A sorting robot

Abstract

The utility model discloses a sorting mechanical arm, including mechanical arm body and sucking disc still include: adjusting mechanism, adjusting mechanism sets up in the movable end of mechanical arm body, the lower extreme of adjusting mechanism is used for installing sucking disc, bottom horizontal shift subassembly, the output of bottom horizontal shift subassembly with the fixed end of mechanical arm body is connected. The utility model discloses compared with prior art's advantage lies in: can adjust the position of sucking disc and article contact.

Description

Technical Field

[0001] This utility model relates to the field of sorting robot technology, specifically a sorting robotic arm. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in industrial fields. They possess a certain degree of automation and can perform various industrial processing and manufacturing functions based on their own power and control capabilities. In the machinery field, sorting robots are needed to sort and reject parts. Sorting robots consist of various sensors, electro-optical systems, and objective lenses, and are mostly installed on one side of the parts conveying device to sort the transported parts.

[0003] Existing sorting robots are not convenient for adjusting the distance between suction cups when picking up parts, and they are not stable enough and are prone to falling when picking up large items. Therefore, a sorting robot is proposed to address the above problems.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the above-mentioned technical defects and provide a sorting robotic arm that can adjust the position of the suction cup in contact with the item.

[0006] To solve the above problems, the technical solution of this utility model is: a sorting robotic arm, comprising a robotic arm body and a suction cup, and further comprising:

[0007] An adjustment mechanism is located at the movable end of the robotic arm body, and the lower end of the adjustment mechanism is used to mount a suction cup.

[0008] The bottom lateral movement assembly has its output end connected to the fixed end of the robotic arm body.

[0009] Preferably, the adjustment mechanism includes:

[0010] A connecting box, the bottom of which has an opening, and a motor is fixedly connected to the center of the top of the connecting box. The output end of the motor is fixedly connected to a gear.

[0011] The rack has two sets that mesh with the two sides of the gear. A connecting rod is fixedly connected to the lower end of the rack, and a connecting plate is fixedly connected to the lower end of the connecting rod. The connecting plate is used to install a suction cup.

[0012] Preferably, the connecting box has guide plates on both sides inside, the toothless end of the rack is slidably connected to the guide plate, the two racks are symmetrical about the center of the gear, and the two connecting plates are slidably connected to the bottom opening of the connecting box.

[0013] Preferably, the bottom lateral movement assembly includes a housing with a cavity inside. A lead screw is rotatably connected to one side of the housing, and a moving block is threaded onto the surface of the lead screw. A slot is formed at the upper end of the housing, and the upper end of the moving block passes through the slot and is fixedly connected to the bottom of the robotic arm body.

[0014] Preferably, a guide rod is fixedly provided inside the housing, the moving block is slidably sleeved with the guide rod, and a second motor is provided at one end of the outer side of the housing, with a lead screw fixedly connected to the output end of the second motor.

[0015] Preferably, the robotic arm body includes:

[0016] The base has a turntable rotatably mounted on its upper interior. A multi-joint robotic arm is mounted on the upper end of the turntable. A rotating shaft is fixedly mounted on the lower end of the turntable. A gear is fixedly fitted onto the surface of the rotating shaft.

[0017] Motor 3 is fixedly connected inside the base. Motor 3 has a gear 3 at its output end, and gear 2 meshes with gear 3.

[0018] Preferably, the lower surface of the turntable is provided with an annular groove, and the base is provided with two symmetrical support rods. The upper ends of the support rods are slidably connected to the inside of the annular groove, and the bottom of the rotating shaft is rotatably connected to the inside of the base.

[0019] The advantages of this invention compared to existing technologies are as follows:

[0020] (1) The starting motor of this utility model drives the gear to rotate, which in turn drives the two racks to move in opposite directions. The racks drive the two connecting plates to move away from each other through the connecting rod, adjusting the distance between the suction cups. The suction cups installed on the two connecting plates that are moving away from each other can be attached to the two sides of the top of the item, thereby improving stability.

[0021] (2) The multi-joint robotic arm of this utility model operates under program control. It picks up items with a suction cup and sorts the picked-up items with the help of the bottom transverse component, base and turntable. This realizes the rotation and translation of the robotic arm and further improves the application range of the sorting robotic arm. Attached Figure Description

[0022] Figure 1 This is a three-dimensional schematic diagram of a sorting robotic arm according to this utility model. Figure 1 .

[0023] Figure 2 This is a three-dimensional schematic diagram of the internal adjustment structure of a sorting robotic arm according to this utility model.

[0024] Figure 3 This is a three-dimensional schematic diagram of the internal structure of the bottom lateral movement component of a sorting robotic arm according to this utility model.

