CN218226102U

CN218226102U - Automatic sorting system

Info

Publication number: CN218226102U
Application number: CN202222715722.8U
Authority: CN
Inventors: 张先锋; 马继宏; 岳宇琦; 陈红; 朱冬松; 石伟
Original assignee: Lvyang Shanghai Automatic Engineering Co ltd
Current assignee: Lvyang Shanghai Automatic Engineering Co ltd
Priority date: 2022-10-17
Filing date: 2022-10-17
Publication date: 2023-01-06
Anticipated expiration: 2032-10-17

Abstract

The embodiment of the utility model provides an automatic sorting system, including moving station and material loading station and first unloading station, second unloading station, the robot moves the station including the manipulator that is provided with grabbing device, grabbing device includes a center section of thick bamboo and the at least three different subassembly that snatchs, the material loading station is including putting frame and image acquisition device, first unloading station includes first work or material rest, second unloading station includes the second work or material rest, through so setting up, on the one hand area is little, two aspects have different grabbing device that snatch the subassembly through setting up on the manipulator and realize not needing to change grabbing device, also need the work piece to carry out specific arrangement, thereby improve letter sorting efficiency by a wide margin, can also be provided with the cleaning station, location platform station and the code reading station polish, in order to realize more diversified automation mechanized operation.

Description

Automatic sorting system

Technical Field

The utility model relates to an automatic sorting system.

Background

In industrial production, where different workpieces are to be sorted and where the sorted workpieces are to be preprocessed simultaneously, the different workpieces have different shapes and volumes, the conventional sorting systems mainly have the following forms:

firstly, the workpieces are configured to move along a conveying line, different selecting devices are arranged along the conveying line, when the workpieces pass through different selecting devices, the selecting devices grab or select the corresponding workpieces, the mode needs a longer conveying process, and a plurality of different grabbing or selecting devices need to be configured, on one hand, the occupied area is large, and on the other hand, the configuration of a plurality of different grabbing devices or selecting devices causes high cost.

Secondly, workpieces are placed in the material frame, the corresponding grabbing devices are installed by a selecting device to grab the workpieces one by one, then the grabbing devices are replaced, and then different workpieces are grabbed.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model provides an automatic sorting system to solve above-mentioned technical problem.

An automatic sorting system comprises a robot transfer station, a feeding station, a first discharging station and a second discharging station, wherein the feeding station, the first discharging station and the second discharging station are arranged on the periphery of the robot transfer station in a surrounding mode, the robot transfer station comprises a mechanical arm provided with a gripping device, the gripping device is configured to move among the feeding station, the first discharging station and the second discharging station, the gripping device comprises a central cylinder and at least three different gripping assemblies arranged on the central cylinder, the central cylinder comprises a pair of end portions and side walls connected with the end portions, an upper connecting plate and a lower connecting plate are arranged on the pair of end portions respectively, a pair of connecting cylinders extending towards the back direction are arranged on the side walls, the upper connecting plate is connected with the mechanical arm, the at least three different gripping assemblies are arranged on the lower connecting plate and the pair of connecting cylinders respectively, the feeding station comprises at least one placing frame and an image collecting device arranged above the placing frame, the first discharging station comprises a first material frame, and the second discharging station comprises a second material frame.

Further, the first material rack is the same as the placement rack.

Further, place the frame include the support and set up the material frame on the support, the support include a platform, the platform on be provided with the cushion cap that a pair of parallel interval set up, the cushion cap on be provided with the baffle, the baffle still includes the guide board, a pair of guide board is horn mouth form.

Further, the robot moves and carries the station still include the guide rail, the manipulator be configured to along the guide rail extending direction motion, the material loading station set up in the extending direction of guide rail, first unloading station and second unloading station set up the both sides at the guide rail.

Furthermore, the feeding station further comprises a linear slide rail, the image acquisition device is movably arranged on the linear slide rail, and the extension direction of the linear slide rail is perpendicular to that of the guide rail.

Furthermore, the upper connecting plate comprises a mounting surface, and the mounting surface is in a central symmetry shape.

Furthermore, the lower connecting plate is parallel to the installation surface, the grabbing component comprises a first grabbing component, the first grabbing component comprises a first magnetic suction part, a first telescopic component is arranged between the first magnetic suction part and the lower connecting plate, the telescopic component comprises a guide pillar, an elastic element and a limiting device, the elastic element is sleeved outside the guide pillar, and two ends of the elastic element are fixed on the first magnetic suction part and the lower connecting plate respectively.

