Robot intelligent sorting device

Abstract

The utility model relates to the technical field of sorting devices, in particular to a robot intelligent sorting device which comprises a sorting mechanism, the sorting mechanism comprises a supporting stand column, the supporting stand column is fixedly installed on the ground, and a truss robot body is fixedly installed at the top end of the supporting stand column. A six-axis robot body is fixedly installed on the right side of the truss robot body and fixedly installed on the ground, connecting mechanisms are fixedly connected to the output end of the truss robot body and the output end of the six-axis robot body through bolts, and a transportation production line is arranged at the bottom end of the supporting stand column. According to the utility model, the six-axis robot main body and the truss robot main body in the sorting mechanism are matched with each other, so that workpieces which are placed irregularly on a transportation production line can be sorted through the six-axis robot main body, and the six-axis robot main body and the truss robot main body are matched with each other; and the sorting operation of workpieces in different placement states on a transportation production line is met.

Description

TECHNICAL FIELD

[0001] The utility model relates to sorting device technical field, concretely relates to a robot intelligence sorting device. BACKGROUND

[0002] With the continuous development of science and technology, many fields adopt robots to carry out relevant production work, robots begin to be put into work range for use in recent years, robots can intelligently identify products and make corresponding actions, therefore have a great advantage. Among them, the most used robot is the sorting field, robots can help artificial sorting, greatly shorten the working time.

[0003] And in the field production, due to poor field production conditions, it is easy to cause that the preceding vibration cloth equipment can not neatly stack parts, leading to the angle deviation of the workpiece when transporting on the assembly line, so that the truss robot at the end of the assembly line cannot effectively sort the unevenly stacked workpieces, causing the truss robot to repeatedly clamp and sort the unevenly placed workpieces, reducing the working efficiency of the truss robot.

[0004] Therefore, it is necessary to propose a robot intelligent sorting device to solve the above problems. CONTENT OF THE UTILITY MODEL

[0005] The utility model aims at providing a robot intelligence sorting device, through the mutual cooperation between the six-axis robot main body and the truss robot main body inside the sorting mechanism, the six-axis robot main body can sort the unevenly placed workpieces on the transport production line, the six-axis robot main body and the truss robot main body cooperate with each other, meet the sorting operation of different placed state workpieces on the transport production line, to solve the problem that in the prior art, due to poor field production conditions, the preceding vibration equipment can not neatly stack parts, leading to the angle deviation of the workpiece when transporting on the assembly line, so that the truss robot at the end of the assembly line cannot effectively sort the unevenly stacked workpieces, causing the truss robot to repeatedly clamp and sort the unevenly placed workpieces, reducing the working efficiency of the truss robot.

[0006] In order to achieve the above object, the utility model provides the following technical scheme: A kind of robot intelligent sorting device, including sorting mechanism, the sorting mechanism includes support column, the support column is fixedly installed on ground, the top of support column is fixedly installed with truss robot main body, the right side of truss robot main body is fixedly installed with six-axis robot main body, and is fixedly installed on ground, the output end of truss robot main body, six-axis robot main body is all fixedly connected with connecting mechanism by bolt, the bottom of support column is provided with transport production line, and is connected with the outer wall of transport production line and is located in one end of six-axis robot main body.

[0007] Preferably, the sorting mechanism includes a receiving box, the receiving box has a plurality of, a plurality of receiving boxes are located at one end of the truss robot main body and the six-axis robot main body away from the transport production line, the sorting mechanism includes a visual detection assembly, the visual detection assembly has a plurality of, a plurality of visual detection assemblies are fixedly installed at one end of the transport production line away from the six-axis robot main body, and one side of the outer wall of the support column, and the visual module on the visual detection assembly is located directly above the transport production line.

