4 The 4th robot selectively moves according to the number of defective products in the receiving frame 2. The third electric push rod 418 drives the insertion post frame 419 to pass through the top plate 46 and connect with the connecting frame 414. This allows the first robot 43 and the second robot 44 to move synchronously along the inside of the moving frame 41 to the exit position of the identification station 1. The motor drives the second screw 42 to rotate. The slide 45 of the first robot 43 moves along the inside of the moving frame 41 with the threaded engagement of the second screw 42. The bidirectional screw barrel 415 slides along the surface of the shaft 48. When entering the exit range of the identification station 1, the bidirectional screw barrel 415 engages with the protrusion 420. The shaft 48 can drive the bidirectional screw barrel 415 to rotate, achieving synchronous clamping with the first robot 43 via the clamping plate 416 of the moving second robot 44. For example, if the items in the first and third compartments of receiving frame 2 are defective and need to be removed, the first robotic arm 43 is first driven to move along the moving frame 41. When the first robotic arm 43 is one body length away from the nearest second robotic arm 44, the third electric push rod 418 drives the insertion column frame 419 to pass through the top plate 46. The electric insertion rods at the first and third positions are inserted into the insertion holes of the first robotic arm 43 and the second robotic arm 44. At this time, the two sets of robotic arms move synchronously and stop when they correspond to the position of the item to be removed. Because it enters the exit end of the recognition station 1, the bidirectional screw 415 is engaged with the protrusion 420, while the remaining second robotic arm 44 will not lift, rotate, or clamp. The first electric push rod 49 drives the telescopic column 417 to descend.After the clamping plate 416 is inserted into the slot 22, the shaft 48 rotates, driving the bidirectional screw barrel 415 to rotate. The two clamping plates 416 clamp the objects inside the compartment. Then, the clamping plates 416 are moved upward to remove the objects. The second electric push rod 410 drives the rack 411 to mesh with the toothed ring 421 of the first robot 43 and the second robot 44. When the first robot 43 and the second robot 44 return, the toothed ring 421 meshes with the rack 411. The clamping end is rotated to face the receiving platform. When it moves to the position of the second receiving platform 14, the defective product is released and dropped onto the second receiving platform 14 for delivery. It can cooperate with the identification end 11 to select the first robot 43 and the second robot 44 to be moved and their new positions after movement after determining the position of the defective product. The corresponding defective product is then taken out and delivered separately. After the receiving frame 2 moves to the exit end of the identification platform 1 with the push assembly 3, the bottom of the receiving frame 2 contacts the contact plate 52. The fourth electric push rod 51 extends to drive the receiving plate 52 to move. The receiving frame 2 rotates along the axis of the slide plate 311 and merges with the baffle 54, leaving only an opening at the top to prevent objects from falling out and to facilitate the robotic arm in gripping and removing objects. After removing the defective objects inside, the receiving frame 2 continues to rotate via the fourth electric push rod 51 and the contact plate 52. The baffle 54 rotates to a horizontal position after being compressed, aligning with the first receiving platform 13 to achieve the overlapping function. The position of the round hole 23 in the receiving frame 2 is where the receiving frame 2 and the baffle 54 rotate towards the first receiving platform. At 13:00, the fifth electric push rod 53 is aligned with the circular hole 23. The extended end of the fifth electric push rod 53 passes through the circular hole 23 and pushes the object inside the receiving frame 2, ejecting the qualified object onto the first receiving platform 13. After the extended ends of the fifth electric push rod 53 and the fourth electric push rod 51 retract, the receiving frame 2 and the baffle 54 rotate and reset via their own shafts and torsion springs. The receiving frame 2 returns to its position on the entry side of the identification platform 1, facilitating the re-reception of objects.

[0028] In the description of this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0029] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0030] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0031] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A machine vision based intelligent sorting device for industrial robots, characterized in that, include: The identification platform (1) has an identification end (11) fixed at the top center. The identification platform (1) has two sets of receiving frames (2) inside, which are staggered vertically. The front end of the identification platform (1) has a conveying platform (12). The rear end of the identification platform (1) has a robotic arm assembly (4). The outer side of the robotic arm assembly (4) is positioned opposite the identification platform (1) with a first receiving platform (13). A second receiving platform (14) is fixed on one side of the first receiving platform (13). The two sides of the identification platform (1) have pushing components (3), and the bottom of the identification components has a delivery component (5). The pushing component (3) includes a horizontal groove (39), which has two sets of openings on the inner walls of both sides of the recognition platform (1), and vertical grooves (310) are opened on the inner walls of both sides of the recognition platform (1) at both ends of the horizontal groove (39). The horizontal groove (39) and the vertical groove (310) are connected, and the receiving frame (2) slides along the inside of the horizontal groove (39) and the vertical groove (310). The robotic arm assembly (4) includes a movable frame (41), inside which a first robotic arm (43) and three second robotic arms (44) are slidably mounted. The delivery component (5) includes a baffle (54), which is vertically disposed at the rear end of the recognition platform (1), and the bottom sides of the baffle (54) are rotatably connected to the sides of the recognition platform (1) through a rotating shaft and a torsion spring.

2. The machine vision based industrial robot intelligent sorting device according to claim 1, characterized in that, The front end of the recognition platform (1) is provided with side plates (15) on both sides. The bottom of the two side plates (15) is fixed with a connecting plate (18). The bottom of the recognition platform (1) is fixed with a sliding frame (17) at the bottom of the connecting plate (18). The sliding frame (17) is rotatably installed with a first screw (110). The surface of the first screw (110) is threaded with a screw block (19), and the screw block (19) is fixedly connected to the bottom of the connecting plate (18). The inner wall of the side plate (15) is provided with the same grooves as the horizontal groove (39) and vertical groove (310) on the inner wall of the identification platform (1).

