CN212597197U - Rapid sorting system for thin sheet workpieces - Google Patents

Abstract

The utility model provides a thin slice type workpiece rapid sorting system, which comprises a control system, a robot gripping device, a feeding device, a plurality of sorting charging trays and a workpiece identification device, wherein workpieces to be sorted are gripped by the robot gripping device, a sucker component of the robot gripping device adopts a non-contact sucker which is particularly suitable for gripping thin, soft and breathable workpieces, and the difficulty in gripping the workpieces is solved, so that the robot can automatically grip and sort the workpieces conveniently, the labor cost is reduced, and the sorting efficiency is improved; the workpiece recognition device can recognize information of workpieces to be sorted, so that the robot gripping device sorts the workpieces to be sorted to the corresponding sorting tray according to the workpiece information, and the automation level of the whole sorting system is improved.

Description

Rapid sorting system for thin sheet workpieces

Technical Field

The utility model relates to an automatic sorting technical field specifically is a quick letter sorting system of thin slice class work piece.

Background

The conventional sucker or gripper cannot effectively grab due to the characteristics of thin, soft, breathable and poor surface roughness of a workpiece, so that the workpiece cannot be grabbed firmly, cannot grab a plurality of workpieces at the same time, and is difficult to identify the bar code due to the porous characteristic of the surface of the sheet. At present, the thin-sheet workpieces are mostly sorted by adopting a manual operation mode, and the following defects and shortcomings are provided:

1. the bar code is manually identified, so that the identification rate is low;

2. data are recorded manually, so that the efficiency is low and the error rate is high;

3. manual sorting is low in efficiency, high in labor intensity, incapable of realizing large-scale sorting and suitable for mass production;

4. the work piece is softer, snatchs the difficulty, and the manual work can't be put neatly.

SUMMERY OF THE UTILITY MODEL

The utility model provides a thin slice class work piece quick sorting system realizes snatching and sorting the automation of thin slice class work piece, improves letter sorting efficiency, reduces the error rate.

In order to achieve the technical effects, the utility model discloses a technical scheme be, a thin slice class work piece quick sorting system, include:

a control system;

the robot gripping device is used for gripping a workpiece to be sorted and comprises a robot and a sucker assembly arranged at the tail end of a mechanical arm of the robot, wherein the sucker assembly comprises a mounting plate fixedly connected with the tail end of the mechanical arm of the robot and a plurality of non-contact suckers fixedly arranged on the mounting plate and positioned below the mounting plate;

the feeding device is used for feeding the workpieces to be sorted to a material taking position for the robot gripping device to grip;

the sorting trays are used for storing the sorted workpieces;

the workpiece recognition device is used for recognizing information of workpieces to be sorted and is in communication connection with the robot, so that the robot gripping device can sort the workpieces to be sorted to the corresponding sorting tray according to the information recognized by the workpiece recognition device.

The quick sorting system for the thin sheet workpieces further comprises:

the vision positioning device is used for correcting the deviation of the workpiece to be sorted and grabbed by the robot grabbing device and comprises a light source assembly and a camera, and the vision positioning device is positioned between the feeding device and the robot grabbing device.

The feeding device comprises a feeding tray and a lifting mechanism, wherein the lifting mechanism is used for driving the feeding tray and workpieces to be sorted on the feeding tray to lift so that the workpieces to be sorted can be fed to the same material taking position.

The feeding device further comprises a fixedly arranged surrounding frame and is used for limiting the feeding tray and a lifting space on the feeding tray for workpieces to be sorted, the feeding tray is located in the lifting space, the lifting mechanism is located on the outer side of the surrounding frame, and the feeding tray and the lifting part of the lifting mechanism are fixedly connected into a whole through a connecting piece.

Enclose the frame and include the bottom plate and set firmly on the bottom plate and follow many pin poles that the circumference of bottom plate was laid, install on the bottom plate and be used for detecting whether there is the first detection switch who treats the letter sorting work piece in the material loading charging tray, it is used for detecting whether the letter sorting work piece material loading extremely to install on the top of enclosing the frame get the second detection switch of material position.

