A multi-specification workpiece dispensing system

Abstract

The utility model relates to a kind of multi-specification workpiece distribution systems, comprising: workpiece, is iron, solid or hollow plate-shaped object, and the workpiece is distinguished as different specifications in appearance, thickness;Conveying mechanism;Visual component, the position of the workpiece on the conveying mechanism is recorded by visual system, and the workpiece specification;Industrial robot, the industrial robot is six degrees of freedom, execution end can be from the workpiece on the conveying mechanism and change the workpiece position;Running car;Workbench;The workpiece on the conveying mechanism is placed on the running car by the industrial robot receiving the position and specification signal of the workpiece on the conveying mechanism identified by the visual component, and the workpiece of same specification is stacked together, and the workpiece classified by the running car is transported out, beneficial effect is to propose a new process system using industrial robot to realize workpiece distribution.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robot applications, specifically relating to a multi-specification workpiece distribution system. Background Technology

[0002] Manhole covers, manhole rings, and manhole grates are important components of urban infrastructure, and their production demand is characterized by numerous specifications and small batches. The product material is ductile iron, which undergoes spheroidization and inoculation treatment to obtain spheroidal graphite, effectively improving the mechanical properties of cast iron, especially its plasticity and toughness; its strength can even reach a level higher than carbon steel. Ductile iron manhole covers are generally available in round, square, and triangular shapes. In urban road administration, round covers are generally used because they are less prone to tilting, better protecting the safety of pedestrians and vehicles. Ductile iron manhole covers are available in various load-bearing ratings, such as heavy-duty (400KN), standard (250KN), and light-duty (125KN), to meet the needs of different roads and areas. Ductile iron manhole covers and rings integrate multiple functions such as shock absorption, noise reduction, theft prevention, slip resistance, displacement prevention, and damage prevention, improving the safety and convenience of urban infrastructure. Manhole covers can be divided into decorative manhole covers and ordinary manhole covers according to the surface pattern. Decorative manhole covers are produced by combining artistry and functionality. The patterns and designs on the surface of the manhole cover are cast onto the metal, and then filled with colored metallic paint according to the patterns, thus forming a ductile iron painted art manhole cover.

[0003] The inventors, in their research of existing technologies, discovered that manhole cover and frame production lines typically include raw material preparation, mold forming, product demolding, quality inspection, and handling / palletizing. In the handling stage, workers must remove the formed manhole covers and frames from the production line and transport them to designated areas for stacking or further processing. The entire handling process relies heavily on manual labor, requiring workers to use simple handling tools (such as forklifts and handcarts). Manual handling has limited speed and is affected by factors such as worker fatigue and skill level, making it difficult to significantly improve production efficiency. Manhole covers and frames are usually quite heavy, posing safety risks such as injuries from impacts and sprains during manual handling. With rising labor costs, manual handling costs are gradually increasing, becoming a significant component of enterprise production costs.

[0004] With an aging population and changes in the labor market, businesses face labor shortages and struggle to recruit enough skilled workers. Introducing industrial robots for handling and palletizing manhole covers and frames into production lines is not only a technological upgrade but also a strategic choice for businesses to reduce costs, increase efficiency, ensure safety and control, and improve quality. Therefore, there is an urgent need for a system that utilizes industrial robots for product distribution. Summary of the Invention

[0005] To overcome the problems of manual handling and sorting in existing technologies, the inventors have developed a distribution process layout and method adapted to plate-shaped workpieces such as manhole covers, manhole rings, and grates, utilizing industrial robots. The technical solution adopted in this invention is: a multi-specification workpiece distribution system, comprising:

[0006] The workpiece is an iron plate-shaped object, solid or hollow, and the workpiece is distinguished by different specifications in terms of shape and thickness;

[0007] The conveying mechanism is a linear conveying device, on which the workpiece is placed flat and moves linearly with the aid of the conveying mechanism;

[0008] The workpieces are randomly placed on the conveying mechanism;

[0009] A vision component records the position of the workpiece on the conveying mechanism and the specifications of the workpiece through a vision system;

[0010] An industrial robot, the industrial robot having six degrees of freedom, whose actuator is capable of grasping the workpiece from the conveying mechanism and changing the position of the workpiece;

[0011] The transport vehicle has a flat surface on top that allows for stacking the workpieces, and can stack two or more sets of the workpieces. The transport vehicle reciprocates within and outside the working radius of the industrial robot.

