Industrial robot intelligent sorting system

Abstract

The utility model discloses an industrial robot intelligent sorting system which comprises a rack and a mechanical arm, and the mechanical arm is connected with a visual detection device. The rack is provided with a horizontally-arranged conveying belt, and a feeding device is arranged at the feeding end of the conveying belt. Material guiding plates are symmetrically laid on the two sides of the conveying belt, the distance between the two material guiding plates is matched with the maximum diameter of a sealing ring to be sorted, and a splayed guiding part is arranged at the end, facing the feeding device, of the material guiding plates. The visual detection device comprises a vertical rod vertically arranged on the rack, the upper end of the vertical rod is provided with a support extending towards the upper portion of the conveying belt, the support is provided with a camera shooting assembly used for shooting, and the camera shooting assembly is downwards right opposite to the area between the two material guiding plates; a plurality of sorting frames are arranged on the rack; the mechanical arm is arranged in the middle of the rack, and the sorting frame and the conveying belt are both located within the arm extension range of the mechanical arm. The device has the advantages of reasonable structural layout, convenience in obtaining the appearance image of the sealing ring and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of robot sorting, in particular to an industrial robot intelligent sorting system. Background Art

[0002] A reducer is a self-contained component consisting of a gear, worm, or gear-worm transmission enclosed in a rigid housing. It is commonly used as a reduction gear between the prime mover and the working machine. Areas requiring sealing in a reducer typically include the shaft extension, housing mating surfaces, the inside of the bearing chamber and bearing cover, and the mating surfaces of inspection holes and oil drain holes. The main seals for the shaft extension are felt-type seals and cup-type seals. Sealing rings are typically standard parts, but the sizes of sealing rings used in reducers of different models and sizes vary. During production or transportation, mixing of sealing rings of similar size or structure is inevitable, necessitating sorting. With the advancement of visual recognition and inspection technology, it is now possible to use visual inspection equipment to inspect the appearance, shape, and dimensions of products and sort them based on the inspection results. Sealing rings are typically dark in color, often black, and the quality of their appearance directly impacts the accuracy of subsequent visual recognition results. Utility Model Content

[0003] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is: how to provide an industrial robot intelligent sorting system with a reasonable structural layout and convenient for obtaining the appearance image of the sealing ring

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] An industrial robot intelligent sorting system comprises a frame and a robotic arm for sorting materials, wherein the robotic arm is connected to a visual inspection device; the frame is provided with a horizontally arranged conveyor belt, and a loading device for feeding sealing rings onto the conveyor belt one by one is provided at the loading end of the conveyor belt; guide plates extending along the length direction of the conveyor belt are symmetrically laid on both sides of the conveyor belt, the spacing between the two guide plates matches the maximum diameter of the sealing ring to be sorted, and an "eight"-shaped guide portion is provided at one end facing the loading device; the visual inspection device comprises a vertical pole arranged on the frame, the upper end of the pole has a bracket extending toward the top of the conveyor belt, the bracket is equipped with a camera assembly for taking pictures, and the camera assembly is vertically downward facing the area between the two guide plates; the frame has a plurality of arranged sorting frames, the robotic arm is arranged in the middle of the frame, and the sorting frames and the conveyor belt are both located within the arm span of the robotic arm.

[0006] With the above structure, the sealing rings that need to be sorted are sent to the conveyor belt one by one through the loading device. Since the sealing rings are in a circular shape and the conveyor belt is in motion, the sealing rings placed on the conveyor belt must be in the most stable inverted state. During the movement of the conveyor belt, the sealing rings are gradually moved to the area between the two guide plates under the action of the guide parts of the two guide plates, and move with the conveyor belt to just below the camera assembly, thereby facilitating the camera assembly to focus more quickly and obtain clear images. The sealing rings can fully present the shape of a circular ring and edge contour, which is conducive to improving the accuracy of recognition and thus improving the accuracy of sorting.

[0007] Furthermore, the loading device includes a loading base plate horizontally connected to the loading end of the conveyor belt, a loading cylinder is provided above the loading base plate, a discharge port is provided at the bottom of the loading cylinder, and a loading space is formed between the discharge port and the loading base plate; a pushing assembly arranged toward the direction of the conveyor belt is provided on the side of the loading base plate away from the conveyor belt.

[0008] With the above structure, when the sealing ring falls into the feeding space, the pushing assembly pushes the sealing rings one by one toward the feeding end of the conveyor belt, which facilitates clear shooting by the camera.

[0009] Furthermore, the loading device includes legs vertically arranged on both sides of the loading base plate, and support plates are mounted on the upper ends of the two legs. The support plates have mounting holes set through them. The lower end of the loading barrel is funnel-shaped and has the discharge port, which is connected to the mounting hole.