Furthermore, a first rib plate and a second rib plate are arranged outside the central cylinder in a crossed manner, wherein the first rib plate is connected with the central cylinder and the pair of connecting cylinders, and the second rib plate is connected with the central cylinder, the upper connecting plate and the lower connecting plate.

Further, the first rib plate is parallel to the mounting surface, and the second rib plate is perpendicular to the first rib plate.

Furthermore, the second rib plate further comprises an insertion groove, and the insertion groove is inserted into the first rib plate.

Has the advantages that: the embodiment of the utility model provides an automatic sorting system, move the station and enclose to move and carry the peripheral material loading station and the first unloading station of station in the robot including the robot, second unloading station, the robot moves the station and includes a manipulator that is provided with grabbing device, grabbing device includes that a center section of thick bamboo and at least three difference snatch the subassembly, the material loading station is including putting frame and image acquisition device, first unloading station includes first work or material rest, second unloading station includes the second work or material rest, through so setting up, area is little on the one hand, the grabbing device that has the different subassembly of snatching through setting up on the manipulator in the two aspects realizes not needing to change grabbing device, also do not need the work piece to carry out specific alignment, thereby improve letter sorting efficiency by a wide margin.

In addition, the automatic sorting system can further comprise a cleaning station, a polishing positioning table station and a code reading station, when the polishing positioning table station and the code reading station are arranged, the workpieces are operated in the following sequence, namely the workpieces are acquired by the image acquisition device at the feeding station → the mechanical arm transfers the workpieces → polishes at the polishing positioning table station → carries out laser cleaning at the laser cleaning station → reads codes at the code reading station → then transfers the workpieces to the first blanking station or the second blanking station, and accordingly more various automatic operations are carried out on the workpieces under the condition of small occupied area.

Drawings

Fig. 1 is a schematic plan view of an automatic sorting system according to an embodiment of the present invention;

FIG. 2 is a perspective view of FIG. 1;

FIG. 3 is a top view of the shelf;

FIG. 4 is a perspective view of FIG. 3;

fig. 5 is a perspective view of the grasping apparatus.

Description of the illustrated elements:

a robot transfer station 10; a robot 11; a guide rail 111; a gripping device 12; a central cylinder 120; an upper connection plate 121; a lower connecting plate 122; a first magnetic attraction 1221; a first telescoping assembly 1222; a guide post 1222a; an elastic member 1222b; a stop 1222c; the first connecting cylinder 123; the second magnetic attraction portions 1231; a mounting seat 1232; a second connecting cylinder 124; a third magnetic attraction part 1241; a first rib 125; second web 126; a slot 1261; a feeding station 20; an image acquisition device 21; a linear slide rail 211; a placement frame 22; a bracket 220; a platform 221; a baffle 222; a guide plate 223; a position sensor 224; a stopper 225; a material frame 226; a first blanking station 30; a first stack 31; a second blanking station 40; a second rack 41; a cleaning station 50; a laser cleaning device 51.

Detailed Description

Referring to fig. 1-2, an automated sorting system for sorting different workpieces is provided, and will be further described with reference to the accompanying drawings.

The automatic sorting system comprises a robot transfer station 10, a feeding station 20, a first blanking station 30 and a second blanking station 40, wherein the feeding station 20, the first blanking station 30 and the second blanking station are arranged around the robot transfer station 10.

The robot transfer station 10 includes a manipulator 11 having a gripping device 12, and the gripping device 12 is configured to move among the feeding station 20, the first discharging station 30, and the second discharging station 40 to transfer the workpiece from the feeding station 20 to the first discharging station 30 or the second discharging station 40.

Specifically, the manipulator 11 is a multi-degree-of-freedom manipulator 11 to flexibly grab the workpiece in the feeding station 20, and preferably, the manipulator 11 has at least six degrees of freedom.

In order to enable the manipulator 11 to move in a wider range, the robot transfer station 10 further includes a guide rail 111, the manipulator 11 is configured to move along an extending direction of the guide rail 111, the loading station 20 is disposed in the extending direction of the guide rail 111, and the first and second unloading stations 30 and 40 are disposed on both sides of the guide rail 111.