The first detection switch is a photoelectric sensor, a through part for the detection light of the first detection switch to penetrate through so as to irradiate the workpiece to be sorted is formed on the feeding tray, and the second detection switch is an optical fiber sensor.

The quick sorting system for the thin sheet workpieces further comprises:

and the code spraying device is used for spraying workpiece identification codes which can be identified by human eyes on the workpieces to be sorted according to the information of the workpieces to be sorted identified by the workpiece identification device.

The quick sorting system for the thin sheet workpieces further comprises:

and the alarm device is at least used for sending a sorting ending signal.

Robot grabbing device has along its circumference first lateral part, second lateral part, third lateral part and the fourth lateral part that sets gradually, and is a plurality of the letter sorting charging tray is laid first lateral part the second lateral part with the third lateral part, loading attachment is located robot grabbing device's fourth lateral part.

The quick sorting system for the thin sheet workpieces further comprises:

the robot gripping device, the feeding device and the sorting tray are all arranged on the fixed base plate;

the protective frame, control system, robot grabbing device loading attachment sorting charging tray reaches the base plate all establishes in the protective frame, last material loading mouth and the HMI of being equipped with of protective frame.

Compared with the prior art, the utility model has the advantages of it is following and positive effect:

1. the utility model discloses wait to sort the work piece and snatch by robot grabbing device, adopt non-contact sucking disc in robot grabbing device's the sucking disc subassembly, non-contact sucking disc utilizes the bernoulli principle, the through-hole that switches on from top to bottom is formed in the central line department that two correspond the terminal surface of sucking disc, compressed air gets into from the through-hole upper end, a plurality of air jets that lay along circumference from another terminal surface of sucking disc again spout, the intercommunicating pore that air inlet through-hole and a plurality of air jets set up through a plurality of slopes of corresponding quantity, the air jet is uncovered form bell mouth, meet the work piece through air jet spun compressed air, from air jet terminal surface center along sucking disc radial outside horizontal direction spread rapidly, take away central zone's air and produce the continuous negative pressure between work piece and sucking disc center by compressed air, absorb the work piece through the negative pressure of large tracts of land, the grabbing difficulty of the soft and breathable workpieces is solved, so that the robot can grab and sort the workpieces conveniently, the labor cost is reduced, the sorting efficiency is improved, and the requirement of mass production is met;

2. the workpiece recognition device can recognize information of workpieces to be sorted, so that the robot gripping device sorts the workpieces to be sorted to the corresponding sorting tray according to the workpiece information, and the automation level of the whole sorting system is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic structural diagram of a system for rapidly sorting sheet-type workpieces according to a preferred embodiment of the present invention;

FIG. 2 is a schematic view of a three-dimensional structure of a rapid sorting system for thin sheet workpieces without a protective frame according to the preferred embodiment of the present invention;

FIG. 3 is an enlarged view of the portion A of FIG. 2;

FIG. 4 is an axial cross-sectional view of a single non-contact suction cup in a preferred embodiment of the present invention;

FIG. 5 is a view taken along line A of FIG. 4;

FIG. 6 is an enlarged view of the portion B of FIG. 2;

fig. 7 is a schematic structural view of a feeding device in the preferred embodiment of the present invention.

Detailed Description

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 to 5, the system for rapidly sorting thin-sheet workpieces in this embodiment includes a control system (not shown), a robot gripping device 100, a loading device 200, a plurality of sorting trays 300, and a workpiece recognition device 400. The control system is used for automatic control of the whole system; the robot gripping device 100 is used for gripping a workpiece 500 to be sorted and comprises a robot 110 and a sucker assembly 120 arranged at the tail end of the mechanical arm of the robot 110, wherein the sucker assembly 120 comprises a mounting plate 121 fixedly connected with the tail end of the mechanical arm of the robot 110 and a plurality of non-contact type suckers 122 fixedly arranged on the mounting plate 121 and positioned below the mounting plate 121; the feeding device 200 is used for feeding the workpiece 500 to be sorted to a material taking position for the robot gripping device 100 to grip; the sorting trays 300 are used for storing the sorted workpieces, and the type of the workpieces stored in each sorting tray 300 can be set according to the sorting rule. In this embodiment, each sorting tray 300 is in a grid shape so as to store different sorted workpieces respectively; the workpiece recognition device 400 is used for recognizing information of workpieces to be sorted, and specifically, recognizing electronic tag information, such as bar codes or two-dimensional codes, on the workpieces to be sorted, and the workpiece recognition device 400 is in communication connection with the robot 110, so that the robot gripping device 100 sorts the workpieces 500 to be sorted to the corresponding sorting tray 300 according to the information recognized by the workpiece recognition device 400.

