CN117816551A - An automatic conveying and sorting system based on industrial robots - Google Patents

Abstract

The present invention relates to the field of conveying and sorting, specifically to an automatic conveying and sorting system based on an industrial robot, which includes a mobile module, a sorting module a, a sorting storage module, a sorting module b and a control module; a rotating support ring is rotatably arranged on a mobile base; multiple groups of support frames are arranged on the outer peripheral wall of the barrel body, the bottom of the support frame is connected to the rotating support ring, and multiple groups of discharge ports are arranged on the barrel wall of the barrel body; a turntable is rotatably arranged on the inner wall of the bottom of the barrel body, and a support rod passes through the box body and is connected to the output shaft of a motor b; multiple groups of sorting storage modules are arranged on the outer peripheral wall of the barrel body; sorting module b is arranged on a mobile base, and sorting module b is a manipulator structure, which is used to sort the materials in the barrel body and put them one by one into the corresponding sorting storage modules. The present invention can complete the conveying and sorting of many different materials at the same time, with high work efficiency, low production cost, and small requirements for path planning and space. In addition, there is no need to set a conveyor belt, which is more flexible to use.

Description

An automatic conveying and sorting system based on industrial robots

Technical Field

The present invention relates to the technical field of conveying and sorting, and in particular to an automatic conveying and sorting system based on an industrial robot.

Background technique

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. In transportation applications, industrial robots usually transport items according to tracks or set paths. When it comes to sorting items, multiple groups of industrial robots are set up to transport different items at the same time, or an industrial robot is repeatedly transported back and forth according to the classification of items. Multiple industrial robots increase costs, and multiple robots have certain requirements for path planning and space, which makes it difficult to apply to small space areas; the method of repeated back and forth transportation of an industrial robot has the problem of low work efficiency and low transportation and sorting efficiency.

A Chinese patent with authorization announcement number CN113333327A discloses an automatic conveying and sorting system based on an industrial robot. Through the target recognition auxiliary function, it automatically detects volume data, quality data, and data on whether the surface has defects, and transmits these data to a processing unit. The processing unit controls the sorting module after processing and analysis. The sorting module moves objects classified according to different standards to different collection points. Through this industrial robot, it is very convenient to detect finished workpieces with quality problems on the assembly line, classify them, or sort express parcels of different sizes and qualities.

However, the above-mentioned disclosed solutions have the following shortcomings: they can only be used on assembly lines, and cannot be used in areas where it is inconvenient to arrange assembly lines, such as pedestrian passages on the conveying path, passages for other conveying vehicles, etc.

Summary of the invention

The purpose of the present invention is to propose an automatic conveying and sorting system based on industrial robots to address the problems in the background technology that the repeated back and forth conveying and sorting of an industrial robot has low efficiency, the classification and conveying of multiple industrial robots has high costs, and has high requirements for path planning and workspace.

On the one hand, the present invention proposes an automatic conveying and sorting system based on an industrial robot, comprising a moving module, a sorting module a, a sorting storage module, a sorting module b and a control module; the moving module is a moving base; the sorting module a comprises a rotating support ring, a barrel, a turntable, a box body and a motor b;

The rotating support ring is rotatably arranged on the mobile base, and a power assembly driving the rotating support ring to rotate is arranged on the mobile base; multiple groups of support frames are arranged on the peripheral wall of the barrel body, the bottom of the support frame is connected with the rotating support ring, and multiple groups of discharge ports are arranged on the barrel wall of the barrel body; the turntable is rotatably arranged on the inner wall of the bottom of the barrel body, the peripheral wall of the turntable is in contact with the peripheral wall of the barrel body, and a support rod is vertically arranged at the bottom of the turntable, which passes through the box body and is connected to the output shaft of the motor b; the box body is arranged on the mobile base, and the motor b is arranged in the box body;

Multiple groups of sorting and storage modules are arranged on the outer peripheral wall of the barrel body. The sorting and storage modules are used to receive materials discharged from the discharge port, and can identify different unloading areas and then rotate to discharge the received materials; the sorting module a is arranged on the mobile base, and the sorting module b is a manipulator structure, which is used to sort the materials in the barrel body and place them one by one into the corresponding sorting and storage modules; the control module is controlled and connected with the mobile module, the sorting module a, the sorting and storage module and the sorting module b.

Preferably, the power assembly includes an annular gear ring, a gear and a motor a; the annular gear ring is arranged on the inner circumferential wall of the rotating support ring; a mounting groove is arranged on the movable base, the motor a is arranged in the mounting groove, the gear is arranged on the output shaft of the motor a, and the gear is meshed with the annular gear ring.