The feeding station 20 comprises at least one placing frame 22 and an image acquisition device 21 arranged above the placing frame 22, the image acquisition device 21 is configured to acquire an image of a workpiece, so that the manipulator 11 and the gripping device 12 can grip the workpiece and place the workpiece on a proper discharging station, more specifically, the automatic sorting system further comprises a control system, the control system receives image information sent by the image acquisition device 21, acquires information such as the position and/or size of the workpiece according to the image information, sends a control signal to the manipulator 11, and the manipulator 11 selects a proper gripping assembly to grip the workpiece at a predetermined position according to the control signal and transfers the workpiece to a proper discharging station.

Further, the feeding station 20 further includes a linear slide rail 211, the image capturing device 21 is movably disposed on the linear slide rail 211, in a specific embodiment, the linear slide rail 211 is disposed on a truss, the image capturing device 21 is a 3D vision camera, and a left-right displacement module is further included between the linear slide rail 211 and the image capturing device 21.

Further, the extending direction of the linear slide rail 211 is perpendicular to the extending direction of the guide rail 111.

Referring to fig. 3 and 4 together, fig. 3 and 4 show a schematic view of the rack 22 at the loading station 20.

The material loading station 20 is provided with at least one placing frame 22, the placing frame 22 comprises a support 220 and a material frame 226 arranged on the support 220, the material frame 226 comprises an accommodating space for accommodating workpieces, in a preferred embodiment, the material loading station 20 is provided with at least two placing frames 22, the material frames 226 on the two placing frames 22 are different, more specifically, the height of the material frame 226 is different so as to adapt to the placing requirements of different workpieces, and if a relatively long workpiece is placed in the relatively high material frame 226.

Support 220 be the nature of falling U, including a platform, the platform on be provided with a pair of cushion cap 221, material frame 226 put by cushion cap 221 support, cushion cap 221 parallel interval set up to make and form a clearance space between platform, cushion cap 221 and the material frame 226, can understand, this clearance space can stretch into fork truck's fork utensil, be convenient for carry through fork truck.

The baffle 222 is arranged on the bearing platform 221, the baffle 222 of the pair of bearing platforms 221 is used for limiting the position of the material frame 226, the baffle 222 further comprises a guide plate 223, the pair of guide plates 223 are in a horn mouth shape, the material frame 226 can conveniently enter the bearing platform 221, and the baffle 225 is arranged in the direction of the back of the guide plate 223, so that the material frame 226 is prevented from falling off the bearing platform 221 when being pushed onto the bearing platform 221.

Further, a position sensor 224 is disposed adjacent to the stopper 225 to detect the position of the material frame 226.

The first blanking station 30 includes a first rack 31, the second blanking station 40 includes a second rack 41, and in a preferred embodiment, the first rack 31 is the same as the placement rack 22, and there are at least two first racks 31 in the first blanking area.

Referring to fig. 5, fig. 5 shows a structure of the gripping device 12, the gripping device 12 includes a central cylinder 120 and at least three different gripping assemblies disposed on the central cylinder 120, the central cylinder 120 includes a pair of end portions and side walls connecting the end portions, an upper connecting plate 121 and a lower connecting plate 122 are disposed on the pair of end portions, a pair of connecting cylinders extending toward the back are disposed on the side walls, the upper connecting plate 121 is connected to the manipulator 11, and the at least three different gripping devices 12 are disposed on the lower connecting plate 122 and the pair of connecting cylinders, respectively.

Specifically, in the present embodiment, the side walls include a pair of first side plates and a pair of second side plates, wherein the first side plates and the second side plates are adjacently connected and form a rectangular cylinder shape with a hollow space, it is understood that the central cylinder 120 may have other cylindrical or tubular structures with a central symmetrical cross section, such as a cylindrical shape, a prismatic shape, etc., but in order to reduce the structural weight and the convenience of subsequent installation, it is preferable that the central cylinder 120 has a hollow space and a pair of oppositely disposed outer side walls.

The upper connecting plate 121 is used for being connected with the manipulator 11, the upper connecting plate 121 includes a mounting surface, the mounting surface is in a central symmetry shape, so that when the upper connecting plate is connected to the manipulator 11, the mounting surface can conveniently rotate around an axis passing through the symmetry center, for convenience of description, the axis passing through the symmetry center of the mounting surface is called a first axis, and it can be understood that the first axis is perpendicular to the mounting surface, the connecting seat further includes a plurality of connecting devices arranged around the first axis, and the connecting devices are used for fixing the connecting seat to the manipulator 11 through the connecting devices.