[0012] The workbench is connected to the conveying mechanism, vision component, industrial robot, and transport vehicle, and issues operation commands accordingly.

[0013] The industrial robot receives the position and specification signals of the workpiece on the conveying mechanism identified by the vision component, picks up the workpiece on the conveying mechanism and places it on the trolley, and workpieces of the same specification are stacked together, and the trolley transports the sorted workpieces out.

[0014] Furthermore,

[0015] The transport vehicles consist of two units, with their transport tracks located on either side of the industrial robot.

[0016] The transport trajectory of the conveying mechanism is perpendicular to the transport trajectory of the operating vehicle, and the transport trajectories of the two operating vehicles and the transport trajectory of the conveying mechanism form a π shape.

[0017] Furthermore,

[0018] The number of stacked workpieces allowed on the transport vehicle is greater than or equal to the number of different specifications of workpieces passing through the conveying mechanism.

[0019] Furthermore, the visual component includes:

[0020] The support frame is a closed or open frame structure, and the conveying mechanism passes through the lower part of the support frame;

[0021] The lighting assembly consists of multiple light sources facing the conveying plane of the conveying mechanism, so that the workpiece is illuminated by a ring of light as it passes through the vision assembly;

[0022] An optical grating ruler is fixedly connected to the support frame and located to the side of the conveying mechanism to measure the height of the workpiece on the conveying mechanism.

[0023] It also includes an image acquisition component, which comprises:

[0024] A camera acquires images of the workpiece's shape and position on the conveying mechanism from the top side of the workpiece.

[0025] The position adjustment component is a driven frame located on the support frame or outside the support frame. The camera is fixedly connected to the position adjustment component and the distance from the top surface of the workpiece is adjusted by means of the position adjustment component.

[0026] When the workpiece passes through the support frame, the grating ruler first determines the height of the workpiece on the conveying mechanism, and the position adjustment component adjusts the position of the camera according to the height so that the distance between the camera and the workpiece of different specifications is a fixed value when the camera acquires the image.

[0027] Furthermore, the industrial robot includes:

[0028] The execution fixture is a magnetic fixture connected to the execution end of the industrial robot.

[0029] Furthermore, the execution tooling includes:

[0030] The support plate is a flat plate-shaped body that is perpendicular to and fixedly connected to the T-axis of the industrial robot and can rotate with the aid of the T-axis;

[0031] The fixed base is a component that is slidably connected to the support plate;

[0032] A magnetic head is connected to the fixed base, with the magnetic surface facing away from the support plate; one or more magnetic heads are connected to the fixed base.

[0033] The fixing base consists of two or more sets;

[0034] The adjustment drive is fixedly connected to the support plate, driving multiple sets of fixed seats to move closer to or away from the center of the support plate;

[0035] The magnetic suction head adapts to gripping workpieces of different sizes by means of the adjustment drive.

[0036] Furthermore,

[0037] The magnetic head and the fixed base also include two or more sets of guide rods. The fixed base is provided with a guide rail that can limit the maximum extension of the guide rods. The outer side of the guide rods is fitted with springs whose ends are respectively fixedly connected to the magnetic head and the fixed base.

[0038] The magnetic suction head and the fixed base are flexibly connected, so that when the workpiece gripping surface is tilted or non-planar, the magnetic suction head can fit against the workpiece surface.

[0039] Furthermore,

[0040] The conveying mechanism has a transport speed not exceeding 100 mm / second.

[0041] Furthermore,

[0042] The workpieces are manhole covers, manhole rings, and grates of different specifications and sizes.

[0043] A method for distributing multi-specification workpieces, comprising:

[0044] The above-mentioned multi-specification workpiece distribution system, and the following method:

[0045] The workpieces of different specifications are placed on the conveying mechanism after being formed;

[0046] The workpiece moves linearly at a speed of 35 mm / s to 75 mm / s using the conveying mechanism;

[0047] The vision component determines the position of the workpiece center on the conveying mechanism, the height of the workpiece top surface, and the type of workpiece specifications.

