Automatic sorting intelligent robot

Abstract

The utility model discloses an automatic sorting intelligent robot which comprises a walking mechanism and a sorting carrying device. The sorting and carrying device comprises a storage mechanism and a pick-and-place transfer mechanism; the storage mechanism comprises a storage hopper, a material guiding assembly and a visual recognition unit used for recognizing materials. The storage hopper is obliquely arranged, an inlet is located in the upper portion, and the storage hopper is provided with two storage channels communicated with the inlet. The material guiding assembly comprises a material guiding plate and a swing driving mechanism used for driving the material guiding plate to swing. The material guide plate is arranged at an inlet of the storage hopper; the rotating center of the material guide plate vertically extends, and is positioned between the inlets of the two storage channels; the visual identification unit comprises an image sensor and a processor; and the taking and placing transfer mechanism comprises a terminal clamp and a carrying manipulator. The automatic sorting intelligent robot can sort and carry at least two kinds of materials, the functions are rich, and the carrying efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to a robot, in particular to an automatic sorting intelligent robot. Background Art

[0002] A handling robot is an industrial robot that can perform automated handling operations. Handling operations refer to holding a workpiece with a device and moving it from one processing location to another. A handling robot can be equipped with different end effectors to complete the handling of workpieces of various shapes and states, greatly reducing the heavy manual labor of humans. There are more than 100,000 handling robots in use in the world, which are widely used in automatic handling of machine tool loading and unloading, stamping machine automated production lines, automatic assembly lines, palletizing and handling, containers, etc.

[0003] Although the existing handling robots can automatically complete the handling tasks, they still have the following shortcomings:

[0004] Most of the existing handling robots can only carry the same type of material at a time, and it is difficult to classify and transport multiple materials. Their functions are relatively simple and their handling efficiency needs to be improved. Utility Model Content

[0005] The purpose of the utility model is to overcome the above-mentioned problems and provide an automatic sorting intelligent robot, which can sort and transport at least two materials, has rich functions, and is conducive to improving the transportation efficiency.

[0006] The purpose of the utility model is achieved through the following technical solutions:

[0007] An automatic sorting intelligent robot comprises a walking mechanism and a sorting and transporting device arranged on the walking mechanism;

[0008] The sorting and handling device comprises a storage mechanism and a pick-and-place transfer mechanism; the storage mechanism comprises a storage bucket, a material guide assembly and a visual recognition unit for identifying materials; the storage bucket is tilted and the entrance is located at the top, and the storage bucket is provided with two storage channels connected to the entrance; the material guide assembly comprises a material guide plate and a swing drive mechanism for driving the material guide plate to swing; the material guide plate is arranged at the entrance of the storage bucket; the rotation center of the material guide plate extends vertically, and the rotation center of the material guide plate is located between the entrances of the two storage channels; the visual recognition unit comprises an image sensor and a processor, and the image sensor is arranged on the pick-and-place transfer mechanism; the processor is electrically connected to the image sensor and the swing drive mechanism respectively;

[0009] The pick-and-place transfer mechanism includes a terminal fixture for grabbing materials and a handling robot for driving the terminal fixture to move in space; the terminal fixture and the image sensor are arranged on the end joint of the handling robot.

[0010] The working principle of the above automatic sorting intelligent robot is:

[0011] When working, the sorting and handling device is carried by the walking mechanism and moved to the location of the material to be handled; the terminal clamp is driven to move by the handling manipulator so that the terminal clamp is close to the material to be handled, and then the terminal clamp grabs the material into the storage bucket. At the same time, the image of the material to be handled is obtained by the image sensor, and the image is transmitted to the processor, which performs image recognition processing to obtain the storage channel corresponding to the material; the processor sends a corresponding instruction to the swing drive mechanism, and the swing drive mechanism drives the guide plate to rotate in the direction of another storage channel until the guide plate completely blocks the entrance of the other storage channel. Furthermore, when the material falls to the entrance of the storage bucket, it automatically rolls or slides down and then enters the corresponding storage channel. According to the above operations, the sorting and handling of other materials are completed.