Preferably, the sorting and storage module includes a receiving box, a baffle, a motor c, a support plate, a reader and a camera; the support plate is arranged on the outer peripheral wall of the barrel body, and two groups of support plates are arranged, and a rotating rod is rotatably arranged between the two groups of support plates; the motor c is arranged on the support plate to drive the rotating rod to rotate; the receiving box is arranged on the rotating rod, and the receiving box is in close contact with the outer wall of the barrel body, the storage cavity in the receiving box is V-shaped, and two groups of baffles are arranged on the top of the receiving box; the reader and writer are arranged on a mobile base, and multiple groups of readers and writers are arranged, and an electronic tag paired with the reader and writer is arranged at the bottom of the receiving box, and the content of the electronic tag at the bottom of each group of receiving boxes is different; the camera is arranged on the receiving box, and the camera faces the unloading area for identifying different unloading areas; the number of sorting and storage modules is the same as the number of discharge ports.

Preferably, multiple power supplies are arranged in the box body; a cylinder is arranged on the top outer wall of the box body, a support rod passes through the cylinder, and multiple electric slip rings are arranged on the support rod, and two lead wires of the electric slip ring are respectively connected to the sorting storage module and the power supply, and the power supply is used to power the motor c and the camera.

Preferably, the sorting module b includes a vertical plate, a robotic arm and a clamping mechanism; the vertical plate is arranged on a mobile base; the robotic arm is arranged on the vertical plate; the clamping mechanism is arranged at the holding end of the robotic arm, and multiple groups of object recognition cameras are arranged on the robotic arm. The object recognition cameras identify the material type and clamp it into the corresponding sorting storage module.

Preferably, the mobile base includes a power unit, a mobile unit, a command receiving unit and a path planning unit; the power unit supplies power to the mobile unit, the command receiving unit and the path planning unit; the mobile unit drives the overall movement or rotation; the command receiving unit receives control commands from the control module; and the path planning unit performs path planning according to the commands.

On the other hand, the present invention provides an automatic conveying and sorting method based on an automatic conveying and sorting system of an industrial robot, comprising the following steps:

S1. Place multiple materials on the turntable in the barrel at the same time;

S2. The power assembly drives the turntable to rotate, and the materials are thrown into the sorting and storage modules through multiple discharge ports of different sizes by centrifugal force; if the materials are not suitable for rotation and throwing, they are taken and placed one by one into the corresponding sorting and storage modules through the sorting module b;

S3, the mobile base moves to the required position according to the transportation requirements;

S4, the sorting and storage modules identify different unloading areas, and the control module controls the power assembly to move the corresponding sorting and storage modules toward the unloading area and complete the unloading according to the electronic tags recognized by the reader;

S5. The mobile base continues to move to the next unloading area. The control module controls the power assembly to move the corresponding sorting and storage module toward the unloading area and complete the unloading according to the electronic tag recognized by the reader. The unloading operation is repeated until all the materials in the sorting and storage modules are completed. Finally, the mobile base moves to the initial position and waits for the next loading, sorting and unloading.

Compared with the prior art, the present invention has the following beneficial technical effects: it can simultaneously complete the transportation and sorting of many different materials, and the sorting is carried out during the transportation, that is, the sorting is carried out while moving, which improves the work efficiency, and does not require multiple industrial robots to complete the transportation of different materials, thereby reducing the production cost and requiring less path planning and space. In addition, since it is a mobile transportation, there is no need to set up a conveyor belt, and it is more flexible to use.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of an embodiment of the present invention;

FIG2 is a front cross-sectional view of FIG1 ;

FIG3 is a side cross-sectional view of FIG1 ;

FIG. 4 is an enlarged schematic diagram of point A in FIG. 3 .

Figure numerals: 1. Mobile base; 2. Rotating support ring; 3. Annular gear ring; 4. Gear; 5. Motor a; 6. Mounting groove; 7. Support frame; 8. Barrel body; 9. Turntable; 10. Support rod; 11. Box body; 12. Motor b; 13. Power supply; 14. Cylinder body; 15. Electric slip ring; 16. Discharge port; 17. Receiving box; 18. Baffle; 19. Storage chamber; 20. Rotating rod; 21. Motor c; 22. Support plate; 23. Reader/writer; 24. Camera; 25. Vertical plate; 26. Robotic arm; 27. Clamping mechanism; 28. Object recognition camera.