[0048] The workbench calculates the time it takes for the workpiece to enter the working radius of the industrial robot, the gripping position of the industrial robot, the movement trajectory of the industrial robot, and the stacking position on the transport vehicle;

[0049] The workpiece is transported to the operating radius of the industrial robot, where the industrial robot picks up the workpiece and places it on the transport vehicle;

[0050] The transport vehicle will carry out the sorted workpieces.

[0051] The advantages of this utility model over the prior art are as follows:

[0052] 1. A new process system for workpiece distribution using industrial robots was proposed;

[0053] 2. The transportation trajectory of the mobile vehicle and the transportation trajectory of the conveyor mechanism form a π-shaped process layout to achieve the most efficient distribution of a single industrial robot;

[0054] 3. A vision component adapted to workpieces is proposed to enable industrial robots to perform visual recognition when workpieces are randomly placed.

[0055] 4. A new execution fixture was designed; Attached Figure Description

[0056] Figure 1 This is a process layout diagram of a specific embodiment of the present utility model;

[0057] Figure 2 This is a schematic diagram of the industrial robot's grasping and placing walking path according to a specific embodiment of this utility model;

[0058] Figure 3 This is an axial view of the visual component according to a specific embodiment of the present utility model;

[0059] Figure 4 This is a front view of the visual component according to a specific embodiment of the present invention;

[0060] Figure 5 This is an axial view of the image acquisition component according to a specific embodiment of the present invention;

[0061] Figure 6 This is a front view of an industrial robot according to a specific embodiment of the present invention;

[0062] Figure 7 This is a tooling shaft view of a specific embodiment of the present invention;

[0063] The annotation is represented as follows:

[0064] 100 - Conveying mechanism;

[0065] 200 - Vision component; 210 - Support frame; 220 - Illumination component; 230 - Image acquisition component; 231 - Position adjustment component; 232 - Camera; 240 - Grating ruler;

[0066] 300-Workbench;

[0067] 400 - Industrial robot; 410 - Tooling; 411 - Support plate; 412 - Magnetic head; 413 - Adjustment drive; 414 - Fixed base; 415 - Guide rod;

[0068] 500 - Transport vehicle; 600 - Workpiece Detailed Implementation

[0069] The technical solutions in the embodiments are clearly and completely described. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0070] To overcome the problems of manual handling and sorting in existing technologies, the inventors utilized industrial robots to develop a distribution process layout and method adapted to plate-shaped workpieces such as manhole covers, manhole rings, and grates. Please refer to... Figures 1 to 7 The specific implementation method is as follows: a multi-specification workpiece distribution system, comprising:

[0071] Workpiece 600 is a plate-shaped object made of iron, either solid or hollow, and it varies in size and thickness. Due to engineering requirements, workpiece 600 is typically circular, with diameters ranging from 300mm to 710mm. The thickness, which can be understood as its height on the conveyor mechanism 100, is mainly determined by the load capacity. (For further information, please refer to...) Figure 1 Taking manhole covers as an example, anti-theft pins are installed around the circumference of the manhole cover. These pins are used to connect to the manhole frame. Therefore, the position and orientation of the pins should also be considered when placing the manhole cover.

[0072] The conveying mechanism 100 is a linear conveying device. The workpiece 600 is placed flat on the conveying mechanism 100 and moves linearly with the help of the conveying mechanism 100. Generally, the slat conveyor is widely used in heavy-duty transportation.

[0073] The workpiece 600 is randomly placed on the conveying mechanism 100. Since the previous station needs to process the workpiece 600, usually by shot blasting or vibration to remove sand, the position of the workpiece 600 on the production line is uncertain at this time.

[0074] The vision component 200 records the position of the workpiece 600 on the conveying mechanism 100 and the specifications of the workpiece 600 through the vision system.

[0075] An industrial robot 400, which has six degrees of freedom, has an actuator capable of gripping the workpiece 600 from the conveying mechanism 100 and changing the position of the workpiece 600.

