Material suction end effector for disordered sorting robot

Abstract

The utility model relates to a material suction end effector for a disordered sorting robot, which comprises a connecting support, a sucker, an air inlet structure, a compression part and a pneumatic structure, the air inlet structure is arranged on the connecting support, one end of the connecting support is connected with the tail end of the sorting robot, and the input end of the pneumatic structure is connected with an air source. The output end of the pneumatic structure is connected with the input end of the air inlet structure, one end of the compression part is connected with the output end of the air inlet structure, and the other end of the compression part is connected with the suction cup. When the disordered sorting robot sucks or places parts or articles, if point positions are not accurate enough, compressed parts are further compressed to different degrees, it is ensured that the suction cup and the surfaces of the parts or the articles are in an approximate plane shape, accordingly, the suction force of vacuum negative pressure is kept relatively stable, meanwhile, rigid contact between a suction end effector system and the parts or the articles is avoided, and the product quality is improved. Unnecessary parts or articles and parts of the material suction end effector are damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of robot sorting, in particular to a material suction end effector for a disorderly sorting robot. Background Art

[0002] With the development of science and technology and the progress of the intelligent manufacturing industry, the application of machine vision is becoming more and more extensive. Common machine vision can be divided into two-dimensional vision and 3D vision according to the working principle. In some more complex sorting operation scenarios, 3D vision and industrial robots are required to cooperate to complete disordered sorting. When the disordered sorting robot is working, under the guidance of 3D vision, it sorts out workpieces or items one by one from the disordered workpieces or stacks of items, and places them in designated positions in order. In the above work, a suction end effector is often required. Due to the rigid structure problem of common suction end effectors, if the grasping point is not accurate enough, the suction cup will contact with the parts or items and the force will be uneven or too large, which will affect the suction of the suction cup to the items, and it is easy to drop the parts. The collision and contact between the suction cup and the object can also easily damage the suction cup. Summary of the invention

[0003] The utility model provides a material suction end effector for a disorderly sorting robot, aiming to solve the problem that the existing material suction end effector is prone to dropping parts when the grasping point is inaccurate.

[0004] The utility model provides a material suction end effector for a disorderly sorting robot, comprising a connecting bracket, a suction cup, an air intake structure, a compression member and a pneumatic structure, wherein the air intake structure is arranged on the connecting bracket, one end of the connecting bracket is connected to the end of the sorting robot, the input end of the pneumatic structure is connected to an air source, the output end of the pneumatic structure is connected to the input end of the air intake structure, one end of the compression member is connected to the output end of the air intake structure, and the other end of the compression member is connected to the suction cup.

[0005] As a further improvement of the present invention, the connecting bracket includes a connecting rod, a fixing flange and a fixing plate, the fixing flange is installed on one end of the connecting rod by bolts, the fixing flange is connected to the end of the sorting robot, and the fixing plate is arranged at the other end of the connecting rod.

[0006] As a further improvement of the present invention, the air intake structure includes an air intake joint, a guide spiral tube and a vacuum guide tube, the fixed plate is provided with a mounting hole, the guide spiral tube is arranged in the mounting hole, and one end of the guide spiral tube protrudes out of the mounting hole, the vacuum guide tube is arranged inside the guide spiral tube and slides up and down inside the guide spiral tube, the air intake joint is clamped at the other end of the guide spiral tube, one end of the air intake joint is connected to the output end of the pneumatic structure, the other end of the air intake joint is connected to one end of the vacuum guide tube, and the other end of the vacuum guide tube is connected to the suction cup.

[0007] As a further improvement of the present invention, thin nuts are provided at both ends of the mounting hole, and the thin nuts abut against the periphery of the guide spiral tube.

[0008] As a further improvement of the utility model, it also includes a retaining ring, one end of which is connected to one end of the guide spiral tube, and the other end of which is connected to one end of the compression member.