[0012] In a preferred embodiment of the utility model, the travel mechanism comprises a vehicle frame, travel wheels and a travel drive mechanism, and the travel wheels are rotatably connected to the vehicle frame and connected to the travel drive mechanism.

[0013] Furthermore, the frame is a multi-layer structure.

[0014] Furthermore, the travel drive mechanism includes a travel drive motor, which is arranged on the frame and connected to at least one set of travel wheels.

[0015] Furthermore, the travel wheels are Mecanum wheels; and the travel drive motors and Mecanum wheels are each provided with four.

[0016] In a preferred embodiment of the utility model, a plurality of infrared sensors are provided under the frame, which can help the robot to avoid obstacles and locate;

[0017] Ultrasonic sensors are also installed on the sides of the frame to achieve more accurate positioning functions.

[0018] In a preferred embodiment of the utility model, a front receiving mechanism is provided outside the entrance of the storage bucket, and the front receiving mechanism includes a receiving bucket and a receiving and flipping driving mechanism for driving the receiving bucket to swing and flip; the receiving bucket is rotatably connected to the frame of the walking mechanism;

[0019] In the transporting working state, the inclination of the receiving bucket is greater than the inclination of the storage bucket.

[0020] Furthermore, the receiving and turning driving mechanism includes a receiving and turning driving servo, a shell of which is fixed on the frame of the traveling mechanism, and an output shaft of which is fixedly connected to the receiving bucket.

[0021] A preferred solution of the utility model is that an outlet is provided at the bottom of the storage bucket, and a unloading mechanism is provided at the outlet, and the unloading mechanism includes a unloading baffle and a unloading flipping driving mechanism for driving the unloading baffle to swing and flip; the unloading baffle is rotatably connected to the frame of the walking mechanism; in the non-unloading state, the unloading baffle blocks the outlet of the storage bucket.

[0022] Furthermore, the unloading and turning driving mechanism comprises a unloading and turning driving servo, a housing of which is fixed on the frame of the traveling mechanism, and an output shaft of which is fixedly connected to the unloading baffle.

[0023] In a preferred embodiment of the utility model, the swing drive mechanism comprises a swing drive servo, a housing of the swing drive servo is fixed on a frame of the traveling mechanism, and an output shaft of the swing drive servo is fixedly connected to the material guide plate.

[0024] In a preferred embodiment of the present utility model, the terminal fixture comprises a grabbing mounting frame, a gripping claw and a grabbing driving mechanism;

[0025] The grabbing mounting frame is fixedly connected to the end joint of the handling manipulator;

[0026] The gripping claws are provided with two and are relatively rotatably connected to the gripping mounting frame;

[0027] The grabbing drive mechanism comprises two grabbing drive steering gears, and the output shafts of the two grabbing drive steering gears are respectively connected to the two gripping claws.

[0028] Through the above structure, under the drive of the grabbing drive steering gear, the two claws move closer to or farther away from each other, thereby clamping or releasing the material.

[0029] Compared with the prior art, the utility model has the following beneficial effects:

[0030] The automatic sorting intelligent robot of the utility model can identify different materials and classify the materials and store them in corresponding storage channels by setting a material guiding component and a visual recognition unit. It has rich functions and is conducive to improving the handling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1-2 The three-dimensional structure diagrams of the automatic sorting intelligent robot of the utility model are shown in two different perspectives.

[0032] Figure 3 It is a side view of the automatic sorting intelligent robot of the present utility model. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described below in conjunction with embodiments and drawings, but the implementation methods of the utility model are not limited thereto.

[0034] See also Figure 1-3 The automatic sorting intelligent robot of this embodiment includes a walking mechanism and a sorting and handling device arranged on the walking mechanism; wherein the walking mechanism includes a frame 1, walking wheels 2 and a walking drive mechanism, and the frame 1 is a multi-layer structure; the walking wheels 2 are rotatably connected to the frame 1 and connected to the walking drive mechanism; the walking drive mechanism includes a walking drive motor 3, which is arranged on the frame 1 and connected to at least one group of walking wheels 2.

[0035] Furthermore, the travel wheel 2 is a Mecanum wheel; and the travel drive motor 3 and the Mecanum wheel are each provided with four.