[0076] The transport vehicle 500 has a flat surface on its top that is capable of stacking the workpieces 600, and can stack two or more sets of the workpieces 600. The transport vehicle 500 reciprocates within and outside the working radius of the industrial robot 400.

[0077] The workbench 300 is connected to the conveying mechanism 100, the vision component 200, the industrial robot 400, and the transport vehicle 500 by signal communication, and issues operation commands.

[0078] The industrial robot 400 receives the position and specification signals of the workpiece 600 on the conveying mechanism 100, identified by the vision component 200, grasps the workpiece 600 on the conveying mechanism 100, places it on the transport vehicle 500, and stacks workpieces 600 of the same specification together. The transport vehicle 500 then transports the sorted workpieces 600 out. This embodiment realizes the identification and sorting of workpieces 600 when their position is uncertain, and represents the first application of this technology for heavy-duty plate-shaped workpieces such as manhole covers.

[0079] In other embodiments, preferably, please refer to [reference needed]. Figure 1 A layout process was proposed.

[0080] There are two transport vehicles 500, and their transport tracks are located on both sides of the industrial robot 400.

[0081] The transport trajectory of the conveying mechanism 100 is perpendicular to the transport trajectory of the operating vehicle 500, and the transport trajectories of the two operating vehicles 500 and the transport trajectory of the conveying mechanism 100 form a π shape.

[0082] In other embodiments, preferably, to ensure that sorting does not result in conflicts.

[0083] The number of stacked workpieces 600 allowed on the transport vehicle 500 is greater than or equal to the number of different specifications of workpieces 600 passing through the conveyor mechanism 100. It should be noted that the overall technical solution presents two main challenges: first, the specifications—the production process does not continuously produce a particular specification; production specifications need to be adjusted according to order requirements, which increases the difficulty of sorting and distributing workpieces on the production line; second, the randomness of placement on the conveyor mechanism 100. Therefore, simple positioning and grasping by the industrial robot 400 is not suitable. A front-end vision component 200 is needed to record the position of the workpiece 600 on the conveyor mechanism 100 and the specifications of the workpiece 600; position and specifications are essential parameters for the industrial robot 400's grasping. This technical solution utilizes these two parameters within a reasonable process layout to achieve its operation.

[0084] In other embodiments, please refer to Figures 3 to 5 A visual recognition technology solution is proposed, wherein the visual component 200 includes:

[0085] The support frame 210 is a closed or open frame structure, and the conveying mechanism 100 passes through the lower part of the support frame 210;

[0086] The lighting assembly 220 is a lighting device with multiple light sources facing the conveying plane of the conveying mechanism 100, so that the workpiece 600 is illuminated by ring light when it passes through the vision assembly 200;

[0087] The grating ruler 240 is fixedly connected to the support frame 210 and located on the side of the conveying mechanism 100 to measure the height of the workpiece 600 on the conveying mechanism 100;

[0088] It also includes an image acquisition component 230, which includes:

[0089] Camera 232 acquires images of the shape of the workpiece 600 and its position on the conveying mechanism 100 from the upper side of the workpiece 600;

[0090] The position adjustment component 231 is a driven frame located on the support frame 210 or outside the support frame 210. The camera 232 is fixedly connected to the position adjustment component 231 and the distance from the top surface of the workpiece 600 is adjusted by means of the position adjustment component 231.

[0091] When the workpiece 600 passes through the support frame 210, the grating ruler 240 first determines the height of the workpiece 600 on the conveying mechanism 100, and the position adjustment component 231 adjusts the position of the camera 232 according to the height so that the distance between the camera 232 and the workpiece 600 of different specifications is a fixed value when the camera 232 acquires the image.