[0008] Preferably, the connecting mechanism includes a connecting piece, the connecting piece has a plurality of, a plurality of connecting pieces are fixedly installed on the output end of the truss robot main body and the six-axis robot main body, the inner wall of the connecting piece is provided with a connecting column, the bottom of the connecting piece is connected with a connecting ring, the bottom of the connecting ring is fixedly installed with a sorting gripper, the top of the connecting ring is fixedly installed with a threaded column, and penetrates to the inside of the connecting piece, and is connected with the outer wall of the connecting column, the outer wall of the connecting ring is slidably connected with a sliding column on both sides, and penetrates to the inside of the connecting piece, one side of the sliding column penetrating to the inside of the connecting ring is fixedly connected with a support plate, and penetrates to the inside of the connecting ring to the inside of the threaded column, one side of the top of the support plate is fixedly connected with a fixed column, and penetrates to the inside of the connecting column from the threaded column, one side of the support plate away from the fixed column is fixedly connected with a support spring, and is located above the sliding column and in the inside of the connecting ring, the top of the threaded column is slidably connected with a telescopic column, and is located at the bottom of the connecting column and between the fixed columns, the bottom of the telescopic column penetrating to the inside of the sorting gripper from the threaded column is fixedly connected with a telescopic spring, and is located in the inside of the connecting ring.

[0009] Preferably, the truss robot main body is composed of a plurality of shaft guides, the truss robot main body and the visual detection assembly are connected through a data line, and the six-axis robot main body and the visual detection assembly are connected through a data line.

[0010] Preferably, the surface of the top end of the connecting piece is provided with a bolt hole connected with the output end of the truss robot body and the six-axis robot body, and the bottom end of the connecting piece is provided with a threaded hole matched with a threaded column, and the top end of the threaded column is provided with a connecting groove matched with a connecting column.

[0011] Preferably, the two sides of the connecting ring are provided with sliding grooves matched with sliding columns, the surface of the connecting column is provided with a plurality of fixing grooves matched with fixing columns, and the inside of the threaded column is provided with an expansion and contraction groove matched with an expansion and contraction column.

[0012] In the above technical solution, the technical effects and advantages of the utility model are provided:

[0013] By fixing the connecting piece on the output end of the six-axis robot body and the truss robot body through bolts, and then moving the connecting ring and the connecting piece close to each other, rotating the connecting ring drives the threaded column to rotate, the threaded column rotates through the thread connection with the connecting piece, and is sleeved with the connecting column inside the connecting piece, so that the connecting column extrudes the expansion and contraction column, the expansion and contraction column extrudes the expansion and contraction spring to move, the expansion and contraction column releases the extrusion on the fixing column, the fixing column contacts with the outer wall of the connecting column, and at the same time, after the connecting piece and the connecting ring are connected and fitted, the supporting spring resets to push the supporting plate to reset and drive the fixing column to penetrate into the connecting column inside, the connection and fixation of the connecting column in the threaded column are completed, the connection and locking between the connecting ring and the connecting piece are completed, and the connection and installation of the sorting gripper on the output end of the six-axis robot body and the truss robot body are completed.

[0014] By installing the six-axis robot body on the right side of the truss robot body, the six-axis robot body can contact the products on the transportation production line earlier, and by connecting the truss robot body, the six-axis robot body and the visual detection assembly through data lines, the visual detection assembly can take pictures of the placement state of the workpieces on the transportation production line through the visual module, and transmit the placement posture of the workpieces to the signal terminal of the six-axis robot body and the truss robot body, so that the six-axis robot body can clamp and sort the workpieces placed unevenly, and place the clamped workpieces in the storage box, and the remaining workpieces continue to be transported to the lower side of the truss robot body along the transportation production line, and are clamped and sorted by the truss robot body, and placed in the storage box. Through the cooperation of the six-axis robot body and the truss robot body, the six-axis robot body can realize offset rotation angle grabbing, so that the sorting device can meet the high-efficiency sorting under complex production conditions. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is an exploded view of the connection structure between the connecting ring and the connecting component of this utility model;

[0018] Figure 3 This is a cross-sectional structural diagram of the connecting ring of this utility model;

[0019] Figure 4 For the present utility model Figure 2 Enlarged structural diagram at point A in the middle;

