Granule picking substitute mechanical arm sorting device

Abstract

The utility model discloses a grain picking substitute mechanical arm sorting device, which relates to the technical field of sorting, and comprises a base, the upper end of the base is rotatably connected with a sorting mechanical arm, the right end of the sorting mechanical arm is fixedly provided with a front-end paw, a top tray is arranged below the front-end paw, the top tray is of a hexagonal structure, and the front-end paw is fixedly connected with the base. A mechanical arm assembly is fixedly installed on the lower surface of the top disc, the bottom of the front end paw is in threaded connection with a stud, and the lower end of the stud and the upper surface of the top disc are fixedly installed. The front yoke plates and the clamps are pushed by the electric push rod to approach materials, the six yoke plates and the clamps move synchronously in the radial direction to grab the materials through sliding between the sliding grooves and the inclined rods and sliding between the adjacent inclined rods, the materials are moved to the designated position to be placed through the sorting mechanical arm, the sorting process of grain picking substitute products is facilitated, and the sorting efficiency is improved. And the grabbing position of the clamp is in a V shape, so that the grain picking substitute products with different shapes and sizes can be sorted.

Description

Technical Field

[0001] This utility model relates to the field of sorting technology, specifically to a sorting device for a grain-picking robotic arm. Background Technology

[0002] This granule sorting robotic arm combines advanced machine vision technology, precise robotic arm operation, and a highly efficient control system to achieve rapid and accurate sorting of target granules. This device is widely used in OEM scenarios requiring fine sorting, such as sorting small granular products like candy and nuts in the food processing industry, and sorting pharmaceuticals like pills and capsules in the pharmaceutical manufacturing industry. Furthermore, this device can also be used in other fields requiring automated sorting, such as logistics and warehousing.

[0003] Chinese patent document CN112720580A discloses a PLC-controlled robotic arm sorting device for use in the mechanical field. It comprises a main shaft, a fixed ring, and a movable ring. When the main shaft rotates, a rotating block, four connecting rods, and four limit blocks drive the movable ring to rotate around the main shaft. During the rotation of the movable ring, the external gear ring fixedly fitted to it meshes with the upper parts of three gear sleeves, simultaneously driving the three gear sleeves to rotate around three positioning shafts. Furthermore, because the lower parts of the three gear sleeves mesh with three racks, the three racks slide outwards, causing the three positioning bars to slide outwards accordingly, thus enabling the three arc... The three curved clamping blocks expand and then rotate in the opposite direction by controlling the output of the drive motor. This causes the movable ring to rotate in the opposite direction around the main shaft, which in turn drives the three gear sleeves to rotate in the opposite direction around the three positioning shafts. This causes the three racks to slide inward, and the three positioning strips to slide inward as well. Consequently, the three curved clamping blocks converge and contract, bringing them into contact with the outer surface of the item until the anti-slip rubber pads on the sidewalls of the curved clamping blocks are tightly fitted to the item, thus achieving an effective fixation effect. Furthermore, due to the relatively long length of the positioning strips and racks, it can clamp and fix cylindrical items of different diameters, making it highly applicable and providing a good fixation effect.

[0004] The existing technology has the following problems:

[0005] During use, the connecting block and the arc-shaped clamping block are fixedly connected, making it inconvenient to disassemble the arc-shaped clamping block. Consequently, it is inconvenient to maintain or replace the arc-shaped clamping block. Furthermore, the curvature of the arc-shaped clamping block is fixed, making it impossible to sort materials of different shapes. Utility Model Content

[0006] This invention provides a sorting device for a granule-picking robotic arm to solve the problems mentioned in the background art.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0008] A sorting device for granule handling robotic arm includes a base, a sorting robotic arm rotatably connected to the upper end of the base, a front gripper fixedly installed at the right end of the sorting robotic arm, a top plate disposed below the front gripper, the top plate having a hexagonal structure, a robotic arm assembly fixedly installed on the lower surface of the top plate, and a stud threadedly connected to the bottom of the front gripper, with the lower end of the stud fixedly installed to the upper surface of the top plate.

[0009] The robotic arm assembly includes six grippers located below the top plate. A connecting component is fixedly installed on the side of the gripper near the axis of the top plate. A connecting plate is fixedly installed on the upper surface of the connecting component. A sliding groove is formed through the right side of the connecting plate away from the axis of the top plate. A diagonal rod is slidably connected inside the sliding groove. A Z-shaped bracket is fixedly installed on the front side of the top plate. An electric actuator is fixedly installed on the rear side of the bottom of the bracket, and the output end of the electric actuator is fixedly installed on the front side of the connecting plate.