[0009] As a further improvement of the present utility model, the pneumatic structure includes a pneumatic triplet, a first electromagnetic reversing valve, a second electromagnetic reversing valve, a throttle valve, a vacuum generator and an output air pipe, the input end of the pneumatic triplet is connected to the air source, one output end of the pneumatic triplet is connected to the input end of the first electromagnetic reversing valve, the output end of the first electromagnetic reversing valve is connected to the input end of the vacuum generator, the output end of the vacuum generator is connected to the output air pipe, the other output end of the pneumatic triplet is connected to the input end of the second electromagnetic reversing valve, the output end of the second electromagnetic reversing valve is connected to the input end of the throttle valve, the output end of the throttle valve is connected to the output air pipe, and the output end of the output air pipe is connected to the input end of the intake structure.

[0010] As a further improvement of the utility model, the output end of the vacuum generator is connected to the input end of the vacuum filter, and the output end of the vacuum filter is connected to the input end of the output air pipe.

[0011] As a further improvement of the present utility model, a muffler is provided on the vacuum generator.

[0012] As a further improvement of the utility model, when the suction cup sucks up materials, the first solenoid reversing valve is energized, the first solenoid reversing valve is de-energized, and the compressed gas output by the air source passes through the pneumatic triplet, the first solenoid reversing valve, the vacuum generator and the output air pipe in sequence, and the output air pipe outputs the compressed gas to the input end of the air intake structure.

[0013] As a further improvement of the utility model, when the suction cup puts down the material, the first solenoid reversing valve loses power, the second solenoid reversing valve gains power, and the compressed gas output by the air source passes through the pneumatic triplet, the second solenoid reversing valve, the throttle valve and the output air pipe in sequence, and the output air pipe outputs the compressed gas to the input end of the intake structure.

[0014] The beneficial effect of the utility model is that when the disorderly sorting robot sucks or places parts or objects, if the point position is not accurate enough, causing the suction cup to contact the parts or objects and be subjected to uneven force or excessive force, the compression part is further compressed to varying degrees to ensure that the suction cup and the surface of the parts or objects are approximately planar, thereby keeping the vacuum negative pressure suction force relatively stable, and at the same time avoiding rigid contact between the suction end effector system and the parts or objects, causing unnecessary damage to the parts or objects and the parts of the suction end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is an overall diagram of the utility model;

[0016] Figure 2 This is an overall diagram of the connection of the connection bracket, suction cup, compression member and pneumatic structure of the utility model;

[0017] Figure 3 This is a front view of the connection of the utility model connecting the bracket, the suction cup, the compression member and the pneumatic structure;

[0018] Figure 4 It is a bottom view of the utility model. DETAILED DESCRIPTION

[0019] Figure markings: 1-connecting rod, 2-fixing flange, 3-fixing plate, 4-suction cup, 5-compression member, 6-air inlet connector, 7-guide spiral tube, 8-blocking ring, 9-vacuum guide tube, 10-thin nut, 11-air source, 12-pneumatic triplet, 13-first solenoid reversing valve, 14-second solenoid reversing valve, 15-vacuum generator, 16-throttle valve, 17-vacuum filter, 18-muffler, 19-output air pipe.

[0020] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail in conjunction with the accompanying drawings and embodiments. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the accompanying drawings, and the words "bottom surface" and "top surface", "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0021] like Figure 1-4As shown, the utility model provides a suction end effector for a disordered sorting robot, comprising a connecting bracket, a suction cup 4, an air intake structure, a compression member 5 and a pneumatic structure, wherein the air intake structure is arranged on the connecting bracket, one end of the connecting bracket is connected to the end of the sorting robot, the input end of the pneumatic structure is connected to an air source 11, the output end of the pneumatic structure is connected to the input end of the air intake structure, one end of the compression member 5 is connected to the output end of the air intake structure, and the other end of the compression member 5 is connected to the suction cup 4.

[0022] The end effector provided by the utility model is connected to the end of the sorting robot through the connecting bracket, and can follow the sorting robot to the sorting area. When the disordered sorting robot is working, under the guidance of 3D vision, the program is run to drive the suction end effector to move together to suck, sort and place the materials.

