Parallel robot sorting workstation
By integrating a hopper, vibratory feeder, and aerial camera into a parallel robotic sorting workstation, the problems of high manufacturing costs and poor adaptability have been solved, achieving efficient identification and sorting of mixed workpieces.
Patent Information
- Application Number
- CN202520125159.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-20
- Publication Date
- 2025-11-21
- Estimated Expiration
- 2035-01-20
AI Technical Summary
Existing parallel robot sorting systems are expensive to manufacture and have poor adaptability, making them difficult to integrate with various automated production lines and unable to efficiently identify and sort mixed workpieces.
Design a parallel robot sorting workstation, which includes a feeding hopper, a vibratory feeder, a flying camera assembly, and a parallel robot. It integrates vibration feeding, suspended turnover, and flying camera recognition functions. The frame provides the installation position, and the workpieces are quickly identified and distinguished using machine vision.
It achieves compatibility and integration with various automated production lines, enabling efficient identification and sorting of mixed workpieces, reducing manufacturing costs and improving sorting efficiency.
Smart Images
Figure CN223571387U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of robot sorting, in particular to a parallel robot sorting workstation. BACKGROUND
[0002] In common sorting process, parallel robot combines sensor, industrial camera, encoder and other external sensing and identification system, and carries out fast sorting according to specific conditions. Parallel robot is a kind of robot system with multiple connecting rods and joints, these connecting rods and joints are connected in parallel, forming a closed kinematic chain. The robot grasps and places materials through its end effector.
[0003] The parallel robot responsible for sorting is often matched with assembly line, and the degree of customization is often high, which increases the manufacturing cost. The market needs a relatively more integrated and more universal sorting station to meet the sorting function while also considering adaptability and cost. SUMMARY
[0004] The utility model provides a parallel robot sorting workstation, and the integration and universality are good, can be matched with external various automation assembly lines, realizes the identification and identification of mixed workpieces. Respectively play the effect of vibration feeding, suspension turnover, flying identification.
[0005] To solve the above problems, the utility model provides a parallel robot sorting workstation, in order to achieve the above purpose, the technical scheme that the utility model solves its technical problems is:
[0006] A parallel robot sorting workstation, comprising: a feeding hopper, the top and one side of the feeding hopper are respectively provided with a feeding inlet and a discharging outlet; a vibrating disc is located at the position of the discharging outlet; a flying camera assembly is located on the side of the vibrating disc away from the feeding hopper, the flying camera assembly comprises a light source, and the middle part of the light source is provided with a lens pointing upward; a parallel robot is located above the flying camera assembly, and the parallel robot is provided with a turnover head capable of turning over workpieces, and the turnover head can turn over the workpieces from the vibrating disc to the position directly above the lens; a rack comprises an upper plate and a bottom plate, and the parallel robot is fixed to the lower surface of the upper plate, and the vibrating disc and the flying camera assembly are fixed to the upper surface of the bottom plate.
[0007] The beneficial effect of the above technical scheme is that the sorting workstation has better integration and universality, can be matched with various external automatic assembly lines, and realizes the differentiation and separate picking of mixed workpieces.
[0008] As a further improvement of the utility model, the rack further comprises a side plate connecting the upper plate and the bottom plate, the feeding hopper is located at one side of the rack, and the discharging outlet horizontally extends above the bottom plate.
[0009] The beneficial effect of the above technical scheme is that the upper plate, the side plate and the bottom plate form a complete rack, which provides a frame for the whole workstation.
[0010] As a further improvement of the utility model, the discharging outlet movably assembles a discharging adjusting plate for changing the opening area of the discharging outlet, and the discharging adjusting plate has a vertical waist-shaped hole.
[0011] The beneficial effect of the above technical scheme is that the feeding hopper feeds a plurality of workpieces, the vibrating disc vibrates a small part of the workpieces each time to change their arrangement positions, and the parallel robot turns each workpiece.
[0012] As a further improvement of the utility model, the opening area of the feeding inlet is larger than that of the discharging outlet.