[0092] The overall recognition system, including the vision component 200, is an automated solution that uses two-dimensional image processing technology to determine the position and posture of objects. Its core components can be divided into a hardware layer, a software layer, and an algorithm layer. The hardware layer includes: a camera 232, a grating ruler 240, an illumination component 220, a moving cart 500, and an industrial robot 400, etc., using LED light sources. The configuration needs to be adjusted according to the surface characteristics of the object. Ring light can reduce shadows on uneven surfaces, and polarized light can reduce reflection interference from reflective surfaces. The vision processing software provides functions such as image acquisition, preprocessing, feature extraction, and matching. Commercial software such as CognexVisionPro is powerful and supports customization, while open-source software such as OpenCV is flexible and low-cost, suitable for developers to quickly prototype. The algorithm layer includes image preprocessing algorithms, feature extraction algorithms, feature matching algorithms, and localization algorithms. Image preprocessing algorithms improve image quality through techniques such as noise reduction, contrast adjustment, and histogram equalization. For example, Gaussian filtering can smooth the image and reduce noise interference; histogram equalization can enhance contrast and make features more prominent. Feature extraction algorithms identify key features in images, such as corners and edges. Common algorithms include SIFT (Scale Invariant Feature Transform), SURF (Speed-Up Robust Feature Transform), and ORB (Oriented Fast and Rotated BRIEF). For example, SIFT is invariant to rotation and scale changes, making it suitable for feature matching in complex scenes. Feature matching algorithms compare extracted features with features in a template or database to determine the target location. Common methods include nearest neighbor matching, FLANN matching, and machine learning-based matching algorithms. For example, FLANN matching accelerates the search by building an index tree, improving matching efficiency. Localization algorithms calculate the coordinates of the target object in the image based on feature matching results. Monocular vision localization infers the position using a single camera and is suitable for simple scenes. Deep learning algorithms, such as Convolutional Neural Networks (CNNs), automatically learn image features, improving the accuracy of recognition and localization. For example, the YOLO (You Only Look Once) algorithm can detect multiple targets in an image in real time, making it suitable for object localization on high-speed production lines.

[0093] In other embodiments, the execution end is optimized in the technical solution, and the industrial robot 400 includes:

[0094] The execution fixture 410 is a magnetic suction fixture connected to the execution end of the industrial robot 400.

[0095] Specifically, the execution fixture 410 includes:

[0096] The support plate 411 is a flat plate-shaped body that is perpendicular to and fixedly connected to the T-axis of the industrial robot 400T and can rotate by means of the T-axis;

[0097] The fixed base 414 is a component that is slidably connected to the support plate 411;

[0098] A magnetic head 412 is connected to the fixed base 414, with the magnetic surface facing away from the support plate 411. One or more magnetic heads 412 are connected to the fixed base 414.

[0099] There are two or more sets of the fixing base 414;

[0100] Adjustment drive 413 is fixedly connected to the support plate 411 and drives multiple sets of fixed seats 414 to move closer to or away from the center of the support plate 411.

[0101] The magnetic suction head 412, with the aid of the adjustment drive 413, adapts to gripping workpieces 600 of different specifications.

[0102] Please see Figure 2 , Figure 6 and Figure 7 In this embodiment, the principle of magnetic attraction is used to grasp workpieces 600 of different specifications. Please note that... (See also...) Figure 7 The adjustment drive 413 utilizes a gear and rack structure to adjust the position of the magnetic suction head 412. Alternatively, a similar structure to the drive hook can be used for position adjustment. The magnetic suction heads 412 can be arranged in two or more groups, with equal or disparate spacing. The tooling proposed in this embodiment is designed to accommodate situations where the workpiece 600 has distinctive edges that require stacking of items with the same features in the same position during stacking.

[0103] In other embodiments, preferably,

[0104] The magnetic head 412 and the fixed base 414 are further provided with two or more sets of guide rods 415. The fixed base 414 is provided with a guide rail that can limit the maximum extension of the guide rods 415. The outer side of the guide rods 415 is fitted with springs whose ends are respectively fixedly connected to the magnetic head 412 and the fixed base 414.

[0105] The magnetic suction head 412 and the fixed base 414 are flexibly connected so that when the gripping surface of the workpiece 600 is tilted or non-planar, the magnetic suction head 412 can fit against the surface of the workpiece 600.