In this embodiment, the workpiece 500 to be sorted is a thin, soft and air-permeable sheet-shaped workpiece, such as foam, the workpiece 500 to be sorted is automatically picked by the robot gripping device 100, the suction cup assembly 120 of the robot gripping device employs the non-contact type suction cup 122, the structures of the suction cup assembly 120 and the non-contact type suction cup 122 are shown in fig. 3 to 5, the non-contact type suction cup 122 utilizes bernoulli's principle to form a through hole 122A which is communicated up and down at the center line of two corresponding end surfaces of the suction cup, compressed air enters from the upper end of the through hole 122A (the air flow direction is shown by the vertical downward arrow in fig. 4), and then is ejected from a plurality of air ejection ports 122B which are circumferentially arranged on the other end surface of the suction cup, the through hole 122A corresponding number of the plurality of air ejection ports 122B are communicated with a plurality of communication holes 122C which are obliquely arranged, the air ejection ports 122B are open-shaped conical holes, the air diffused from the air injection ports 122B is rapidly diffused along the radial outer horizontal direction of the sucker disc from the center of the end face of the air injection port 122B (the air flow direction is shown by an outward arc arrow in fig. 4 and an arrow in fig. 5), the air diffused from the plurality of air injection ports 122B is vortex-shaped, as shown in fig. 5, the air in the central area is taken away by the compressed air to generate continuous negative pressure between the workpiece and the center of the sucker disc, and the workpiece is sucked by large-area negative pressure (the direction of the force is shown by an upward arrow in fig. 4), so that the pneumatic vacuum suction device is particularly suitable for grabbing thin, soft and breathable workpieces, solves the grabbing difficulty of the workpieces, is convenient for automatic grabbing by a robot for sorting, reduces the labor cost, improves the; in addition, the workpiece recognition device 400 can recognize the information of the workpieces 500 to be sorted, so that the robot gripping device 100 sorts the workpieces 500 to be sorted to the corresponding sorting trays 300 according to the workpiece information, thereby improving the automation level of the whole sorting system.

As shown in fig. 1 and 2, the robot gripping device 100 has a first side portion, a second side portion, a third side portion and a fourth side portion which are sequentially arranged along a circumferential direction thereof, a plurality of sorting trays 300 are arranged at the first side portion, the second side portion and the third side portion, that is, three sides surround the robot gripping device 100, and the feeding device 200 is located at the fourth side portion of the robot gripping device 100. The feeding device 200 and the sorting tray 300 encircle the robot gripping device 100 for one circle, so that the robot gripping device 100 can take and place materials conveniently.

When placing the workpiece 500 to be sorted on the feeding device 200 and adopting manual discharging, because the workpiece is placed manually, it is difficult to ensure that the position of the workpiece 500 to be sorted placed at each time is uniform, i.e. there is a certain deviation, for example, some workpieces are not placed correctly and have an inclination, which results in that the initial position state of the workpiece 500 to be sorted, which is grabbed by the robot grabbing device 100 at each time, is not uniform, and thus the placing position on the sorting tray 300 has a deviation. In order to solve the technical problem, the system for rapidly sorting the sheet-like workpieces in this embodiment further includes a visual positioning device 600, which is used for correcting the deviation of the workpiece 500 to be sorted, which is grabbed by the robot grabbing device 100, so that the workpiece 500 to be sorted is placed in order in the sorting tray 300 after being sorted. Specifically, referring to fig. 6, the visual positioning device 600 includes a light source assembly 610 and a camera 620, the camera 620 is a CCD camera system or a CMOS camera system or other camera units capable of identifying and distinguishing workpieces through object images (shape, color difference, special features, etc.), and the visual positioning device is located between the feeding device 200 and the robot gripping device 100, so that the robot gripping device 100 performs visual deviation correction immediately after gripping the workpieces to be sorted from the feeding device 200.