Detailed ways

Embodiment 1

The present invention proposes an automatic conveying and sorting system based on an industrial robot, comprising a moving module, a sorting module a, a sorting storage module, a sorting module b and a control module; the moving module is a moving base 1, and the moving base 1 comprises a power unit, a moving unit, an instruction receiving unit and a path planning unit; the power unit supplies power to the moving unit, the instruction receiving unit and the path planning unit; the moving unit drives the whole to move or rotate; the instruction receiving unit receives the control instruction of the control module; the path planning unit performs path planning according to the instruction; the sorting module a comprises a rotating support ring 2, a barrel 8, a turntable 9, a box body 11 and a motor b12;

As shown in Fig. 1-2, the rotating support ring 2 is rotatably arranged on the mobile base 1, and a power assembly that drives the rotating support ring 2 to rotate is arranged on the mobile base 1; multiple groups of support frames 7 are arranged on the outer peripheral wall of the barrel body 8, and the bottom of the support frame 7 is connected to the rotating support ring 2, and multiple groups of discharge ports 16 are arranged on the barrel wall of the barrel body 8; the turntable 9 is rotatably arranged on the inner wall of the bottom of the barrel body 8, and the peripheral wall of the turntable 9 contacts the inner peripheral wall of the barrel body 8, and a support rod 10 is vertically arranged at the bottom of the turntable 9, and the support rod 10 passes through the box body 11 and is connected to the output shaft of the motor b12; the box body 11 is arranged on the mobile base 1, and the motor b12 is arranged in the box body 11;

As shown in Figure 1, multiple groups of sorting and storage modules are arranged on the outer wall of the barrel body 8. The sorting and storage modules are used to receive materials discharged from the discharge port 16, and can identify different unloading areas and then rotate to discharge the received materials; the sorting module b is arranged on the mobile base 1, and the sorting module b is a manipulator structure, which is used to sort the materials in the barrel body 8 and put them one by one into the corresponding sorting and storage modules; the control module is controlled and connected with the mobile module, the sorting module a, the sorting and storage module and the sorting module b.

Working principle: multiple materials are placed on the turntable 9 in the barrel 8 at the same time, and the power component drives the turntable 9 to rotate, and the centrifugal force is used to swing the materials into the sorting storage module through multiple discharge ports 16 of different sizes; if the material is not suitable for rotation and swinging, it will be taken and placed one by one into the corresponding sorting storage module through the sorting module b; the mobile base 1 moves to the required position according to the transportation demand, the sorting storage module identifies different unloading areas, and the control module controls the power component to move the corresponding sorting storage module toward the unloading area and completes the unloading according to the electronic tag recognized by the reader 23; the mobile base 1 continues to move to the next unloading area, and the control module controls the control power component to move the corresponding sorting storage module toward the unloading area and completes the unloading according to the electronic tag recognized by the reader 23, and repeats the unloading operation until the materials in all the sorting storage modules are completed, and finally the mobile base 1 moves to the initial position, waiting for the next loading, sorting and moving unloading.

This embodiment can complete the transportation and sorting of many different materials at the same time, and the sorting is carried out during the transportation, that is, the sorting is carried out while moving, which improves work efficiency, and does not require multiple industrial robots to complete the transportation of different materials, reducing production costs, and requiring less path planning and space. In addition, since it is a mobile transportation, there is no need to set up a conveyor belt, which is more flexible to use.

Embodiment 2

As shown in FIG3 , the automatic conveying and sorting system based on an industrial robot proposed by the present invention, compared with the first embodiment, the power assembly includes an annular gear ring 3, a gear 4 and a motor a5; the annular gear ring 3 is arranged on the inner circumferential wall of the rotating support ring 2; a mounting groove 6 is arranged on the mobile base 1, the motor a5 is arranged in the mounting groove 6, the gear 4 is arranged on the output shaft of the motor a5, and the gear 4 is meshed with the annular gear ring 3. The motor a5 drives the gear 4 to rotate, and the gear 4 can drive the rotating support ring 2 to rotate through the annular gear ring 3.

Embodiment 3

As shown in Figures 1, 2 and 4, the present invention proposes an automatic conveying and sorting system based on an industrial robot. Compared with the first embodiment, the sorting and storage module includes a receiving box 17, a baffle 18, a motor c21, a support plate 22, a reader 23 and a camera 24; the support plate 22 is arranged on the outer peripheral wall of the barrel 8, and two groups of support plates 22 are arranged, and a rotating rod 20 is rotatably arranged between the two groups of support plates 22; the motor c21 is arranged on the support plate 22 to drive the rotating rod 20 to rotate; the receiving box 17 is arranged on the rotating rod 20, and the receiving box 17 is arranged on the rotating rod 20. The material box 17 is in close contact with the outer wall of the barrel 8, the material storage cavity 19 in the material receiving box 17 is V-shaped, and two groups of baffles 18 are arranged on the top of the material receiving box 17; the reader 23 is arranged on the mobile base 1, and multiple groups of readers 23 are arranged. The bottom of the material receiving box 17 is provided with an electronic tag paired with the reader 23, and the content of the electronic tag at the bottom of each group of material receiving boxes 17 is different; the camera 24 is arranged on the material receiving box 17, and the camera 24 faces the unloading area to identify different unloading areas; the number of sorting storage modules is the same as the number of discharge ports 16. Multiple groups of power supplies 13 are arranged in the box body 11; a cylinder 14 is arranged on the outer wall of the top of the box body 11, and the support rod 10 passes through the cylinder 14. Multiple groups of electric slip rings 15 are arranged on the support rod 10, and the two lead wires of the electric slip ring 15 are respectively connected to the sorting storage module and the power supply 13, and the motor c21 and the camera 24 are powered by the power supply 13.