[0010] The pushing assembly includes a cylinder arranged on the loading base plate, and the telescopic end of the cylinder faces the conveyor belt; there are pushing plates arranged in parallel and spaced apart above the loading base plate, and the pushing plates are bent upward toward one end of the cylinder and connected to the telescopic end of the cylinder.

[0011] In this way, the push plate can be easily extended into the feeding space, and the push plate and the feeding bottom plate are arranged in parallel and spaced apart, so that the sealing ring can be kept in an inverted state and fed into the feeding end of the conveyor belt.

[0012] Furthermore, the height of the loading space is greater than the maximum thickness of the sealing ring to be sorted; and the distance between the pushing plate and the loading bottom plate is less than the minimum thickness of the sealing ring to be sorted.

[0013] With the above structure, as long as the distance between the push plate and the loading bottom plate is less than the minimum thickness of the sealant to be sorted, the sealing ring will not be stuck in the gap between the push plate and the loading bottom plate, ensuring the stable movement of the push plate.

[0014] Furthermore, the bracket includes two support rods arranged parallel to each other, and one end of the two support rods has a vertically penetrating positioning hole, the inner diameter of the positioning hole matches the diameter of the vertical pole, and is sleeved on the vertical pole; the positioning hole has a radially penetrating cut on the side away from the camera assembly, and both sides of the cut have vertically penetrating bolt holes, and fastening bolts are passed through.

[0015] With the above structure, the support rod is fastened to the vertical rod by bolts. The height of the camera assembly on the conveyor belt can be adjusted at will by simply adjusting the tightness of the bolts, which also facilitates the replacement of the bracket.

[0016] Furthermore, one side of the two support rods has a slide groove that is arranged along a direction away from the positioning hole, and an adjustment rod is telescopically arranged in the slide groove; both sides of the slide groove have threaded holes that are arranged through, and locking bolts are installed, and the end of the locking bolt abuts against the adjustment rod; the camera assembly is installed on the two adjustment rods.

[0017] In this way, the camera assembly can be moved left and right above the conveyor belt by adjusting the extension and contraction of the adjustment rod in the slide. The camera can be fixed by simply tightening the bolts. When the support rod and the vertical rod cooperate with each other, the camera can be moved in the x-axis and y-axis directions in space.

[0018] Preferably, both sides of the adjusting rod have positioning grooves extending through the length direction, the width of the positioning grooves matches the diameter of the threaded hole, and the positioning grooves are arranged opposite to the threaded hole; the locking bolts abut against the bottom of the positioning grooves.

[0019] Furthermore, the loading base plate has a first photoelectric sensor arranged toward the loading space; any of the guide plates is provided with a second photoelectric sensor arranged toward the middle of the conveyor belt, and the second photoelectric sensor is located in the area directly below the camera assembly.

[0020] With this structure, when the seal ring is pushed to the loading end of the conveyor belt and brought under the camera assembly by the movement of the conveyor belt, the electro-optical sensor located below the camera assembly is triggered, instructing the camera assembly to take a picture. This makes the pictures taken by the camera less prone to errors, avoiding position errors during the capture that could lead to errors in computer analysis and judgment.

[0021] The conveyor belt has a baffle plate arranged along the width at one end away from the feeding device, and a third photoelectric sensor is arranged in the middle of the baffle plate 22 and is arranged towards the feeding end.

[0022] With the above structure, the baffle plate can prevent the sealing rings that flow out when the robotic arm misses the sealing rings during sorting and falling. Since a third photoelectric sensor is provided on the baffle plate, when the sealing ring is blocked by the baffle plate, a signal can be sent to notify the robotic arm to sort or stop the belt.

[0023] In summary, the present invention has the advantages of reasonable structure and layout, and is convenient for obtaining the appearance image of the sealing ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall layout structure of the industrial robot.

[0025] Figure 2 This is a schematic diagram of the right side structure of the loading device and conveyor belt combination.

[0026] Figure 3 Schematic diagram of the left side structure of the loading device and conveyor belt combination

[0027] Figure 4 It is a structural diagram of the pusher assembly. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the embodiments.