Specifically, after the robot gripping device 100 grips the workpiece 500 to be sorted, the camera 620 photographs the workpiece 500 to be sorted to acquire position information, the information is processed and then transmitted to the control system, the control system controls the robot 110 to act, the workpiece 500 to be sorted is adjusted to a correct position, and then the workpiece 500 to be sorted is driven to be sorted by the workpiece recognition device 400 to recognize the workpiece information, and the workpiece is sorted.

As for the specific structural form of the feeding device 200, it can be a manual feeding tray, and also can be a conveyor for automatic feeding. In this embodiment, in order to reduce the equipment cost of the rapid sorting system for sheet type workpieces in this embodiment, the feeding device 200 in this embodiment adopts manual tray feeding, that is, it includes the feeding tray 210, and for sheet type workpieces, usually a plurality of workpieces are stacked up and down on one tray by tray feeding, so as to improve the utilization rate of the tray. Because along with the process of sorting, the total height of the stacked workpieces on the feeding tray 210 is reduced, in order to ensure that the robot gripping device 100 is located at the same position when gripping the workpiece 500 to be sorted each time, the height position of the sucker component 120 does not need to be adjusted according to the total height of the workpieces on the feeding tray 210, in the embodiment of the height, the feeding device 200 further comprises a lifting mechanism 220 besides the feeding tray 210, and the lifting mechanism 220 is used for driving the feeding tray 210 and the workpiece 500 to be sorted thereon to lift so as to enable the workpiece 500 to be sorted to be fed to the same material taking position. Along with the grabbing of the robot grabbing device 100, the number of the workpieces 500 to be sorted on the feeding tray 210 is gradually reduced, the total height of the workpieces is reduced, the lifting mechanism 220 drives the feeding tray 210 and the workpieces 500 to be sorted on the feeding tray to ascend, so that the workpieces 500 to be sorted on the uppermost layer are all located at the same fixed material taking position when the robot grabbing device 100 grabs each time, the sucker component 120 is not required to be driven to descend for a certain distance to contact the workpieces 500 to be sorted on the uppermost layer when the robot grabbing device 100 grabs each time, the action of the robot grabbing device 100 is made to be as simple as possible, the equipment cost of the robot is reduced, meanwhile, if the sucker component 120 is driven to descend for a certain distance when the robot grabbing device 100 grabs each time, the possibility that the sucker component 120 interferes with the feeding device 200 also exists, and the robot grabbing device is not.

More specifically, in the embodiment, the lifting mechanism 220 is a linear module, and the stroke precision is high.

In this embodiment, referring to fig. 7, the feeding device 200 further includes a fixed enclosing frame 230, which is used for defining a lifting space of the feeding tray 210 and the workpiece 500 to be sorted thereon, the feeding tray 210 and the workpiece 500 to be sorted thereon are located in the lifting space, so that the enclosing frame 230 circumferentially limits and protects the feeding tray 210 and the workpiece 500 to be sorted, and when the lifting mechanism 220 works, the lifting motion stability of the feeding tray 210 and the workpiece 500 to be sorted thereon is ensured, and the cross section of the lifting space enclosed by the enclosing frame 230 can be adapted to the contour shape of the workpiece 500 to be sorted, so as to better limit the workpiece, and meanwhile, the guiding is facilitated. The lifting mechanism 220 is located outside the enclosure frame 230, and the material loading tray 210 is fixedly connected with the lifting portion of the lifting mechanism 220 through a connecting member 240.