[0013] The beneficial effect of the above technical scheme is that the feeding inlet has a large opening, which is convenient for pouring a large number of workpieces at one time.
[0014] As a further improvement of the utility model, the upper surface of the upper plate is fixed with an electric cabinet, and the electric cabinet is electrically connected with the parallel robot.
[0015] The beneficial effect of the above technical scheme is that the electric cabinet plays an electric control role, provides a layout position for associated electrical elements of the parallel robot and other components, and further guarantees the integration of the workstation.
[0016] As a further improvement of the utility model, the turning head of the parallel robot is a suction nozzle.
[0017] The beneficial effect of the above technical scheme is that the suction nozzle uses negative pressure to turn the workpiece, realizes grabbing and placing.
[0018] As further improvement of the utility model, the blanking outlet, the vibration disc and the flying camera assembly are arranged along a straight line direction, and the blanking outlet, the vibration disc and the flying camera assembly are gradually lowered in height.
[0019] The beneficial effects of the above technical scheme are: the whole motion path is simple and reliable, facilitating parallel robot path planning and saving each working time.
[0020] As further improvement of the utility model, the top of the vibration disc is a transparent plate with a surrounding retaining edge, and the inside of the vibration disc is provided with a light-emitting plate below the transparent plate.
[0021] The beneficial effects of the above technical scheme are: the vibration disc also has a bottom illumination function, facilitating clear display of the workpieces contained therein.
[0022] As further improvement of the utility model, the light source of the flying camera assembly is a backlight source, the centroid of the light source is provided with a concave conical counterbore, and the lens is located in the conical counterbore.
[0023] The beneficial effects of the above technical scheme are: the backlight source is a kind of light source, generally used in the liquid crystal display field, and has soft and stable light. The lens is concave in the middle and bottom of the light source, which can avoid the shadow at the lens from being displayed on the workpiece, avoiding interference with machine vision.
[0024] As further improvement of the utility model, along the top view angle, the edge of the light source is a square, the edge of the vibration disc is a rectangle, and the side length of the rectangle is greater than the side length of the light source.
[0025] The beneficial effects of the above technical scheme are: the vibration disc is wide enough, and the flying camera assembly mainly performs lightening, shooting and identification on one or a few workpieces in unit time. BRIEF DESCRIPTION OF DRAWINGS
[0026] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.
[0027] Figure 1 is the front view of one embodiment of the utility model;
[0028] Figure 2 is the perspective view of one embodiment of the utility model;
[0029] Figure 3 is the local enlarged view of A of one embodiment of the utility model.
[0030] 1-Electrical cabinet; 2-Base plate; 3-Side plate; 4-Feeding hopper; 41-Feeding inlet; 42-Feeding outlet; 43-Discharge adjustment plate; 431-Oval hole; 5-Top plate; 6-Parallel robot; 61-Arm; 62-Moving platform; 63-Industrial control motor; 7-Suction nozzle; 8-Vibrating plate; 81-Transparent plate; 82-Light-emitting plate; 9-Flying camera assembly; 91-Lens; 92-Light source; 921-Conical countersunk hole; 93-Lamp holder. Detailed Implementation
[0031] The present invention will be further described in detail below with reference to specific embodiments:
[0032] In order to achieve the purpose of this utility model, such as Figure 2 As shown, a parallel robot sorting workstation includes: a feeding hopper 4, with a feeding inlet 41 on its top and a discharging outlet 42 on its side; a vibrating plate 8, located at the discharging outlet 42; a flying camera assembly 9, located on the side of the vibrating plate 8 away from the feeding hopper 4, the flying camera assembly 8 including a light source 92, the center of the light source 92 having an upward-pointing lens 91; a parallel robot 6, located above the flying camera assembly 9, the parallel robot 6 having a turnover head capable of rotating workpieces, the turnover head being able to rotate workpieces from the vibrating plate 8 to directly above the lens 91; and a frame, including an upper plate 5 and a bottom plate 2, the parallel robot 6 being fixed to the lower surface of the upper plate 5, and the vibrating plate 8 and the flying camera assembly 9 being fixed to the upper surface of the bottom plate 2.