[0029] When implementing: Figures 1 to 4 As shown, an industrial robot intelligent sorting system includes a frame 1 and a mechanical arm 5 for sorting materials, the mechanical arm 5 is connected to a visual inspection device 4, the frame 1 has a horizontally arranged conveyor belt 2, and the feeding end of the conveyor belt 2 is provided with a feeding device 3 for feeding sealing rings one by one onto the conveyor belt 2; guide plates 21 extending along the length direction of the conveyor belt 2 are symmetrically laid on both sides of the conveyor belt 2, the spacing between the two guide plates 21 matches the maximum diameter of the sealing ring to be sorted, and one end facing the feeding device 3 has an "OV" shape. "-shaped guide portion; specifically, the visual inspection device 4 includes a vertical pole 41 arranged on the frame 1, the upper end of the pole 41 has a bracket 42 extending toward the top of the conveyor belt 2, and a camera component 43 for taking pictures is installed on the bracket 42, and the camera component 43 is vertically downward facing the area between the two guide plates 21; the frame 1 has a plurality of sorting frames 6 arranged thereon, and the robotic arm 5 is arranged in the middle of the frame 1, and the sorting frame 6 and the conveyor belt 2 are both located within the arm span of the robotic arm 5.

[0030] The feeding device 3 includes a feeding base plate 31 horizontally connected to the feeding end of the conveyor belt 2, a feeding cylinder 32 is provided above the feeding base plate 31, a discharge port is provided at the bottom of the feeding cylinder 32, and a feeding space is formed between the discharge port and the feeding base plate 31; a pushing assembly 33 is provided on the side of the feeding base plate 31 facing away from the conveyor belt 2 and arranged in the direction of the conveyor belt 2. Figure 2 and Figure 3 As shown, the feeding device 3 includes support legs 34 vertically arranged on both sides of the feeding base plate 31, and support plates are mounted on the upper ends of the two support legs 34. The support plates have mounting holes set through them. The lower end of the feeding barrel 32 is funnel-shaped and is provided with the discharge port, which is connected to the mounting hole.

[0031] like Figure 4 As shown, the pushing assembly 33 includes a cylinder 311 arranged on the loading base plate 31, and the telescopic end of the cylinder 311 is facing the conveyor belt 2; there are pushing plates 332 arranged in parallel and spaced apart above the loading base plate 31, and the pushing plates 332 are bent upward toward one end of the cylinder 311 and connected to the telescopic end of the cylinder 311.

[0032] The height of the loading space is greater than the maximum thickness of the sealing ring to be sorted; the distance between the pushing plate 332 and the loading bottom plate 31 is less than the minimum thickness of the sealing ring to be sorted.

[0033] The bracket 42 includes two support rods 421 arranged parallel to each other, and one end of the two support rods 421 has a vertically penetrating positioning hole, the inner diameter of the positioning hole matches the diameter of the vertical rod 41, and is sleeved on the vertical rod 41; the positioning hole has a radially penetrating cut on the side away from the camera assembly 43, and both sides of the cut have vertically penetrating bolt holes, and fastening bolts are passed through.

[0034] like Figure 2 and Figure 3 As shown, the opposite side of the two support rods 421 has a sliding groove set along the direction away from the positioning hole, and an adjustment rod 422 is telescopically set in the sliding groove; both sides of the sliding groove have threaded holes set through, and locking bolts are installed, and the end of the locking bolt abuts against the adjusting rod 422; the camera assembly 43 is installed on the two adjusting rods 422.

[0035] In this example, the adjustment rod 422 has two longitudinally extending positioning slots on either side. The slots' widths match the diameter of the threaded hole and are positioned directly opposite the threaded hole. The locking bolt abuts the bottoms of the positioning slots. The loading base plate 31 includes a first photoelectric sensor facing the loading space. Each of the guide plates 21 includes a second photoelectric sensor facing the center of the conveyor belt 2. The second photoelectric sensor is located directly below the camera assembly 43.

[0036] The conveyor belt 2 has a baffle plate 22 arranged along the width at one end away from the feeding device 3 , and a third photoelectric sensor is arranged in the middle of the baffle plate 22 and is arranged towards the feeding end.