[0010] The connecting assembly includes a mounting plate. The upper surface of the top of the connecting assembly is fixedly installed on the lower surface of the connecting plate. A slot is provided on the front side of the bottom of the mounting plate. A locking block is engaged inside the slot, and the front side of the locking block is fixedly installed on the side of the top of the clamp near the center of the top plate.

[0011] Preferably, six guide rails are fixedly installed on the lower surface of the top plate, and the six guide rails are located on the six sides of the top plate. A slider is integrally formed on the upper surface of the connecting plate away from the axis of the top plate, and the slider is slidably connected to the guide rails.

[0012] Preferably, the diagonal bar is V-shaped, and the upper and lower surfaces of adjacent diagonal bars are slidably connected.

[0013] Preferably, a limiting rod is fixedly installed on the upper surface of the inclined rod, six limiting grooves are opened on the lower surface of the top plate, and the limiting grooves are located between adjacent guide rails. The upper part of the limiting rod is slidably connected to the inner cavity of the limiting groove, and the cross-section of the limiting groove and the limiting rod are both T-shaped.

[0014] Preferably, the clamp is L-shaped, and the bottom of the clamp near the center of the top plate is Z-shaped.

[0015] Preferably, the card block is stepped, and the mounting plate is Z-shaped.

[0016] Preferably, the mounting plate has a mounting hole on the front side of the bottom upper surface, and a positioning rod that passes through the locking block is threaded into the mounting hole.

[0017] Due to the adoption of the above technical solution, the technological progress achieved by this utility model compared to the prior art is as follows:

[0018] 1. This utility model provides a sorting device for granulation processing robotic arm. The front connecting plate and clamp are pushed close to the material by an electric push rod. The sliding of the slide groove and the inclined bar and the adjacent inclined bar causes the six connecting plates and clamps to move radially synchronously to grab the material. The sorting robotic arm moves the material to the designated position for placement, which facilitates the sorting process of granulation processing products. The gripping position of the clamp is V-shaped, which can sort granulation processing products of different shapes and sizes.

[0019] 2. This utility model provides a sorting device for a granule-picking robotic arm. The clamps can be easily disassembled through the action between the slots and the blocks, thus facilitating their maintenance or replacement. During installation, the mounting plate and the blocks can be positioned through the action between the positioning rod and the mounting hole, thereby assisting in the installation of the clamps. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the right-side structure of this utility model;

[0022] Figure 3 This is a partial cross-sectional view of the top plate structure of this utility model;

[0023] Figure 4 This is an enlarged structural diagram of point A in this utility model;

[0024] Figure 5 This is a bottom view of the robotic arm assembly of this utility model;

[0025] Figure 6 This is a schematic diagram of the top plate structure of this utility model;

[0026] Figure 7 This is a schematic diagram of the robotic arm component structure of this utility model;

[0027] Figure 8 This is a schematic diagram of the inclined rod structure of this utility model;

[0028] Figure 9 This is a schematic diagram of the connection component structure of this utility model;

[0029] Figure 10 This is a cross-sectional view of the mounting plate of this utility model;

[0030] Figure 11 This is an exploded view of the connecting component of this utility model.

[0031] In the diagram: 1. Base; 2. Sorting robotic arm; 3. Front gripper; 4. Top plate; 5. Robotic arm assembly; 51. Bracket; 52. Electric push rod; 53. Guide rail; 54. Clamp; 55. Connecting plate; 56. Connecting assembly; 561. Mounting plate; 562. Positioning rod; 563. Locking block; 564. Locking slot; 565. Mounting hole; 57. Diagonal bar; 58. Limiting rod; 59. Slider; 510. Slide groove; 6. Limiting groove; 7. Stud. Detailed Implementation