[0020] Figure 5 For the present utility model Figure 3 Enlarged structural diagram at point B.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Sorting mechanism; 101. Support column; 102. Gantry robot body; 103. Six-axis robot body; 104. Storage box; 105. Vision inspection component; 2. Connecting mechanism; 201. Connector; 202. Connecting column; 203. Connecting ring; 204. Sorting gripper; 205. Threaded column; 206. Sliding column; 207. Support plate; 208. Fixed column; 209. Support spring; 210. Telescopic column; 211. Telescopic spring; 3. Transportation production line. Detailed Implementation

[0023] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0024] This utility model provides, for example Figures 1-4The illustrated robot intelligent sorting device comprises a sorting mechanism 1, the sorting mechanism 1 comprises a support column 101, the support column 101 is installed and fixed on the ground, the top end of the support column 101 is installed and fixed with a truss robot body 102, the right side of the truss robot body 102 is installed and fixed with a six-axis robot body 103, and is installed and fixed on the ground, the output ends of the truss robot body 102 and the six-axis robot body 103 are all bolted and fixed with a connecting mechanism 2, the bottom end of the support column 101 is provided with a transportation production line 3, and is sleeved with the outer wall of the transportation production line 3 and located at one end of the six-axis robot body 103, through the mutual cooperation between the six-axis robot body 103 and the truss robot body 102 inside the sorting mechanism 1, the six-axis robot body 103 can sort the irregularly placed workpieces of the transportation production line 3, the six-axis robot body 103 and the truss robot body 102 cooperate with each other to meet the sorting operation of workpieces in different placement states on the transportation production line 3, through the mutual cooperation between the internal parts of the connecting mechanism 2, the six-axis robot body 103 and the truss robot body 102 output end sorting clamping jaw 204 can be quickly disassembled and replaced, and the replacement and installation efficiency of the sorting clamping jaw 204 on the six-axis robot body 103 and the truss robot body 102 is improved.

[0025] Referring to the drawings accompanying the specification Figures 1-4 The sorting mechanism 1 comprises a receiving box 104, the receiving box 104 has a plurality of receiving boxes 104, and the plurality of receiving boxes 104 are respectively located at one end of the truss robot body 102 and the six-axis robot body 103 away from the transportation production line 3, the sorting mechanism 1 comprises a visual detection assembly 105, the visual detection assembly 105 has a plurality of visual detection assemblies 105, and the plurality of visual detection assemblies 105 are respectively installed and fixed at one end of the transportation production line 3 away from the six-axis robot body 103, and one side of the outer wall of the support column 101, and the visual module on the visual detection assembly 105 is located directly above the transportation production line 3, through the visual detection assembly 105, the visual detection assembly 105 can detect the placement state of the transported workpieces on the transportation production line 3 through the visual module, and transmit the placement posture of the workpieces to the signal terminal of the six-axis robot body 103 and the truss robot body 102.

[0026] Referring to the drawings accompanying the specification Figures 1-4The connecting mechanism 2 comprises a plurality of connecting pieces 201, and the plurality of connecting pieces 201 are respectively fixed on the output ends of the truss robot body 102 and the six-axis robot body 103. The inner wall of the connecting piece 201 is provided with a connecting column 202. The bottom end of the connecting piece 201 is connected with a connecting ring 203. The bottom end of the connecting ring 203 is fixedly provided with a sorting gripper 204. The top end of the connecting ring 203 is fixedly provided with a threaded column 205, which penetrates into the interior of the connecting piece 201 and is sleeved with the outer wall of the connecting column 202. The outer wall of the connecting ring 203 is slidably connected with a sliding column 206, which penetrates into the interior of the connecting piece 201. One side of the sliding column 206, which penetrates into the interior of the connecting ring 203, is fixedly connected with a support plate 207, which penetrates into the interior of the connecting ring 203 to the interior of the threaded column 205. One side of the top end of the support plate 207 is fixedly connected with a fixed column 208, which penetrates into the interior of the connecting column 202 from the threaded column 205. One side of the support plate 207, which is away from the fixed column 208, is fixedly connected with a supporting spring 209, which is located above the sliding column 206 and in the interior of the connecting ring 203. The top end of the threaded column 205 is slidably connected with an extension column 210, which is located at the bottom end of the connecting column 202 and between the fixed columns 208. The bottom end of the extension column 210, which penetrates into the interior of the threaded column 205 to the interior of the sorting gripper 204, is fixedly connected with an extension spring 211, which is located in the interior of the connecting ring 203. Through the cooperation between the internal parts of the connecting mechanism 2, the sorting gripper 204 on the output end of the six-axis robot body 103 and the truss robot body 102 can be quickly disassembled and replaced, and the installation efficiency of the sorting gripper 204 on the six-axis robot body 103 and the truss robot body 102 is improved.