[0033] Feed hopper 4 is for flexible feeding.
[0034] The parallel robot 6 includes multiple arms 61, with a moving platform 62 movably connected to the bottom of each arm 61. The rotating head is assembled with the moving platform 62. The top of each arm 61 is driven by an industrial control motor 63.
[0035] In actual operation, for example, the parallel robot 6 picks up a workpiece from the vibrating plate 8, quickly moves it above the camera assembly 9, illuminates the workpiece, and quickly takes a picture to identify it. After determining what type of workpiece it is, the parallel robot 6 then drives the parallel robot 6 to transfer the workpiece to an external production line. For example, if this batch of workpieces contains two different specifications, then two independent production lines can be set up downstream of the sorting station.
[0036] The beneficial effects of the above technical scheme are that the sorting workstation has good integration and universality, can be matched with various external automatic assembly lines, and can distinguish and separately pick mixed workpieces in time. Firstly, the rack provides mounting positions for various components. Secondly, the sorting workstation has three functional modules of a vibrating tray, a parallel robot and a flying camera assembly, which respectively have the effects of vibrating feeding, suspended turnover and flying identification. The sorting workstation can turn over numerous small and disordered workpieces while quickly identifying and distinguishing them by using machine vision, thereby achieving sorting.
[0037] In some other embodiments of the present application, the rack further comprises a side plate 3 connecting the upper plate 5 and the bottom plate 2, and the feeding hopper 4 is located on one side of the rack, as shown in Figure 1 The blanking outlet 42 horizontally extends above the bottom plate 2.
[0038] The beneficial effects of the above technical scheme are that the upper plate, the side plate and the bottom plate constitute a complete rack, which provides a frame for the whole workstation.
[0039] In some other embodiments of the present application, the blanking outlet 42 movably has a discharging adjusting plate 43 changing the opening area of the blanking outlet 42, and the discharging adjusting plate 43 has a vertical waist-shaped hole 431.
[0040] The blanking outlet 42 is a dustpan opening, and the bottom edge of the discharging adjusting plate 43 controls the opening height of the blanking outlet 42.
[0041] The beneficial effects of the above technical scheme are that the feeding hopper feeds a large number of workpieces, the vibrating tray vibrates a small part of the workpieces each time to change their arrangement positions, and the parallel robot turns over the workpieces one by one. The discharging adjusting plate can also adjust the number of workpieces poured on the vibrating tray each time.
[0042] As shown in Figure 2 In some other embodiments of the present application, the opening area of the feeding inlet 41 is larger than that of the blanking outlet 42.
[0043] The beneficial effects of the above technical scheme are that the feeding inlet has a large opening, which is convenient for pouring a large number of workpieces at one time.
[0044] In some other embodiments of the present application, the upper surface of the upper plate 5 is fixed with an electric cabinet 1, and the electric cabinet 1 is electrically connected with the parallel robot 6.
[0045] The beneficial effects of the above technical scheme are that the electric cabinet plays an electric control role, provides a layout position for associated electrical elements of the parallel robot and other components, and further ensures the integration of the workstation.
[0046] In other embodiments of the utility model, the turntable of the side -by -side robot 6 is the suction nozzle 7.
[0047] The suction nozzle 7 is connected with a vacuum generator.
[0048] The beneficial effects of the above technical scheme are that the suction nozzle utilizes negative pressure to transfer workpieces and realizes grabbing and placing.
[0049] As Figure 1 Indicated, in other embodiments of the utility model, the blanking outlet 42, the vibration disc 8, the fly camera assembly 9 are arranged along linear direction, and the height of the blanking outlet 42, the vibration disc 8, the fly camera assembly 9 gradually decreases.
[0050] The beneficial effects of the above technical scheme are that the whole action path is simple and reliable, the parallel robot is convenient to plan a path, and each working time is saved.
[0051] As Figure 3 Indicated, in other embodiments of the utility model, the top of the vibration disc 8 is the transparent plate 81 with the flange around, and the inside of the vibration disc 8 is provided with the luminous plate 82 below the transparent plate 81.