[0037] In this embodiment, the sealing rings that need to be sorted are sent to the conveyor belt one by one through the loading device. Since the sealing rings are in a circular shape and the conveyor belt is in motion, the sealing rings placed on the conveyor belt must be in the most stable inverted state. During the movement of the conveyor belt, the sealing rings are gradually moved to the area between the two guide plates under the action of the guide parts of the two guide plates, and move with the conveyor belt to the bottom of the camera component, triggering the sensing end of the electro-optical sensor. The electro-optical sensor sends a signal, and the camera component receives the signal and takes a picture, thereby facilitating the camera component to focus more quickly and obtain clear images. The sealing ring can fully present the shape of the circular ring and the edge contour, which is conducive to improving the accuracy of recognition and thus improving the accuracy of sorting.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. An industrial robot intelligent sorting system, comprising a frame (1) and a robotic arm (5) for sorting materials, wherein the robotic arm (5) is connected to a visual inspection device (4); characterized in that: The frame (1) has a horizontally arranged conveyor belt (2), and a feeding device (3) for feeding the sealing rings onto the conveyor belt (2) is provided at the feeding end of the conveyor belt (2); guide plates (21) extending along the length direction of the conveyor belt (2) are symmetrically laid on both sides of the conveyor belt (2), and the spacing between the two guide plates (21) matches the maximum diameter of the sealing ring to be sorted, and one end facing the feeding device (3) has an "eight"-shaped guide portion; the visual inspection device (4) includes a vertically arranged ) on a vertical pole (41), the upper end of the vertical pole (41) has a bracket (42) extending toward the top of the conveyor belt (2), the bracket (42) is equipped with a camera assembly (43) for taking pictures, the camera assembly (43) is vertically downward facing the area between the two guide plates (21); the frame (1) has a plurality of sorting frames (6) arranged, the robot arm (5) is arranged in the middle of the frame (1), and the sorting frames (6) and the conveyor belt (2) are both located within the arm span of the robot arm (5).

2. The industrial robot intelligent sorting system according to claim 1, characterized in that: The feeding device (3) comprises a feeding base plate (31) horizontally connected to the feeding end of the conveyor belt (2), a feeding cylinder (32) is provided above the feeding base plate (31), a discharge port is provided at the bottom of the feeding cylinder (32), and a feeding space is formed between the discharge port and the feeding base plate (31); a pushing assembly (33) is provided on the side of the feeding base plate (31) facing away from the conveyor belt (2) and arranged in the direction of the conveyor belt (2).

3. The industrial robot intelligent sorting system according to claim 2, characterized in that: The feeding device (3) includes supporting legs (34) vertically arranged on both sides of the feeding bottom plate (31), and the upper ends of the two supporting legs (34) are provided with supporting plates, and the supporting plates have mounting holes set through them. The lower end of the feeding cylinder (32) is funnel-shaped and is provided with the discharge port, and the discharge port is connected to the mounting hole.

4. The industrial robot intelligent sorting system according to claim 2, characterized in that: The pushing assembly (33) includes a cylinder (311) arranged on the loading base plate (31), and the telescopic end of the cylinder (311) faces the conveyor belt (2); a pushing plate (332) is arranged above the loading base plate (31) in parallel and spaced apart, and the pushing plate (332) is bent upward toward one end of the cylinder (311) and connected to the telescopic end of the cylinder (311).

5. The industrial robot intelligent sorting system according to claim 4, characterized in that: The height of the loading space is greater than the maximum thickness of the sealing ring to be sorted; and the distance between the pushing plate (332) and the loading bottom plate (31) is less than the minimum thickness of the sealing ring to be sorted.

6. The industrial robot intelligent sorting system according to claim 1, characterized in that: The bracket (42) includes two support rods (421) arranged parallel to each other, and one end of the two support rods (421) has a positioning hole arranged vertically through, the inner diameter of the positioning hole matches the diameter of the vertical rod (41), and is sleeved on the vertical rod (41); the side of the positioning hole facing away from the camera assembly (43) has a notch arranged radially through, and both sides of the notch have bolt holes arranged vertically through, and fastening bolts are passed through.

7. The industrial robot intelligent sorting system according to claim 6, characterized in that: One side opposite to the two support rods (421) has a sliding groove extending in a direction away from the positioning hole, and an adjusting rod (422) is telescopically arranged in the sliding groove; both sides of the sliding groove have threaded holes extending therethrough, and locking bolts are installed thereon, and the ends of the locking bolts abut against the adjusting rods (422); the camera assembly (43) is installed on the two adjusting rods (422).

8. The industrial robot intelligent sorting system according to claim 7, characterized in that: Both sides of the adjusting rod (422) have positioning grooves extending through the length direction, the width of the positioning grooves matching the diameter of the threaded hole and being arranged opposite to the threaded hole; the locking bolts abut against the bottom of the positioning grooves.

9. The industrial robot intelligent sorting system according to claim 2, characterized in that: The loading base plate (31) is provided with a first photoelectric sensor arranged toward the loading space; any of the guide plates (21) is provided with a second photoelectric sensor arranged toward the middle of the conveyor belt (2), and the second photoelectric sensor is located in the area directly below the camera assembly (43).

10. The industrial robot intelligent sorting system according to claim 2, characterized in that: One end of the conveyor belt (2) away from the feeding device (3) is provided with a baffle plate (22) erected along the width, and a third photoelectric sensor is provided in the middle of the baffle plate (22) and is arranged toward the feeding end.

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