[0027] With reference to the drawings accompanying the specification Figures 1-4 The truss robot body 102 is composed of a plurality of shaft guides. The truss robot body 102 and the vision detection assembly 105 are connected through a data line. The six-axis robot body 103 and the vision detection assembly 105 are connected through a data line. Through the data line connection between the truss robot body 102, the six-axis robot body 103 and the vision detection assembly 105, the vision detection assembly 105 can take a photo of the placement state of the workpiece transported on the transport production line 3 through a vision module, and transmit the placement posture of the workpiece to the signal terminal of the six-axis robot body 103 and the truss robot body 102.

[0028] With reference to the drawings accompanying the specification Figures 1-4The surface of the top end of the connecting piece 201 is provided with bolt holes connected with the output end of the truss robot body 102 and the six-axis robot body 103, the bottom end of the connecting piece 201 is provided with a threaded hole matched with the threaded column 205, the top end of the threaded column 205 is provided with a connecting groove matched with the connecting column 202, the bottom end of the connecting piece 201 is provided with a threaded hole matched with the threaded column 205, and the top end of the threaded column 205 is provided with a connecting groove matched with the connecting column 202, so that the connecting ring 203 is connected and fixed with the connecting piece 201 through the threaded column 205, and the connecting ring 203 is sleeved with the outer wall of the connecting column 202.

[0029] With reference to the drawings accompanying the specification Figures 1-4 The two sides of the connecting ring 203 are provided with sliding grooves matched with the sliding columns 206, the surface of the connecting column 202 is provided with a plurality of fixing grooves matched with the fixing columns 208, the inside of the threaded column 205 is provided with an expansion and contraction groove matched with the expansion and contraction column 210, the surface of the connecting column 202 is provided with a plurality of fixing grooves matched with the fixing columns 208, the fixing columns 208 are penetrated into the inside of the connecting column 202, the connecting column 202 and the threaded column 205 are connected and fixed, and the connection and locking between the connecting ring 203 and the connecting piece 201 are completed.

[0030] The utility model discloses a working principle:

[0031] With reference to the drawings accompanying the specification Figures 1-4By fixing the connector 201 to the output end of the six-axis robot body 103 and the gantry robot body 102 with bolts, and then bringing the connecting ring 203 and the connector 201 closer together, rotating the connecting ring 203 drives the threaded column 205 to rotate. The threaded column 205 rotates and connects to the connector 201 through the thread, and engages with the connecting column 202 inside the connector 201. This causes the connecting column 202 to press against the telescopic column 210, which in turn presses against the telescopic spring 211 to retract and move. This releases the telescopic column 210 from the pressure on the fixed column 208, causing the fixed column 208 to contact the outer wall of the connecting column 202. Simultaneously, after the connector 201 and the connecting ring 203 are connected and fitted together, the support spring 209 resets, pushing the support plate 207 to reset, causing the fixed column 208 to penetrate into the connecting column 202, thus completing the connection. The connection and fixation of the connecting post 202 inside the threaded post 205 completes the connection and locking between the connecting ring 203 and the connector 201, thereby completing the connection and installation of the sorting gripper 204 at the output end of the six-axis robot body 103 and the gantry robot body 102. When it is necessary to replace the sorting gripper 204, pull the sliding post 206, causing the sliding post 206 to drive the support plate 207 to compress the support spring 209 and move, so that the support plate 207 drives the fixed post 208 to be removed from the inside of the connecting post 202, thereby releasing the connection and fixation between the connecting post 202 and the threaded post 205. By rotating the connecting ring 203, the threaded post 205 and the connector 201 can be moved to separate from each other, thereby completing the separation of the connecting ring 203 and the connector 201, and thus completing the disassembly and replacement of the sorting gripper 204.