[0023] As an embodiment of the utility model, the connecting bracket includes a connecting rod 1, a fixing flange 2 and a fixing plate 3, the fixing flange 2 is installed at one end of the connecting rod 1 by bolts, the fixing flange 2 is connected to the end of the sorting robot, and the fixing plate 3 is arranged at the other end of the connecting rod 1.

[0024] The fixed flange 2 is a disc-shaped flange component, on which a plurality of threaded step holes are processed, and a semicircular groove is opened on its edge. The lower end of the fixed flange 2 is connected to one end of the connecting rod 1 by bolts, and the fixed flange 2 is connected to the end shaft flange of the sorting robot by bolts. The fixed flange 2 enables the suction end effector to work with the sorting robot. The semicircular groove on the edge of the fixed flange 2 can facilitate the laying of the output air pipe 19.

[0025] The connecting rod 1 is a rod-shaped component, and its lower end is an annular flange structure. The other end of the connecting rod 1 is fixed to the fixing plate 3 by bolts. The fixing plate 3 provides an installation position for the air intake structure.

[0026] As another embodiment of the utility model, the air intake structure includes an air intake connector 6, a guide coil 7 and a vacuum guide tube 9, the fixed plate 3 is provided with a mounting hole, the guide coil 7 is arranged in the mounting hole, and one end of the guide coil 7 protrudes out of the mounting hole, the vacuum guide tube 9 is arranged inside the guide coil 7 and slides up and down inside the guide coil 7, the air intake connector 6 is clamped at the other end of the guide coil 7, one end of the air intake connector 6 is connected to the output end of the pneumatic structure, the other end of the air intake connector 6 is connected to one end of the vacuum guide tube 9, and the other end of the vacuum guide tube 9 is connected to the suction cup 4.

[0027] As another embodiment of the present invention, thin nuts 10 are provided at both ends of the mounting hole, and the thin nuts 10 abut against the periphery of the guide spiral tube 7 .

[0028] As another embodiment of the utility model, it further comprises a retaining ring 8 , one end of the retaining ring 8 is connected to one end of the guide spiral tube 7 , and the other end of the retaining ring 8 is connected to one end of the compression member 5 .

[0029] The guide screw 7 is a columnar component with external threads and an internal hole. The guide screw 7 is installed in the installation hole and is limited by the upper and lower thin nuts 10. The two thin nuts 10 do not completely lock the guide screw 7. The guide screw 7 can move a certain distance in the vertical direction. The vacuum guide tube 9 is installed in the guide screw 7, and the lower end of the guide screw 7 is connected and contacted with the retaining ring 8. The main function of the guide screw 7 is to guide and install the vacuum guide tube 9, so that the vacuum guide tube 9 can slide up and down within a certain range to prevent the sucked parts or items from being damaged by rigid contact with the end effector.

[0030] The air inlet connector 6 is clamped on the other end of the guide spiral tube 7, and the other end of the air inlet connector 6 is installed in the threaded hole at the upper end of the vacuum guide tube 9. The air inlet connector 6 connects the vacuum guide tube 9 with the output air pipe 19 and ensures that compressed air or vacuum negative pressure does not leak.

[0031] The vacuum guide tube 9 is a T-shaped component with a through hole inside, an internal thread processed on the upper end, and an external thread processed on the lower end. The vacuum guide tube 9 is installed in the inner hole of the guide spiral tube 7, the air inlet connector 6 is threadedly installed on the upper end, and the lower end is threadedly connected to the suction cup 4. When the compression member 5 is under pressure, the vacuum guide tube 9 can overcome the pressure of the compression member 5 and move up a certain distance along the inner hole of the guide spiral tube 7.

[0032] The retaining ring 8 is a thin annular component, which is installed on the vacuum guide tube 9 through the middle hole, with the upper end connected to the guide spiral tube 7 and the lower end connected to the compression member 5. The retaining ring 8 and the suction cup 4 work together to limit the compression member 5 to a specific position of the vacuum guide tube 9 and ensure that the compression member 5 does not move upward when under pressure.