[0052] The luminous plate 82 irradiates upwards, and the light passes through the transparent plate 81.
[0053] The beneficial effects of the above technical scheme are that the vibration disc also has the bottom illumination function, and the workpiece contained is convenient to display clearly.
[0054] In other embodiments of the utility model, the light source 92 of the fly camera assembly 9 is a backlight source, the centroid of the light source 92 is provided with the concave conical counterbore 921, and the lens 91 is located in the conical counterbore 921.
[0055] Accurately, the conical counterbore 921 is a circular truncated cone shape with the upper part being large and the lower part being small.
[0056] Meanwhile, the light source 92 is also fixed with the bottom plate 2 through the lamp holder 93.
[0057] The beneficial effects of the above technical scheme are that the backlight source is a kind of light source, generally used in liquid crystal display field, and the light is soft and stable. The lens is concave in the middle and bottom of the light source, which can avoid the shadow at the lens from being displayed on the workpiece and avoid interfering with machine vision.
[0058] In other embodiments of the utility model, along the top view angle, the edge of the light source 92 is a square, the edge of the vibration disc 8 is a rectangle, and the side length of the rectangle is greater than the side length of the light source 92.
[0059] The width of the vibration disc 8 is greater than the width of the light source 92 and also greater than the width of the blanking outlet 42.
[0060] The beneficial effect of the above technical scheme is that the vibration disc is wide enough, and the flying camera assembly mainly performs lightening, shooting and identification on one or a few workpieces in unit time.
[0061] The above examples are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made according to the spirit and essence of the present application shall be covered within the protection scope of the present application.
Claims
1. A parallel robot sorting workstation, characterized in that, include: The feeding hopper has a feeding inlet on its top and a discharging outlet on its side. The vibratory feeder is located at the material discharge outlet. A flying camera assembly is located on the side of the vibrating plate away from the feed hopper. The flying camera assembly includes a light source, and the center of the light source has an upward-pointing lens. A parallel robot, located above the aerial camera assembly, has a turnover head capable of rotating workpieces from the vibrating plate to directly above the lens. The frame includes an upper plate and a bottom plate. The parallel robots are fixed to the lower surface of the upper plate, and the vibrating disk and the flying camera assembly are fixed to the upper surface of the bottom plate.
2. The parallel robot sorting workstation according to claim 1, characterized in that: The frame also includes a side plate connecting the upper plate and the bottom plate, the feeding hopper is located on one side of the frame, and the discharge outlet extends horizontally above the bottom plate.
3. The parallel robot sorting workstation according to claim 1, characterized in that: The discharge outlet is movably equipped with a discharge adjustment plate that changes the opening area of the discharge outlet, and the discharge adjustment plate has a vertical oblong hole.
4. The parallel robot sorting workstation according to claim 1, characterized in that: The opening area of the feeding inlet is larger than the opening area of the discharging outlet.
5. The parallel robot sorting workstation according to claim 1, characterized in that: An electrical cabinet is fixed to the upper surface of the upper plate, and the electrical cabinet is electrically connected to the parallel robot.
6. The parallel robot sorting workstation according to claim 1, characterized in that: The rotating head of the parallel robot is a suction nozzle.
7. The parallel robot sorting workstation according to claim 1, characterized in that: The material outlet, vibrating plate, and flying camera assembly are arranged in a straight line, and the heights of the material outlet, vibrating plate, and flying camera assembly gradually decrease.
8. The parallel robot sorting workstation according to claim 1, characterized in that: The top of the vibratory feeder is a transparent plate with baffles around its edges, and the interior of the vibratory feeder has a light-emitting plate located below the transparent plate.
9. The parallel robot sorting workstation according to claim 1, characterized in that: The light source of the aerial camera assembly is a backlight, and the centroid of the light source has a concave conical recessed hole, with the lens located inside the conical recessed hole.
10. The parallel robot sorting workstation according to claim 1, characterized in that: From a top-down perspective, the edge of the light source is square, and the edge of the vibrating disk is rectangular, with the side length of the rectangle being greater than the side length of the light source.