Further, the connecting seat is disc-shaped, and the area of the connecting seat is larger than the sectional area of the central cylinder 120.

Further, the gripping device 12 is arranged on the robot 11 via a flange.

Lower connecting plate 122 be on a parallel with the installation face setting for fixed first subassembly of snatching on lower connecting plate 122, in this embodiment, lower connecting plate 122 be a rectangular plate shape, first subassembly of snatching include first magnetism portion 1221 of inhaling, inhale spare part through first magnetism portion 1221 of inhaling, in this embodiment, first subassembly of snatching be used for snatching the landing leg, specifically, first magnetism portion 1221 of inhaling include the face of grabbing of a central section of thick bamboo 120 direction dorsad, grab and personally submit the V type, the side of landing leg is inhaled through the magnetism of the face of grabbing of V type.

A first telescopic assembly 1222 is arranged between the first magnetic part 1221 and the lower connecting plate 122, and is used for forming a buffer when grabbing a component, the telescopic assembly includes a guide pillar 1222a, an elastic element 1222b sleeved outside the guide pillar 1222a and having two ends fixed to the first magnetic part 1221 and the lower connecting plate 122, and a limiting device 1222c, specifically, the lower connecting plate 122 is provided with a guide hole, the guide pillar 1222a is inserted into the guide hole, the limiting device 1222c is a pair of limiting nuts, and is screwed to the end of the guide pillar 1222a, and is used for limiting the position of the guide pillar 1222a and preventing the guide pillar 1222a from being disengaged.

Further, four first telescopic elements 1222 are provided, which are respectively disposed at four corners of the lower connecting plate 122.

The pair of first side plates are respectively provided with a connecting barrel, one end of each connecting barrel is fixed on the central barrel 120, the other end of each connecting barrel extends out in the back direction, for convenience of description, one of the pair of supporting barrels is called a first connecting barrel 123, the other one of the supporting barrels is called a second connecting barrel 124, the first connecting barrel 123 is provided with a second grabbing component, the second connecting barrel 124 is provided with a third grabbing component, generally, the first grabbing component and the second grabbing component are different, and the difference means that the shape or the size of the grabbing surface of at least the first grabbing component is different from that of the grabbing surface of the second grabbing component, so as to meet the requirement of grabbing different parts.

The second snatchs the subassembly and includes that the second magnetism is inhaled the portion 1231, the second magnetism inhale the portion 1231 and be a cube form, including the second that deviates from the center section of thick bamboo 120 and snatch the face, the second snatch the subassembly still including being used for snatching the mount pad 1232 that the subassembly was fixed on first connecting cylinder 123 and set up the flexible subassembly between mount pad 1232 and second magnetism inhale the portion 1231 with the second, flexible subassembly include guide pillar, elastic element and stop device, in this embodiment, mount pad 1232 include a through-hole, the guide pillar wear to establish in the through-hole, elastic element be a coil spring, its one end is contradicted mount pad 1232, the other end is contradicted second magnetism and is inhaled the portion 1231, stop device be the one end that second magnetism is inhaled to the guide pillar for a pair of stop nut threaded connection is kept away from second magnetism and is inhaled the portion 1231.

In this embodiment, the third capturing component includes a third magnetic attracting portion 1241, the structural form of the second connecting cylinder 124 is substantially the same as that of the first connecting cylinder 123, and the structural form of the third capturing component is substantially the same as that of the second capturing component, which is not described herein again.

The outside of the central cylinder 120 is also crosswise provided with a first rib plate 125 and a second rib plate 126, wherein the first rib plate 125 is connected with the central cylinder 120 and the pair of connecting cylinders, and the second rib plate 126 is connected with the central cylinder 120, the upper connecting plate 121 and the lower connecting plate 122.

The first rib plate 125 is parallel to the mounting surface, and the parallel to the mounting surface means that the plate surface of the first rib plate 125 is parallel to the mounting surface.

The second web 126 also includes an insert slot 1261, the insert slot 1261 being inserted over the first web 125 so that the first web 125 is integral with the second web 126.