[0032] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0033] like Figures 1-11 As shown, a sorting device for granule handling using a robotic arm includes a base 1. A sorting robotic arm 2 is rotatably connected to the upper end of the base 1. A front gripper 3 is fixedly installed on the right end of the sorting robotic arm 2. A top plate 4 is disposed below the front gripper 3. The top plate 4 has a hexagonal structure. A robotic arm assembly 5 is fixedly installed on the lower surface of the top plate 4. A stud 7 is threadedly connected to the bottom of the front gripper 3, and the lower end of the stud 7 is fixedly installed on the upper surface of the top plate 4. The threaded action between the stud 7 and the front gripper 3 facilitates the assembly and disassembly of the top plate 4. The robotic arm assembly 5 includes six clamps 54 located below the top plate 4. A connecting assembly 56 is fixedly installed on the side of the clamps 54 near the axis of the top plate 4. A connecting plate 5 is fixedly installed on the upper surface of the connecting assembly 56. 5. A sliding groove 510 is provided through the right side of the connecting plate 55 away from the axis of the top plate 4. A diagonal rod 57 is slidably connected inside the sliding groove 510. A Z-shaped bracket 51 is fixedly installed on the front side of the top plate 4. An electric actuator 52 is fixedly installed on the rear side of the bottom of the bracket 51. The output end of the electric actuator 52 is fixedly installed on the front side of the connecting plate 55. The connecting assembly 56 includes a mounting plate 561. The upper surface of the top of the connecting assembly 56 is fixedly installed on the lower surface of the connecting plate 55. A slot 564 is provided on the front side of the bottom of the mounting plate 561. A locking block 563 is locked inside the slot 564. The front side of the locking block 563 is fixedly installed on the side of the top of the clamp 54 near the axis of the top plate 4. The locking block 563 is stepped. The mounting plate 561 is Z-shaped.

[0034] The sorting robotic arm 2 includes a rotating support, a connecting drive shaft, a connecting rod, a connecting rod servo motor, a large arm, a large arm swing servo motor, a small arm, a small arm rotation servo motor, a wrist swing servo motor, and a front gripper rotation servo motor.

[0035] In use, the device is moved to the material area of ​​the granulated OEM products to be sorted. The electric push rod 52 pushes the front connecting plate 55 and the clamp 54 closer to the material. Through the sliding of the slide 510 and the inclined rod 57 and the adjacent inclined rod 57, the six connecting plates 55 and the clamp 54 move radially synchronously to grab the material. The sorting robot arm 2 moves the material to the designated position for placement, which facilitates the sorting process of granulated OEM products. When the clamp 54 is maintained or replaced, the clamp 54 is moved so that the locking block 563 is disengaged from the slot 564, so that the clamp 54 can be disassembled, replaced or maintained. During installation, the locking block 563 on the clamp 54 is inserted into the slot 564.

[0036] like Figures 3-7 , Figure 9 As shown, six guide rails 53 are fixedly installed on the lower surface of the top plate 4, and the six guide rails 53 are located on the six sides of the top plate 4. A slider 59 is integrally formed on the upper surface of the connecting plate 55 away from the axis of the top plate 4, and the slider 59 is slidably connected to the guide rails 53.

[0037] The slider 59 and the guide rail 53 work together to assist the movement of the connecting plate 55.

[0038] like Figures 3-8 As shown, the diagonal bar 57 is V-shaped, and the upper and lower surfaces of adjacent diagonal bars 57 are slidably connected.

[0039] By sliding between the slide groove 510 and the inclined rod 57 and adjacent inclined rods 57, the six connecting plates 55 and the clamps 54 can move radially synchronously. Only one electric push rod 52 is needed to achieve the synchronous movement of the six clamps 54.

[0040] like Figures 3-8 As shown, a limiting rod 58 is fixedly installed on the upper surface of the inclined rod 57, and six limiting grooves 6 are opened on the lower surface of the top plate 4. The limiting grooves 6 are located between adjacent guide rails 53. The upper part of the limiting rod 58 is slidably connected to the inner cavity of the limiting groove 6, and the cross-sections of the limiting groove 6 and the limiting rod 58 are both T-shaped.

[0041] The limiting groove 6 and the limiting rod 58 can limit the movement of the inclined rod 57, thereby limiting the movement of the connecting plate 55 and assisting the connecting plate 55 in moving.

[0042] like Figures 2-7 , Figure 11 As shown, the clamp 54 is L-shaped, and the bottom of the clamp 54 near the axis of the top plate 4 is Z-shaped, which can sort out granular products of different shapes and sizes.

[0043] like Figures 9-11As shown, a mounting hole 565 is provided on the front side of the bottom upper surface of the mounting plate 561, and a positioning rod 562 passing through the locking block 563 is threaded into the mounting hole 565.

[0044] The positioning rod 562 and the mounting hole 565 work together to position the mounting plate 561 and the locking block 563, thereby assisting in the installation of the fixture 54.