As shown in fig. 7, the enclosure frame 230 includes a bottom plate 231 and a plurality of blocking rods 232 fixedly disposed on the bottom plate 231 and arranged along the circumferential direction of the bottom plate 231, and a gap exists between adjacent blocking rods 232, so as to observe the condition of the workpiece 500 to be sorted in the lifting space at any time, and facilitate the connection between the connecting member 240 and the external lifting mechanism 220 and the internal loading tray 210. Meanwhile, the first detection switch 250 for detecting whether the workpieces 500 to be sorted exist in the feeding tray 210 is installed on the bottom plate 231, and the first detection switch 250 is in communication connection with the controller, so that when no workpieces 500 to be sorted exist is detected, a signal is transmitted to the controller, the controller controls the robot gripping device 100 to stop, a new workpiece 500 to be sorted is waited to be placed, smooth gripping of the robot gripping device 100 is guaranteed, and sorting efficiency is further improved; in addition, a second detection switch 260 for detecting whether the workpiece 500 to be sorted is loaded to the material taking position is installed at the top end of the enclosure frame 230, specifically, the top end of the enclosure frame is close to the stop lever 232, when the second detection switch 260 detects that the workpiece 500 to be sorted is loaded to the material taking position, a signal is transmitted to the controller, and the controller controls the robot gripping device 100 to grip.

For the first detection switch 250, it is only necessary to detect whether a workpiece exists, the precision requirement of the first detection switch 250 is low, for example, a photoelectric sensor is selected, and at this time, a through part (i.e., a through hole, not shown in the view angle reason diagram) is formed on the feeding tray 210, through which the detection light of the first detection switch 250 passes to irradiate on the workpiece 500 to be sorted; the second detection switch 260 needs to detect the accurate position of the workpiece 500 to be sorted, so that the precision requirement of the second detection switch 260 is high, and the second detection switch 260 selects an optical fiber sensor.

In order to convert the workpiece information on the workpiece 500 to be sorted into workpiece information recognizable to human eyes, the system for quickly sorting thin-sheet workpieces further includes a code spraying device 700, and after the workpiece 500 to be sorted, which is grabbed by the robot grabbing device 100, is identified by the workpiece identification device 400, the code spraying device 700 performs code spraying according to the workpiece information identified by the workpiece identification device 400 to form a workpiece identification code recognizable to human eyes, for example, information such as group number, thickness, and usage of the workpiece is sprayed on the back of the workpiece, which may be a Chinese character identifier, a character identifier, or a number identifier, so that the present embodiment further has an automatic code spraying function.

In addition, the system for rapidly sorting the thin-sheet workpieces of the embodiment further includes an alarm device 800 at least for sending a sorting end signal. After sorting is finished, the finishing information is transmitted to the alarm device 800, the alarm device 800 sends out a sorting finishing signal, the display screen can be configured in the rapid sorting system for the sheet workpieces, the sorting information is displayed on the display, and sorting results are automatically stored. The alarm device 800 may be an audible and visual alarm, which may also send another alarm signal for distinguishing when the first detection switch 250 detects that there is no workpiece on the feeding tray 210, in addition to sending the sorting end signal.

In the embodiment, the system for rapidly sorting sheet-like workpieces further includes a fixed substrate 900, as shown in fig. 1 and fig. 2, the robot gripping device 100, the feeding device 200, and the sorting tray 300 are all disposed on the fixed substrate 900, and in the embodiment, the code spraying device 700 and the visual positioning device 600 are also disposed on the fixed substrate 900 to form an organic whole.