[0033] The compression member 5 is arranged on the periphery of the vacuum guide tube 9, in a certain compression state, and wraps the vacuum guide tube 9 together with the guide spiral tube 7. When the system is working, when the suction cup 4 approaches the parts or items to be sucked, if the suction cup 4 is subjected to excessive force due to inaccurate point position, the compression member 5 is further compressed, so that the suction cup 4, the guide spiral tube 7, the air inlet connector 6, the output air pipe 19 (installed at the interface part of the air inlet connector 6) and the vacuum guide tube 9 are moved upward as a whole, avoiding damage to the suction cup 4 and the parts or items. In the embodiment of the utility model, the compression member 5 adopts a compression spring.

[0034] In the embodiment of the utility model, the suction cup 4 is provided with four pieces, and the suction cup 4 is connected to the vacuum guide pipe 9 through the compression piece 5, and is connected to the compressed air from the pneumatic structure through the air inlet joint 6, and the material includes but is not limited to rubber. When the vacuum generator 15 is working, the vacuum negative pressure is formed in the closed space formed by the suction cup 4, the air inlet joint 6, the output air pipe 19, the vacuum guide pipe 9 and the surface of the parts or articles contacted by the suction cup 4, so that the parts or articles are sucked and move with the sorting robot.

[0035] As another embodiment of the utility model, the pneumatic structure includes a pneumatic triplet 12, a first electromagnetic reversing valve 13, a second electromagnetic reversing valve 14, a throttle valve 16, a vacuum generator 15 and an output air pipe 19, the input end of the pneumatic triplet 12 is connected to the air source 11, one output end of the pneumatic triplet 12 is connected to the input end of the first electromagnetic reversing valve 13, the output end of the first electromagnetic reversing valve 13 is connected to the input end of the vacuum generator 15, the output end of the vacuum generator 15 is connected to the output air pipe 19, the other output end of the pneumatic triplet 12 is connected to the input end of the second electromagnetic reversing valve 14, the output end of the second electromagnetic reversing valve 14 is connected to the input end of the throttle valve 16, the output end of the throttle valve 16 is connected to the output air pipe 19, and the output end of the output air pipe 19 is connected to the input end of the intake structure.

[0036] As another embodiment of the present utility model, the output end of the vacuum generator 15 is connected to the input end of the vacuum filter 17 , and the output end of the vacuum filter 17 is connected to the input end of the output air pipe 19 .

[0037] As another embodiment of the present utility model, a muffler 18 is provided on the vacuum generator 15 .

[0038] The air source 11 is the source of compressed gas, which is usually generated by an air compressor. The pneumatic triplet 12 is used to purify and lubricate compressed gas. The pneumatic triplet 12 includes three major parts: an air pressure reducing valve, a filter, and an oil mist collector. The pressure reducing valve can stabilize the pressure of the air source 11, so that the air source 11 is in a constant state, which can reduce the damage to hardware such as valves or actuators caused by sudden changes in the air pressure of the air source 11. The filter is used to clean the air source 11 and can filter the moisture in the compressed air to prevent moisture from entering the device with the gas. The oil mist collector can lubricate the moving parts of the body and can lubricate the parts that are inconvenient to add lubricating oil, greatly extending the service life of the body.

[0039] The vacuum generator 15 is connected to the electromagnetic reversing valve and the vacuum filter 17 through an air pipe. When the vacuum generator 15 is working, the vacuum filter 17 prevents dust in the air from entering the air path, which may cause a hidden danger of system failure. The muffler 18 is installed on the vacuum generator 15 to eliminate or reduce the noise generated by the airflow. When the system is working, if compressed air flows into the vacuum generator 15, a vacuum negative pressure is generated, which is used by the suction cup 4 to absorb parts or objects.