Further, the second rib 126 is perpendicular to the first rib 125, and the perpendicular is that the plate surface of the second rib 126 is perpendicular to the plate surface of the first rib 125.

Further, a pair of the first rib 125 and the second rib 126 are provided, and are disposed on opposite side walls of the central tube 120.

Further, the automatic sorting system further comprises a cleaning station 50, the cleaning area is provided with a laser cleaning device 51 for performing laser cleaning on the workpiece, and the manipulator 11 transfers the workpiece to the cleaning station 50 for cleaning before transferring the workpiece to the first blanking station 30 or the second blanking station 40.

Furthermore, the automatic sorting system further comprises a polishing positioning table station and a code reading station, wherein a positioning polishing device is arranged on the polishing positioning table station to polish the workpiece and perform code reading after laser cleaning, and when the polishing positioning table station and the code reading station are arranged, the workpiece is operated in the following sequence, namely the workpiece is acquired by the image acquisition device 21 on the feeding station, the workpiece is moved by the manipulator → the polishing positioning table station is positioned → the laser cleaning station is laser cleaned → the code reading station is read → then the workpiece is moved to the first feeding station or the second feeding station.

Furthermore, the first magnetic part, the second magnetic part and the third magnetic part are all electro-permanent magnets.

Furthermore, the automatic sorting system also comprises fences arranged on the periphery of the feeding station, the first blanking station and the second blanking station.

The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.

Claims

1. The automatic sorting system is characterized in that the robot transfer station comprises a mechanical arm provided with a gripping device, the gripping device is configured to move among the feeding station, the first blanking station and the second blanking station, the gripping device comprises a center cylinder and at least three different gripping assemblies arranged on the center cylinder, the center cylinder comprises a pair of end parts and a side wall connected with the end parts, the end parts are respectively provided with an upper connecting plate and a lower connecting plate, the side wall is provided with a pair of connecting cylinders extending towards the back direction, the upper connecting plate is connected with the mechanical arm, the at least three different gripping assemblies are respectively arranged on the lower connecting plate and the pair of connecting cylinders, the feeding station comprises at least one placing frame and an image acquisition device arranged above the placing frame, the first blanking station comprises a first material frame, and the second blanking station comprises a second material frame.

2. The automated sorting system according to claim 1, wherein the first rack is identical to the placement rack.

3. The automatic sorting system according to claim 1, wherein the rack comprises a support and a material frame arranged on the support, the support comprises a platform, a pair of parallel bearing platforms arranged at intervals are arranged on the platform, a baffle is arranged on the bearing platform, the baffle further comprises a guide plate, and the pair of guide plates are in a bell mouth shape.

4. The automated sorting system according to claim 1, wherein the robotic transfer station further comprises a guide rail, the robot arm is configured to move along an extension direction of the guide rail, the loading station is disposed in the extension direction of the guide rail, and the first and second unloading stations are disposed on both sides of the guide rail.

5. The automated sorting system according to claim 4, wherein the loading station further comprises a linear slide, the image capturing device is movably disposed on the linear slide, and the linear slide extends in a direction perpendicular to the extension direction of the guide rail.

6. The automated sortation system as claimed in claim 5, wherein said upper link includes a mounting surface, said mounting surface being centrally symmetric.

7. The automatic sorting system according to claim 6, wherein the lower connecting plate is disposed parallel to the mounting surface, the gripping assembly comprises a first gripping assembly, the first gripping assembly comprises a first magnetic attraction portion, a first telescopic assembly is disposed between the first magnetic attraction portion and the lower connecting plate, and the telescopic assembly comprises a guide post, an elastic element sleeved outside the guide post and having two ends respectively fixed to the first magnetic attraction portion and the lower connecting plate, and a limiting device.

8. The automatic sorting system according to claim 6, wherein a first rib plate and a second rib plate are further arranged outside the central cylinder in a crossed manner, wherein the first rib plate is connected with the central cylinder and the pair of connecting cylinders, and the second rib plate is connected with the central cylinder, the upper connecting plate and the lower connecting plate.

9. The automated sorting system according to claim 8, wherein the first rib is parallel to the mounting surface and the second rib is perpendicular to the first rib.

10. The automated sorting system according to claim 8, wherein the second web further comprises an insertion slot, the insertion slot being inserted into the first web.