[0045] The working principle of this invention is as follows: In use, the device is moved to the material area of ​​the sorting granulated products. The electric push rod 52 pushes the front connecting plate 55 and clamp 54 towards the material. Through the sliding of the slide groove 510 with the inclined rod 57 and adjacent inclined rods 57, the six connecting plates 55 and clamp 54 move radially synchronously to grasp the material. The sorting robotic arm 2 then moves the material to a designated location for placement, facilitating the sorting process of the granulated products. The clamp 54 has a V-shaped gripping position, enabling it to sort granulated products of different shapes and sizes. When maintaining or replacing the fixture 54, rotate the positioning rod 562 to remove it from the mounting plate 561 and the locking block 563, move the fixture 54 to disengage the locking block 563 from the slot 564, and then disassemble, replace or maintain the fixture 54. During installation, insert the locking block 563 on the fixture 54 into the slot 564, align the hole on the locking block 563 with the mounting hole 565, rotate the positioning rod 562, and through the action between the positioning rod 562 and the mounting hole 565, the mounting plate 561 and the locking block 563 can be positioned, thereby assisting in the installation of the fixture 54.

[0046] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A sorting device for granule picking using a robotic arm, comprising a base (1), characterized in that: The upper end of the base (1) is rotatably connected to a sorting robot arm (2). The right end of the sorting robot arm (2) is fixedly installed with a front gripper (3). A top plate (4) is provided below the front gripper (3). The top plate (4) has a hexagonal structure. A robot arm assembly (5) is fixedly installed on the lower surface of the top plate (4). A stud (7) is threadedly connected to the bottom of the front gripper (3), and the lower end of the stud (7) is fixedly installed with the upper surface of the top plate (4). The robotic arm assembly (5) includes six grippers (54), which are located below the top plate (4). A connecting assembly (56) is fixedly installed on the side of the gripper (54) near the axis of the top plate (4). A connecting plate (55) is fixedly installed on the upper surface of the connecting assembly (56). A sliding groove (510) is opened through the right side of the connecting plate (55) away from the axis of the top plate (4). A diagonal rod (57) is slidably connected inside the sliding groove (510). A Z-shaped bracket (51) is fixedly installed on the front side of the top plate (4). An electric push rod (52) is fixedly installed on the rear side of the bottom of the bracket (51), and the output end of the electric push rod (52) is fixedly installed on the front side of the connecting plate (55). The connecting assembly (56) includes a mounting plate (561). The upper surface of the top of the connecting assembly (56) is fixedly installed with the lower surface of the connecting plate (55). A slot (564) is provided on the front side of the bottom of the mounting plate (561). A locking block (563) is engaged inside the slot (564), and the front side of the locking block (563) is fixedly installed with the side of the top of the clamp (54) near the axis of the top plate (4).

2. The sorting device for granule handling robotic arm according to claim 1, characterized in that: The lower surface of the top plate (4) is fixedly equipped with six guide rails (53), and the six guide rails (53) are located on the six sides of the top plate (4). The upper surface of the connecting plate (55) away from the axis of the top plate (4) is integrally formed with a slider (59), and the slider (59) is slidably connected to the guide rails (53).

3. The sorting device for granule handling robotic arm according to claim 1, characterized in that: The diagonal bar (57) is V-shaped, and the upper and lower surfaces of adjacent diagonal bars (57) are slidably connected.

4. The sorting device for granule picking and processing robotic arm according to claim 2, characterized in that: A limiting rod (58) is fixedly installed on the upper surface of the inclined rod (57). Six limiting grooves (6) are opened on the lower surface of the top plate (4), and the limiting grooves (6) are located between adjacent guide rails (53). The upper part of the limiting rod (58) is slidably connected to the inner cavity of the limiting groove (6), and the cross-sections of the limiting groove (6) and the limiting rod (58) are both T-shaped.

5. The sorting device for granule handling robotic arm according to claim 1, characterized in that: The clamp (54) is L-shaped, and the bottom of the clamp (54) near the axis of the top plate (4) is Z-shaped.

6. The sorting device for granule handling robotic arm according to claim 1, characterized in that: The card block (563) is stepped, and the mounting plate (561) is Z-shaped.

7. The sorting device for granule handling robotic arm according to claim 1, characterized in that: The mounting plate (561) has a mounting hole (565) on the front side of the bottom upper surface, and a positioning rod (562) that passes through the locking block (563) is threaded into the mounting hole (565).

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