[0040] The first electromagnetic reversing valve 13 is connected to the pneumatic triplex 12 and the vacuum generator 15 through an air pipe. When receiving an instruction to suck parts or objects, the electromagnet of the first electromagnetic reversing valve 13 is actuated, the valve core is shifted, and compressed gas flows into the first electromagnetic reversing valve 13 through the air pipe, so that the vacuum generator 15 generates vacuum negative pressure for sucking parts or objects.

[0041] The second electromagnetic reversing valve 14 is connected to the pneumatic triplet 12 and the throttle valve 16 through an air pipe. When receiving an instruction to place a component or an object, the electromagnet of the second electromagnetic reversing valve 14 is actuated, the valve core is displaced, and compressed gas flows out from the gas source 11, flows into the suction cup 4 through the pneumatic triplet 12, the second electromagnetic reversing valve 14, the air inlet connector 6 and the vacuum guide pipe 9, eliminates the vacuum negative pressure, and causes the suction cup 4 to release the component or object. The throttle valve 16 can adjust the gas flow to the suction cup 4 to reduce the speed and noise of the compressed air.

[0042] As another embodiment of the utility model, when the suction cup 4 sucks up the material, the first electromagnetic reversing valve 13 is energized, the first electromagnetic reversing valve 13 is de-energized, and the compressed gas output by the gas source 11 passes through the pneumatic triplet 12, the first electromagnetic reversing valve 13, the vacuum generator 15 and the output air pipe 19 in sequence, and the output air pipe 19 outputs the compressed gas to the input end of the intake structure.

[0043] As another embodiment of the utility model, when the suction cup 4 puts down the material, the first solenoid reversing valve 13 loses power, the second solenoid reversing valve 14 gains power, and the compressed gas output by the gas source 11 passes through the pneumatic triplet 12, the second solenoid reversing valve 14, the throttle valve 16 and the output air pipe 19 in sequence, and the output air pipe 19 outputs the compressed gas to the input end of the intake structure.

[0044] The working process of the suction end effector provided by the utility model is as follows:

[0045] When the disordered sorting robot is working, under the guidance of 3D vision, the program is run to drive the suction end effector system to move together. When the lower surface of the suction cup 4 moves to the appropriate position of the designated surface of the part or object to be sucked, the electromagnet of the first electromagnetic reversing valve 13 is energized, the valve core is shifted, and the compressed air enters the vacuum generator 15 through the pneumatic triplet 12 and the first electromagnetic reversing valve 13. The vacuum generator 15 works and generates vacuum negative pressure in the enclosed space formed between the air inlet connector 6, the vacuum guide pipe 9, the suction cup 4 and the surface of the part or object to be sucked after passing through the vacuum filter 17, and the part or object is sucked.

[0046] Next, the disorderly sorting robot runs the program and moves, driving the parts or items to move to the specified position according to the program set path. After reaching the specified position, the electromagnet of the first electromagnetic reversing valve 13 loses power, the valve core is reset, and the vacuum generator 15 stops working. The electromagnet of the second electromagnetic reversing valve 14 is energized, the valve core is shifted, and the compressed air passes through the pneumatic triplet 12, the second electromagnetic reversing valve 14, the throttle valve 16 and the output air pipe 19 in turn, and enters the suction cup 4 from the vacuum guide pipe 9. The vacuum negative pressure disappears, the parts or items are separated from the suction cup 4 and placed, the electromagnet of the second electromagnetic reversing valve 14 loses power, the valve core is reset, and the disorderly sorting work is completed. The robot moves again under the guidance of 3D vision, repeats the above actions, and continues to complete the disorderly sorting work, forming a cycle.

[0047] When the disorderly sorting robot sucks or places parts or objects, if the point position is not accurate enough, causing the suction cup 4 to contact the parts or objects and be subjected to uneven force or excessive force, the compression member 5 is further compressed to varying degrees to ensure that the suction cup 4 and the surface of the parts or objects are approximately planar, thereby keeping the suction force of the vacuum negative pressure relatively stable and avoiding rigid contact between the suction end effector and the parts or objects, causing unnecessary damage to the parts or objects and the parts of the suction end effector.