[0106] Please see Figure 7The guide rod 415 is sleeved inside the fixed base 414. When only the size of the clearance fit needs to be determined—for example, when the clearance is small, the magnetic head 412 only has flexibility in the vertical direction; when the clearance fit is larger, such as exceeding 1mm, it can have flexibility in the lateral direction. During the magnetic attraction process, the actuator of the industrial robot 400 will not have hard contact with the workpiece 600, thus avoiding affecting the position of the industrial robot 400 or causing the actuator of the industrial robot 400 to move. Simultaneously, considering the issue of hard contact, the inventors also required the actuator to synchronize with the speed of the conveying mechanism 100 for a short distance at the moment of contact to counteract the effects of inertia.

[0107] In some embodiments, preferably

[0108] The conveying mechanism 100 has a transport speed not exceeding 100 mm / second.

[0109] In some embodiments,

[0110] The workpiece 600 consists of manhole covers, manhole rings, and grates of different specifications and sizes.

[0111] The embodiment also proposes a method for distributing multi-specification workpieces, including:

[0112] The multi-specification workpiece distribution system described in the above embodiments, and the following method:

[0113] The workpieces 600 of different specifications are placed on the conveying mechanism 100 after being formed;

[0114] The workpiece 600 moves linearly at a speed of 35 mm / s to 75 mm / s with the aid of the conveying mechanism 100;

[0115] The vision component 200 determines the position of the center of the workpiece 600 on the conveying mechanism 100, the height of the top surface of the workpiece 600, and the specification type of the workpiece 600.

[0116] The workbench 300 calculates the time it takes for the workpiece 600 to enter the working radius of the industrial robot 400, the gripping position of the industrial robot 400, the movement trajectory of the industrial robot 400, and the stacking position on the transport vehicle 500.

[0117] The workpiece 600 is transported to the working radius of the industrial robot 400, where the industrial robot 400 picks up the workpiece 600 and places it on the transport vehicle 500.

[0118] The transport vehicle 500 will transport the sorted workpieces 600 out.

[0119] In specific operation: the workpiece 600 is first randomly placed on the conveyor mechanism 100 with a certain width. The conveyor mechanism 100 runs linearly at a speed of 35mm / second to 75mm / second. When the workpiece 600 enters the vision component 200, its thickness is first detected by the grating ruler 240, or it can be understood as the height of the workpiece 600 on the conveyor mechanism 100. The position adjustment component 231 drives the camera 232 to a pre-set fixed height. That is, the distance between the top surface of the workpiece 600 of different specifications and the camera 232 is constant. Then, the worktable 300 analyzes the specifications of the workpiece 600 and its position on the conveyor mechanism 100 based on the image, as well as the time it takes to enter the working radius of the industrial robot 400. When workpiece 600 enters the working radius of industrial robot 400, or even before it enters, the actuator of industrial robot 400 is positioned above workpiece 600. The actuator grips workpiece 600 and transports it to transport cart 500. Workpieces of different specifications 600 are stacked in different locations. When the number of workpieces 600 stacked reaches a preset quantity, transport cart 500 removes them. Generally, after entering the distribution station from the production station, they are sorted by the distribution station and then transported to the finishing and painting stations. This system as a whole exists in the form of a central sorting station to achieve the purpose of sorting and transportation.

[0120] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A multi-specification workpiece distribution system, characterized in that, include: The workpiece (600) is an iron plate-shaped object, solid or hollow, and the workpiece (600) is divided into different specifications in terms of shape and thickness. The conveying mechanism (100) is a linear conveying device. The workpiece (600) is placed flat on the conveying mechanism (100) and moves linearly with the help of the conveying mechanism (100). The workpiece (600) is randomly placed on the conveying mechanism (100); A vision component (200) records the position of the workpiece (600) on the conveying mechanism (100) and the specifications of the workpiece (600) through a vision system; An industrial robot (400) having six degrees of freedom, the actuator being able to grasp the workpiece (600) from the conveying mechanism (100) and change the position of the workpiece (600); The transport vehicle (500) has a flat surface on its top that is capable of stacking the workpieces (600), and can stack two or more sets of the workpieces (600). The transport vehicle (500) reciprocates within and outside the working radius of the industrial robot (400). The workbench (300) is connected to the conveying mechanism (100), vision component (200), industrial robot (400), and transport vehicle (500) by signal and issues operation commands. The industrial robot (400) receives the position and specification signal of the workpiece (600) on the conveying mechanism (100) identified by the vision component (200), picks up the workpiece (600) on the conveying mechanism (100) and places it on the transport vehicle (500), and the workpieces (600) of the same specification are stacked together, and the transport vehicle (500) transports the sorted workpieces (600) out.