[0025] Figure 4 This is an enlarged view of point A of a sorting robotic arm according to this utility model.

[0026] Figure 5 This is a diagram showing the internal structure of the base of a sorting robotic arm according to this utility model.

[0027] As shown in the figure: 1. Robotic arm body; 2. Suction cup; 3. Adjustment mechanism; 4. Bottom horizontal movement assembly; 5. Connecting box; 6. Motor 1; 7. Gear 1; 8. Rack; 9. Connecting rod; 10. Connecting plate; 11. Guide plate; 12. Housing; 13. Lead screw; 14. Guide rod; 15. Moving block; 16. Slot; 17. Motor 2; 18. Base; 19. Turntable; 20. Rotating shaft; 21. Gear 2; 22. Motor 3; 23. Gear 3; 24. Support rod; 25. Multi-joint robotic arm. Detailed Implementation

[0028] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals.

[0029] It should be noted that the terms “front,” “back,” “left,” “right,” “up,” and “down” used in the following description refer to the directions shown in the attached diagram, while the terms “inside” and “outside” refer to the directions toward or away from the geometric center of a specific component, respectively.

[0030] To make the content of this utility model easier to understand, the technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0031] like Figure 1-5 As shown, a sorting robotic arm includes a robotic arm body 1 and a suction cup 2. The robotic arm body 1 includes a base 18, with a rotatable turntable 19 mounted on the upper part of the base 18. A multi-joint robotic arm 25 is mounted on the upper part of the turntable 19, and a rotating shaft 20 is fixedly mounted on the lower part of the turntable 19. The bottom of the rotating shaft 20 is rotatably mounted inside the base 18, and a gear 21 is fixedly mounted on the surface of the rotating shaft 20. A motor 22 is fixedly mounted inside the base 18, and a gear 23 is mounted on the output end of the motor 22. The gear 21 meshes with the gear 23. When the motor 22 is started, it can drive the gear 23 to rotate, which in turn drives the rotating shaft 20 to rotate through the meshing gear 21, thereby driving the turntable 19 to rotate, thus realizing the rotation of the multi-joint robotic arm 25.

[0032] An annular groove is formed on the lower surface of the turntable 19, and two symmetrical support rods 24 are installed inside the base 18. The upper end of the support rod 24 is slidably connected to the inside of the annular groove, and the support rod 24 supports the turntable 19.

[0033] An adjustment mechanism 3 is located at the movable end of the robotic arm body 1. The lower end of the adjustment mechanism 3 is used to install suction cups 2. The adjustment mechanism 3 includes a connecting box 5, which is installed at the movable end of the multi-joint robotic arm 25. The bottom of the connecting box 5 has an opening. A motor 6 is fixedly installed at the center of the top of the connecting box 5. A gear 7 is fixedly installed at the output end of the motor 6. When the motor 6 is started, it can drive the gear 7 to rotate. There are two sets of racks 8, which are respectively meshed and connected to the two sides of the gear 7. The two racks 8 are symmetrical about the center of the gear 7. When the gear 7 rotates, it drives the two racks 8 to move in opposite directions. A connecting rod 9 is fixedly installed at the lower end of the rack 8. A connecting plate 10 is fixedly installed at the lower end of the connecting rod 9. The connecting plate 10 is used to install suction cups 2. The racks 8 drive the two connecting plates 10 to move away from each other through the connecting rod 9, adjusting the distance between the suction cups 2. When it is necessary to sort and pick up larger items, the suction cups 2 installed on the two connecting plates 10 that are far apart can stick to the upper sides of the items, thereby improving stability.

[0034] Guide plates 11 are installed on both sides inside the connecting box 5. The toothless end of the rack 8 is slidably connected to the guide plate 11 to ensure the stability of the movement of the guide plate 11. The motor 6 is a servo motor, which controls the rotation angle of the gear 7 to prevent the gear 7 from disengaging from the rack 8. The two connecting plates 10 are slidably connected to the bottom opening of the connecting box 5 to further ensure the stability of the movement of the connecting plates 10.

[0035] The output end of the bottom lateral movement component 4 is connected to the fixed end of the robotic arm body 1, which can drive the robotic arm body 1 to move laterally as a whole, thereby increasing the sorting range that the sorting robotic arm can sort. The bottom lateral movement component 4 includes a housing 12 with a cavity inside. A lead screw 13 is rotatably connected to one side inside the housing 12. A motor 17 is installed at one end outside the housing 12. The output end of the motor 17 is fixedly connected to the lead screw 13, and the motor 17 can drive the lead screw 13 to rotate. A moving block 15 is threadedly connected to the surface of the lead screw 13, thereby driving the moving block 15 to move. A slot 16 is opened at the upper end of the housing 12. The upper end of the moving block 15 passes through the slot 16 and is fixedly connected to the bottom of the robotic arm body 1, thereby driving the robotic arm body 1 to move. A guide rod 14 is fixedly installed inside the housing 12. The moving block 15 slides and fits onto the guide rod 14. The guide rod 14 is parallel to the lead screw 13, which can ensure the stability of the movement of the moving block 15.