[0048] The above contents are further detailed descriptions of the present invention in combination with specific preferred implementations, and the specific implementation of the present invention cannot be considered to be limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A suction end effector for a disorderly sorting robot, characterized in that: It includes a connecting bracket, a suction cup, an air intake structure, a compression member and a pneumatic structure, wherein the air intake structure is arranged on the connecting bracket, one end of the connecting bracket is connected to the end of the sorting robot, the input end of the pneumatic structure is connected to an air source, the output end of the pneumatic structure is connected to the input end of the air intake structure, one end of the compression member is connected to the output end of the air intake structure, and the other end of the compression member is connected to the suction cup.

2. The suction end effector for a disorderly sorting robot according to claim 1, characterized in that: The connecting bracket includes a connecting rod, a fixing flange and a fixing plate. The fixing flange is installed on one end of the connecting rod by bolts. The fixing flange is connected to the end of the sorting robot. The fixing plate is arranged at the other end of the connecting rod.

3. The suction end effector for the disorderly sorting robot according to claim 2 is characterized in that: The air intake structure includes an air intake joint, a guide spiral tube and a vacuum guide tube. The fixed plate is provided with a mounting hole. The guide spiral tube is arranged in the mounting hole, and one end of the guide spiral tube protrudes out of the mounting hole. The vacuum guide tube is arranged inside the guide spiral tube and slides up and down inside the guide spiral tube. The air intake joint is clamped on the other end of the guide spiral tube. One end of the air intake joint is connected to the output end of the pneumatic structure, the other end of the air intake joint is connected to one end of the vacuum guide tube, and the other end of the vacuum guide tube is connected to the suction cup.

4. The suction end effector for the disorderly sorting robot according to claim 3 is characterized in that: Both ends of the mounting hole are provided with thin nuts, and the thin nuts abut against the periphery of the guide spiral tube.

5. The material suction end effector for the disorderly sorting robot according to claim 3, characterized in that: It also includes a retaining ring, one end of which is connected to one end of the guide spiral tube, and the other end of which is connected to one end of the compression member.

6. The material suction end effector for a disorderly sorting robot according to claim 1, characterized in that: The pneumatic structure includes a pneumatic triplet, a first electromagnetic reversing valve, a second electromagnetic reversing valve, a throttle valve, a vacuum generator and an output air pipe. The input end of the pneumatic triplet is connected to the air source, one output end of the pneumatic triplet is connected to the input end of the first electromagnetic reversing valve, the output end of the first electromagnetic reversing valve is connected to the input end of the vacuum generator, the output end of the vacuum generator is connected to the output air pipe, the other output end of the pneumatic triplet is connected to the input end of the second electromagnetic reversing valve, the output end of the second electromagnetic reversing valve is connected to the input end of the throttle valve, the output end of the throttle valve is connected to the output air pipe, and the output end of the output air pipe is connected to the input end of the intake structure.

7. The material suction end effector for the disorderly sorting robot according to claim 6, characterized in that: The output end of the vacuum generator is connected to the input end of the vacuum filter, and the output end of the vacuum filter is connected to the input end of the output air pipe.

8. The material suction end effector for the disorderly sorting robot according to claim 6, characterized in that: The vacuum generator is provided with a muffler.

9. The material suction end effector for the disorderly sorting robot according to claim 6, characterized in that: When the suction cup sucks up materials, the first electromagnetic reversing valve is energized, the first electromagnetic reversing valve is de-energized, and the compressed gas output by the air source passes through the pneumatic triplet, the first electromagnetic reversing valve, the vacuum generator and the output air pipe in sequence, and the output air pipe outputs the compressed gas to the input end of the air intake structure.

10. The material suction end effector for the disorderly sorting robot according to claim 6, characterized in that: When the suction cup puts down the material, the first electromagnetic reversing valve loses power, the second electromagnetic reversing valve gains power, and the compressed gas output by the air source passes through the pneumatic triplet, the second electromagnetic reversing valve, the throttle valve and the output air pipe in sequence, and the output air pipe outputs the compressed gas to the input end of the intake structure.

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