3. The machine vision based industrial robot intelligent sorting device according to claim 2, characterized in that, The actuation component (3) also includes: Vertical plate (31), horizontal plate (32), frame (33), bidirectional electric push rod (34), vertical plate (31) is slidably inserted into the two vertical slots (310), and the two vertical plates (31) on the same side of the recognition platform (1) are inserted from the top and bottom respectively. The horizontal plate (32) is fixed to the outer end of the two vertical plates (31) inserted at the same position of the recognition platform (1). The bidirectional electric push rod (34) is fixed on the outer walls of both sides of the recognition platform (1), and the extended end of the bidirectional electric push rod (34) is fixed with a frame (33). The frame (33) is slidably engaged on the surface of the horizontal plate (32). The receiving frame (2) has sliding plates (311) mounted on both sides by a rotating shaft and a torsion spring, and the sliding plates (311) alternately slide along the horizontal groove (39) and the vertical groove (310).

4. The machine vision based industrial robot intelligent sorting device according to claim 3, characterized in that, The identification platform (1) has movable notches (16) on both outer walls, and the movable notches (16) are in the same position as the horizontal grooves (39) at the top and bottom. The interior of the horizontal grooves (39) is slidably connected with push plates (38). The two push plates (38) on the same side of the identification platform (1) are respectively set at opposite ends of the horizontal grooves (39). The outer wall of the identification platform (1) is rotatably mounted with a turntable (35), and long rods (36) are fixed at both ends of the turntable (35). A sliding sleeve (37) is slidably sleeved on the surface of the long rod (36), and the sliding sleeve (37) is rotatably connected to the push plate (38).

5. The machine vision based industrial robot intelligent sorting device according to claim 4, characterized in that, The robotic arm assembly (4) also includes: The slide (45), connecting frame (414), telescopic column (417), bidirectional screw cylinder (415), and clamping plate (416) are provided. The first manipulator (43) and the second manipulator (44) both have a slide (45) at the bottom, and the slide (45) slides along the inside of the moving frame (41). The top of the slide (45) is rotatably mounted with a telescopic column (417), and the top of the telescopic column (417) is fixed with a connecting frame (414). One end of the connecting frame (414) is rotatably mounted with a bidirectional screw cylinder (415), and the two ends of the bidirectional screw cylinder (415) are threaded with clamping plates (416). The receiving frame (2) is fixed with partitions (21) at equal intervals inside, and the partitions (21) have slots (22) on the inner surface of each compartment.

6. The machine vision-based industrial robot intelligent sorting device according to claim 5, characterized in that, The bottom of the telescopic column (417) is fixed with a toothed ring (421), and the bottom of the identification platform (1) is fixed with a fixing plate (412) on the side near the moving frame (41). The inside of the fixing plate (412) is symmetrically fixed with a second electric push rod (410), and the extended end of the second electric push rod (410) is fixed with a rack (411). The second electric push rod (410) pushes the rack (411) to move and engage with the toothed ring (421), thereby driving the telescopic column (417) to rotate.

7. The machine vision-based industrial robot intelligent sorting device according to claim 6, characterized in that, The first robotic arm (43) has a mounting plate (413) fixed on the outer surface of the telescopic column (417). The mounting plate (413) has a first electric push rod (49) fixed on the outer surface of the mounting plate (413). The extended end of the first electric push rod (49) has a top plate (46) fixed on it. The top plate (46) has a slidably inserted column frame (419). The connecting frame (414) has a hole at one end facing the column frame (419). The column frame (419) has an electric plug rod installed at the position of each plug hole. The top plate (46) is fixed with a third electric push rod (418) at both ends, and the extended end of the third electric push rod (418) is fixedly connected to the insert bracket (419).

8. The intelligent sorting device for industrial robots based on machine vision according to claim 7, characterized in that, One end of the top plate (46) is fixed with a shaft frame (47) corresponding to the position of the bidirectional screw cylinder (415). A shaft rod (48) is slidably inserted inside the bidirectional screw cylinder (415). One end of the shaft rod (48) is rotatably mounted on the shaft frame (47). A motor for driving the shaft rod (48) to rotate is installed at the outer end of the shaft frame (47). A second screw rod (42) is rotatably mounted inside the moving frame (41). The slide seat (45) of the first robot (43) is threaded onto the surface of the second screw rod (42). The shaft (48) has a protrusion (420) fixed on its surface, and the bidirectional screw (415) is slidably engaged with the protrusion (420).

9. The intelligent sorting device for industrial robots based on machine vision according to claim 8, characterized in that, The delivery component (5) further includes: The fourth electric push rod (51) and the contact plate (52) are symmetrically mounted on the bottom of the identification platform (1), and the extended end of the fourth electric push rod (51) is rotatably connected to the contact plate (52). The contact plate (52) slides in contact with the bottom of the receiving frame (2).

10. The intelligent sorting device for industrial robots based on machine vision according to claim 9, characterized in that: A fifth electric push rod (53) is fixed on the surface of the contact plate (52) at the position corresponding to each compartment of the receiving frame (2). A round hole (23) is opened inside each compartment of the receiving frame (2), and the extended end of the fifth electric push rod (53) slides out of the round hole (23).

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