2. The multi-specification workpiece distribution system according to claim 1, characterized in that, There are two transport vehicles (500), and their transport tracks are located on both sides of the industrial robot (400); The transport trajectory of the conveying mechanism (100) is perpendicular to the transport trajectory of the operating vehicle (500), and the transport trajectories of the two operating vehicles (500) and the transport trajectory of the conveying mechanism (100) form a π shape.

3. The multi-specification workpiece distribution system according to claim 1, characterized in that, The number of stacked workpieces (600) allowed on the transport vehicle (500) is greater than or equal to the number of different specifications of workpieces (600) passing through the conveying mechanism (100).

4. The multi-specification workpiece distribution system according to claim 1, characterized in that, The visual component (200) includes: The support frame (210) is a closed or open frame structure, and the conveying mechanism (100) passes through the lower part of the support frame (210); The lighting assembly (220) is a lighting device with multiple light sources facing the conveying plane of the conveying mechanism (100) so that the workpiece (600) is illuminated by a ring of light when it passes through the vision assembly (200); A grating ruler (240) is fixedly connected to the support frame (210) and located on the side of the conveying mechanism (100) to measure the height of the workpiece (600) on the conveying mechanism (100); It also includes an image acquisition component (230), the image acquisition component comprising: A camera (232) acquires images of the shape of the workpiece (600) and its position on the conveying mechanism (100) from the upper side of the workpiece (600); The position adjustment component (231) is a driven frame located on the support frame (210) or outside the support frame (210). The camera (232) is fixedly connected to the position adjustment component (231) and the distance from the top surface of the workpiece (600) is adjusted by means of the position adjustment component (231). When the workpiece (600) passes through the support frame (210), the grating ruler (240) first determines the height of the workpiece (600) on the conveying mechanism (100). The position adjustment component (231) adjusts the position of the camera (232) according to the height, so that when the camera (232) acquires the image, the distance between the camera (232) and the workpiece (600) of different specifications is a fixed value.

5. The multi-specification workpiece distribution system according to claim 1, characterized in that, The industrial robot (400) includes: The execution fixture (410) is a magnetic suction fixture connected to the execution end of the industrial robot (400).

6. The multi-specification workpiece distribution system according to claim 5, characterized in that, The execution fixture (410) includes: The support plate (411) is a flat plate-shaped body that is perpendicular to and fixedly connected to the T-axis of the industrial robot (400) and can rotate with the aid of the T-axis; The fixed base (414) is a component that is slidably connected to the support plate (411); A magnetic head (412) is connected to the fixed base (414), with the magnetic surface facing away from the support plate (411), and one or more magnetic heads (412) are connected to the fixed base (414); The fixing base (414) is in two or more sets; Adjustment drive (413) is fixedly connected to the support plate (411) and drives multiple sets of fixed seats (414) to move closer to or away from the center of the support plate (411); The magnetic suction head (412) is adapted to grip the workpiece (600) of different sizes by means of the adjustment drive (413).

7. The multi-specification workpiece distribution system according to claim 6, characterized in that, The magnetic head (412) and the fixed base (414) are further provided with two or more sets of guide rods (415). The fixed base (414) is provided with a guide rail that can limit the maximum elongation of the guide rod (415). The outer side of the guide rod (415) is fitted with a spring whose end is fixedly connected to the magnetic head (412) and the fixed base (414). The magnetic suction head (412) and the fixed base (414) are flexibly connected so that when the gripping surface of the workpiece (600) is tilted or non-planar, the magnetic suction head (412) can fit against the surface of the workpiece (600).

8. The multi-specification workpiece distribution system according to claim 1, characterized in that, The conveying mechanism (100) has a transport speed not exceeding 100 mm / second.

9. The multi-specification workpiece distribution system according to claim 1, characterized in that, The workpieces (600) are manhole covers, manhole rings, and grates of different specifications and sizes.

Images