[0036] Cameras can be installed on the connecting box 5 and the connecting plate 10 to identify the type, position, posture and size of the items. All the motors and electrical control equipment mentioned above are controlled by the controller. The sorting of items is achieved in conjunction with machine vision, motion control and intelligent algorithm programs. All related technologies are existing technologies.

[0037] In practical use, the multi-joint robotic arm 25 operates under program control, using suction cups 2 to pick up items. It works in conjunction with the bottom lateral movement component 4, base 18, and turntable 19 to sort the picked-up items. If larger items need to be picked up, the motor 6 is started to drive the gear 7 to rotate, which in turn drives the two racks 8 to move in opposite directions. The racks 8 drive the two connecting plates 10 to move away from each other through the connecting rod 9, adjusting the distance between the suction cups 2. The suction cups 2 installed on the two connecting plates 10 that are moving away from each other can stick to the two sides of the top of the item, thereby improving stability.

[0038] All electrical components mentioned in this article are connected to an external main controller and 220V AC mains power. The main controller can be a conventional known device such as a computer for control. The detailed description of known functions and components is omitted in the specific implementation of this disclosure. To ensure the compatibility of the device, the operating methods used are consistent with the parameters of commercially available instruments.

[0039] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A sorting robotic arm, comprising a robotic arm body (1) and a suction cup (2), characterized in that: Also includes: Adjustment mechanism (3), the adjustment mechanism (3) is located at the movable end of the robotic arm body (1), and the lower end of the adjustment mechanism (3) is used to install a suction cup (2): Bottom lateral movement assembly (4), the output end of which is connected to the fixed end of the robotic arm body (1).

2. A sorting robotic arm according to claim 1, characterized in that: The adjustment mechanism (3) includes: A connecting box (5) has an opening at the bottom. A motor (6) is fixedly connected to the center of the top of the connecting box (5). A gear (7) is fixedly connected to the output end of the motor (6). The rack (8) has two sets and is respectively meshed with the two sides of the gear (7). The lower end of the rack (8) is fixedly connected to a connecting rod (9). The lower end of the connecting rod (9) is fixedly connected to a connecting plate (10). The connecting plate (10) is used to install the suction cup (2).

3. A sorting robotic arm according to claim 2, characterized in that: The connecting box (5) has guide plates (11) on both sides inside. The toothless end of the rack (8) is slidably connected to the guide plate (11). The two racks (8) are symmetrical about the center of the gear (7). The two connecting plates (10) are slidably connected to the bottom opening of the connecting box (5).

4. A sorting robotic arm according to claim 1, characterized in that: The bottom lateral movement assembly (4) includes a housing (12), with a cavity inside the housing (12). A lead screw (13) is rotatably connected to one side inside the housing (12), and a moving block (15) is threaded onto the surface of the lead screw (13). A slot (16) is opened at the upper end of the housing (12), and the upper end of the moving block (15) passes through the slot (16) and is fixedly connected to the bottom of the robotic arm body (1).

5. A sorting robotic arm according to claim 4, characterized in that: The housing (12) is fixedly provided with a guide rod (14) inside, and the moving block (15) is slidably sleeved with the guide rod (14). One end of the housing (12) is provided with a second motor (17), and the output end of the second motor (17) is fixedly connected to a lead screw (13).

6. A sorting robotic arm according to claim 1, characterized in that: The robotic arm body (1) includes: A base (18) is provided with a turntable (19) rotatably mounted on the upper part of the base (18). A multi-joint robotic arm (25) is provided on the upper part of the turntable (19). A rotating shaft (20) is fixedly mounted on the lower part of the turntable (19). A gear (21) is fixedly mounted on the surface of the rotating shaft (20). Motor 3 (22) is fixedly connected inside the base (18). The output end of motor 3 (22) is provided with gear 3 (23), and gear 2 (21) meshes with gear 3 (23).

7. A sorting robotic arm according to claim 6, characterized in that: The turntable (19) has an annular groove on its lower surface. The base (18) has two symmetrical support rods (24) inside. The upper end of the support rod (24) is slidably connected to the inside of the annular groove. The bottom of the rotating shaft (20) is rotatably connected to the inside of the base (18).

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