[0036] See also Figure 1-3 A number of infrared sensors 4 are provided under the frame 1, which can help the robot avoid obstacles and locate itself; ultrasonic sensors 5 are also installed on the side of the frame 1 to achieve a more accurate positioning function.

[0037] See also Figure 1-3 , the sorting and handling device includes a storage mechanism and a pick-and-place transfer mechanism; the storage mechanism includes a storage bucket 6, a material guide assembly and a visual recognition unit for identifying materials; the storage bucket 6 is tilted and the entrance is located at the top, and the storage bucket 6 is provided with two storage channels 6-1 connected to the entrance; the material guide assembly includes a material guide plate 7 and a swing drive mechanism for driving the material guide plate 7 to swing; the material guide plate 7 is arranged at the entrance of the storage bucket 6; the rotation center of the material guide plate 7 extends vertically, and the rotation center of the material guide plate 7 is located between the entrances of the two storage channels 6-1; the visual recognition unit (not shown in the figure) includes an image sensor and a processor, and the image sensor is arranged on the pick-and-place transfer mechanism; the processor is electrically connected to the image sensor and the swing drive mechanism respectively; specifically, the image sensor adopts an existing multi-function camera; the image recognition principle used by the processor of this embodiment refers to the existing visual recognition technology.

[0038] See also Figure 1-3The pick-and-place transfer mechanism includes a terminal fixture for grabbing materials and a handling robot 8 for driving the terminal fixture to move in space; the terminal fixture and the image sensor are arranged on the end joint of the handling robot 8.

[0039] See also Figure 1-3 A front receiving mechanism is provided outside the entrance of the storage bucket 6, and the front receiving mechanism includes a receiving bucket 9 and a receiving and flipping driving mechanism for driving the receiving bucket 9 to swing and flip; the receiving bucket 9 is rotatably connected to the frame 1 of the walking mechanism; in the transporting working state, the inclination of the receiving bucket 9 is greater than the inclination of the storage bucket 6.

[0040] Furthermore, the receiving and turning driving mechanism includes a receiving and turning driving servo 10 , the housing of which is fixed on the frame 1 of the traveling mechanism, and the output shaft of which is fixedly connected to the receiving bucket 9 .

[0041] See also Figure 1-3 An outlet is provided at the bottom of the storage bucket 6, and a unloading mechanism is provided at the outlet. The unloading mechanism includes a unloading baffle 11 and a unloading flipping driving mechanism for driving the unloading baffle 11 to swing and flip; the unloading baffle 11 is rotatably connected to the frame 1 of the walking mechanism; in the non-unloading state, the unloading baffle 11 blocks the outlet of the storage bucket 6.

[0042] Furthermore, the unloading and turning driving mechanism includes a unloading and turning driving servo 12 , the housing of which is fixed on the frame 1 of the traveling mechanism, and the output shaft of which is fixedly connected to the unloading baffle 11 .

[0043] See also Figure 1-3 The swing driving mechanism includes a swing driving steering gear 13 , a housing of which is fixed on the frame 1 of the traveling mechanism, and an output shaft of which is fixedly connected to the material guide plate 7 .

[0044] See also Figure 1-3 The terminal fixture includes a grabbing mounting frame 14, a gripping claw 15 and a grabbing drive mechanism; the grabbing mounting frame 14 is fixedly connected to the end joint of the handling robot 8; the gripping claw 15 is provided with two and relatively rotatably connected to the grabbing mounting frame 14; the grabbing drive mechanism includes two grabbing drive servos 16, and the output shafts of the two grabbing drive servos 16 are respectively connected to the two gripping claws 15.

[0045] Through the above structure, under the drive of the grab driving steering gear 16, the two claws 15 move closer to or farther away from each other, thereby clamping or releasing the material.