[0032] Refer to the instruction manual appendix Figures 1-4 By positioning the six-axis robot body 103 to the right of the gantry robot body 102, the six-axis robot body 103 can make earlier contact with the products on the transport production line 3. The gantry robot body 102, the six-axis robot body 103, and the vision inspection component 105 are connected via a data cable. This allows the vision inspection component 105 to photograph and inspect the placement of the workpieces transported on the transport production line 3 using a vision module, and transmit the workpiece placement posture to the signal terminals of the six-axis robot body 103 and the gantry robot body 102, enabling the six-axis robot... The human body 103 clamps and sorts unevenly placed workpieces and places them in the storage box 104. The remaining workpieces continue to be transported along the transport production line 3 to the gantry robot body 102, where the gantry robot body 102 clamps and sorts the workpieces and places them in the storage box 104. Through the cooperation between the six-axis robot body 103 and the gantry robot body 102, the six-axis robot body 103 can achieve offset rotation angle gripping, enabling the sorting device to meet the high-efficiency sorting requirements under complex production conditions.

[0033] The above has only described certain exemplary embodiments of the present application by way of illustration, and it is needless to say that the described embodiments can be modified in various ways without departing from the spirit and scope of the present application for those skilled in the art. Therefore, the above drawings and descriptions are illustrative in nature, and should not be understood as limiting the scope of protection of the claims of the present application.

Claims

1. A robotic intelligent sorting device, characterized by: Including sorting mechanism (1), the sorting mechanism (1) includes support column (101), the support column (101) is fixedly installed on the ground, the top end of support column (101) is fixedly installed with truss robot body (102), the right side of truss robot body (102) is fixedly installed with six-axis robot body (103), and is fixedly installed on the ground, the output end of truss robot body (102), six-axis robot body (103) is all bolted with connecting mechanism (2) and is fixed, the bottom of support column (101) is provided with transport production line (3), and is connected with the outer wall of transport production line (3) and is located in one end of six-axis robot body (103).

2. The robotic intelligent sorting device of claim 1, wherein: The sorting mechanism (1) includes a receiving box (104), the receiving box (104) has a plurality of, a plurality of receiving boxes (104) are located in the end of truss robot body (102), six-axis robot body (103) away from transport production line (3), the sorting mechanism (1) includes a visual detection assembly (105), the visual detection assembly (105) has a plurality of, a plurality of visual detection assemblies (105) are fixedly installed in the end of transport production line (3) away from six-axis robot body (103), with the side of the outer wall of support column (101), while the visual module on visual detection assembly (105) is located directly above transport production line (3).

3. The robotic intelligent sorting device of claim 1, wherein: The connecting mechanism (2) comprises connecting pieces (201), the connecting pieces (201) are provided with a plurality of connecting pieces (201), and the plurality of connecting pieces (201) are respectively fixed on the output ends of the truss robot body (102) and the six-axis robot body (103).

4. The robotic intelligent sorting device of claim 1, wherein: The truss robot body (102) is composed of a plurality of shaft guides, and the truss robot body (102) and the visual detection assembly (105) are connected through a data line.

5. The robotic intelligent sorting device of claim 3, wherein: The surface of the top end of the connecting piece (201) is provided with a bolt hole connected with the output end of the truss robot body (102) and the six-axis robot body (103), the bottom end of the connecting piece (201) is provided with a threaded hole matched with the threaded column (205), and the top end of the threaded column (205) is provided with a connecting groove matched with the connecting column (202).

6. The robotic intelligent sorting device of claim 3, wherein: The two sides of the connecting ring (203) are provided with sliding grooves matched with the sliding columns (206), and the surface of the connecting column (202) is provided with a plurality of fixing grooves matched with the fixing columns (208). The inside of the threaded column (205) is provided with an expansion groove matched with the expansion column (210).

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