Meanwhile, the system for rapidly sorting the sheet-like workpieces in the embodiment further includes a protection frame 1000, as shown in fig. 1, the control system, the robot gripping device 100, the feeding device 200, the sorting tray 300, and the fixing substrate 900 are all disposed in the protection frame 1000, acrylic glass can be inlaid on the protection frame 1000, the protection frame 1000 is provided with a feeding port 1100 and an HMI (human machine interface) 1200, and the alarm device 800 can also be disposed on the protection frame 1000. The fixing substrate 900 may be fixed on the inner wall of the protection frame 1000 by its periphery, and as described in fig. 1, the related devices of the control system may be disposed in the area below the fixing substrate 900 to save the overall floor space.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (10)

1. A quick sorting system for sheet workpieces is characterized by comprising:

a control system;

the robot gripping device is used for gripping a workpiece to be sorted and comprises a robot and a sucker assembly arranged at the tail end of a mechanical arm of the robot, wherein the sucker assembly comprises a mounting plate fixedly connected with the tail end of the mechanical arm of the robot and a plurality of non-contact suckers fixedly arranged on the mounting plate and positioned below the mounting plate;

the feeding device is used for feeding the workpieces to be sorted to a material taking position for the robot gripping device to grip;

the sorting trays are used for storing the sorted workpieces;

the workpiece recognition device is used for recognizing information of workpieces to be sorted and is in communication connection with the robot, so that the robot gripping device can sort the workpieces to be sorted to the corresponding sorting tray according to the information recognized by the workpiece recognition device.

2. The system for rapidly sorting sheet-like workpieces according to claim 1,

the quick sorting system for the thin sheet workpieces further comprises:

the vision positioning device is used for correcting the deviation of the workpiece to be sorted and grabbed by the robot grabbing device and comprises a light source assembly and a camera, and the vision positioning device is positioned between the feeding device and the robot grabbing device.

3. The system for rapidly sorting sheet-like workpieces according to claim 1,

the feeding device comprises a feeding tray and a lifting mechanism, wherein the lifting mechanism is used for driving the feeding tray and workpieces to be sorted on the feeding tray to lift so that the workpieces to be sorted can be fed to the same material taking position.

4. The system for rapidly sorting sheet-like workpieces according to claim 3,

the feeding device further comprises a fixedly arranged surrounding frame and is used for limiting the feeding tray and a lifting space on the feeding tray for workpieces to be sorted, the feeding tray is located in the lifting space, the lifting mechanism is located on the outer side of the surrounding frame, and the feeding tray and the lifting part of the lifting mechanism are fixedly connected into a whole through a connecting piece.

5. The system for rapidly sorting sheet-like workpieces according to claim 4,

enclose the frame and include the bottom plate and set firmly on the bottom plate and follow many pin poles that the circumference of bottom plate was laid, install on the bottom plate and be used for detecting whether there is the first detection switch who treats the letter sorting work piece in the material loading charging tray, it is used for detecting whether the letter sorting work piece material loading extremely to install on the top of enclosing the frame get the second detection switch of material position.

6. The system for rapidly sorting sheet-like workpieces according to claim 5,

the first detection switch is a photoelectric sensor, a through part for the detection light of the first detection switch to penetrate through so as to irradiate the workpiece to be sorted is formed on the feeding tray, and the second detection switch is an optical fiber sensor.

7. The system for rapidly sorting sheet-like workpieces according to claim 1,

the quick sorting system for the thin sheet workpieces further comprises:

and the code spraying device is used for spraying workpiece identification codes which can be identified by human eyes on the workpieces to be sorted according to the information of the workpieces to be sorted identified by the workpiece identification device.

8. The system for rapidly sorting sheet-like workpieces according to claim 5,

the quick sorting system for the thin sheet workpieces further comprises:

and the alarm device is at least used for sending a sorting ending signal.

9. The system for rapidly sorting sheet-like workpieces according to claim 1,

robot grabbing device has along its circumference first lateral part, second lateral part, third lateral part and the fourth lateral part that sets gradually, and is a plurality of the letter sorting charging tray is laid first lateral part the second lateral part with the third lateral part, loading attachment is located robot grabbing device's fourth lateral part.

10. The system for rapidly sorting sheet-like workpieces according to claim 1,

the quick sorting system for the thin sheet workpieces further comprises:

the robot gripping device, the feeding device and the sorting tray are all arranged on the fixed base plate;

the protective frame, control system, robot grabbing device loading attachment sorting charging tray reaches the base plate all establishes in the protective frame, last material loading mouth and the HMI of being equipped with of protective frame.

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