[0046] See also Figure 1-3The working principle of the automatic sorting intelligent robot in this embodiment is:

[0047] When working, the sorting and handling device is carried by the walking mechanism and moved to the location of the material to be handled; the handling manipulator 8 drives the terminal clamp to move so that the terminal clamp is close to the material to be handled, and then the terminal clamp grabs the material into the storage bucket 6. At the same time, the image of the material to be handled is obtained by the image sensor, and the image is transmitted to the processor, which performs image recognition processing to obtain the storage channel 6-1 corresponding to the material; the processor sends a corresponding instruction to the swing drive mechanism, and the swing drive mechanism drives the guide plate 7 to rotate in the direction of another storage channel 6-1 until the guide plate 7 completely blocks the entrance of the other storage channel 6-1. Further, when the material falls to the entrance of the storage bucket 6, it automatically rolls or slides down and then enters the corresponding storage channel 6-1. According to the above operations, the sorting and handling of other materials are completed.

[0048] The above is a preferred implementation mode of the present invention, but the implementation mode of the present invention is not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. An automatic sorting intelligent robot, characterized in that: It includes a traveling mechanism and a sorting and handling device arranged on the traveling mechanism; The sorting and handling device comprises a storage mechanism and a pick-and-place transfer mechanism; the storage mechanism comprises a storage bucket, a material guide assembly and a visual recognition unit for identifying materials; the storage bucket is tilted and the entrance is located at the top, and the storage bucket is provided with two storage channels connected to the entrance; the material guide assembly comprises a material guide plate and a swing drive mechanism for driving the material guide plate to swing; the material guide plate is arranged at the entrance of the storage bucket; the rotation center of the material guide plate extends vertically, and the rotation center of the material guide plate is located between the entrances of the two storage channels; the visual recognition unit comprises an image sensor and a processor, and the image sensor is arranged on the pick-and-place transfer mechanism; the processor is electrically connected to the image sensor and the swing drive mechanism respectively; The pick-and-place transfer mechanism includes a terminal fixture for grabbing materials and a handling robot for driving the terminal fixture to move in space; the terminal fixture and the image sensor are arranged on the end joint of the handling robot.

2. The automatic sorting intelligent robot according to claim 1, characterized in that: The travel mechanism comprises a vehicle frame, travel wheels and a travel drive mechanism, wherein the travel wheels are rotatably connected to the vehicle frame and connected to the travel drive mechanism; A plurality of infrared sensors are arranged below the frame; and ultrasonic sensors are also installed on the side of the frame.

3. The automatic sorting intelligent robot according to claim 1, characterized in that: A front receiving mechanism is provided outside the entrance of the storage bucket, and the front receiving mechanism includes a receiving bucket and a receiving and flipping driving mechanism for driving the receiving bucket to swing and flip; the receiving bucket is rotatably connected to the frame of the walking mechanism; In the transporting working state, the inclination of the receiving bucket is greater than the inclination of the storage bucket.

4. The automatic sorting intelligent robot according to claim 3 is characterized in that: The receiving and turning driving mechanism comprises a receiving and turning driving steering gear, a housing of which is fixed on the frame of the traveling mechanism, and an output shaft of which is fixedly connected to the receiving bucket.

5. The automatic sorting intelligent robot according to claim 1, characterized in that: An outlet is provided at the bottom of the storage bucket, and a unloading mechanism is provided at the outlet. The unloading mechanism includes a unloading baffle and a unloading flipping driving mechanism for driving the unloading baffle to swing and flip; the unloading baffle is rotatably connected to the frame of the walking mechanism; in a non-unloading state, the unloading baffle blocks the outlet of the storage bucket.

6. The automatic sorting intelligent robot according to claim 5, characterized in that: The unloading and turning driving mechanism comprises a unloading and turning driving steering gear, a housing of which is fixed on the frame of the traveling mechanism, and an output shaft of which is fixedly connected to the unloading baffle.

7. The automatic sorting intelligent robot according to claim 1, characterized in that: The swing drive mechanism comprises a swing drive steering gear, a housing of which is fixed on the frame of the traveling mechanism, and an output shaft of which is fixedly connected to the material guide plate.

8. The automatic sorting intelligent robot according to claim 1, characterized in that: The terminal fixture comprises a grabbing mounting frame, a gripping claw and a grabbing driving mechanism; The grabbing mounting frame is fixedly connected to the end joint of the handling manipulator; The gripping claws are provided with two and are relatively rotatably connected to the gripping mounting frame; The grabbing drive mechanism comprises two grabbing drive steering gears, and the output shafts of the two grabbing drive steering gears are respectively connected to the two gripping claws.

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