In this embodiment, the material falls into the storage chamber 19 after coming out of the discharge port 16. The baffle 18 can prevent the material from being thrown out of the receiving box 17. When unloading is required, the motor c21 drives the rotating rod 20 and the receiving box 17 to rotate so that the top opening of the receiving box 17 is tilted downward toward the unloading area.

Embodiment 4

As shown in Figures 1-2, the present invention proposes an automatic conveying and sorting system based on an industrial robot. Compared with the first embodiment, the sorting module b includes a vertical plate 25, a robotic arm 26 and a clamping mechanism 27; the vertical plate 25 is arranged on the mobile base 1; the robotic arm 26 is arranged on the vertical plate 25; the clamping mechanism 27 is arranged at the holding end of the robotic arm 26, and a plurality of groups of object recognition cameras 28 are arranged on the robotic arm 26. The object recognition cameras 28 identify the material type and clamp it into the corresponding sorting storage module.

In this embodiment, when the material is not suitable for rotation and swinging, such as the material is not granular and is required to be non-collision-resistant, it is taken and placed one by one into the corresponding sorting storage module through the sorting module b. When taking and placing, the object recognition camera 28 is used to determine the clamping position and judge the material category to determine how to classify it.

Embodiment 5

The automatic conveying and sorting method based on the above-mentioned automatic conveying and sorting system embodiment based on an industrial robot comprises the following steps:

S1. Place multiple materials on the turntable 9 in the barrel 8 at the same time;

S2, the power assembly drives the turntable 9 to rotate, and the materials are thrown into the sorting and storage modules through a plurality of discharge ports 16 of different sizes by centrifugal force; if the materials are not suitable for rotating and throwing, they are taken and placed into the corresponding sorting and storage modules one by one through the sorting module b;

S3, the mobile base 1 moves to the required position according to the transportation requirements;

S4, the sorting and storage modules identify different unloading areas, and the control module controls the power assembly to move the corresponding sorting and storage modules toward the unloading area and complete the unloading according to the electronic tags recognized by the reader/writer 23;

S5. The mobile base 1 continues to move to the next unloading area. The control module controls the power component to move the corresponding sorting and storage module toward the unloading area and complete the unloading according to the electronic tag recognized by the reader 23. The unloading operation is repeated until the materials in all the sorting and storage modules are completed. Finally, the mobile base 1 moves to the initial position and waits for the next loading, sorting and moving unloading.

In this embodiment, the conveying and sorting of many different materials can be completed at the same time, and the sorting is carried out during the conveying process, that is, the sorting is carried out while moving, which improves the work efficiency, and does not require multiple industrial robots to complete the conveying of different materials, thereby reducing the production cost and requiring less path planning and space. In addition, since it is a mobile conveying, there is no need to set up a conveyor belt, which is more flexible to use.

The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims (7)

1. An automatic conveying and sorting system based on an industrial robot, characterized in that it comprises a moving module, a sorting module a, a sorting storage module, a sorting module b and a control module; the moving module is a moving base (1); the sorting module a comprises a rotating support ring (2), a barrel (8), a turntable (9), a box body (11) and a motor b (12); The rotating support ring (2) is rotatably arranged on the mobile base (1), and a power assembly for driving the rotating support ring (2) to rotate is arranged on the mobile base (1); a plurality of support frames (7) are arranged on the outer peripheral wall of the barrel body (8), the bottom of the support frames (7) is connected to the rotating support ring (2), and a plurality of discharge ports (16) are arranged on the barrel wall of the barrel body (8); a turntable (9) is rotatably arranged on the inner wall of the bottom of the barrel body (8), the peripheral wall of the turntable (9) is in contact with the inner peripheral wall of the barrel body (8), and a support rod (10) is vertically arranged at the bottom of the turntable (9), and the support rod (10) passes through the box body (11) and is connected to the output shaft of the motor b (12); the box body (11) is arranged on the mobile base (1), and the motor b (12) is arranged in the box body (11); A plurality of sorting and storage modules are arranged on the outer peripheral wall of the barrel body (8), and the sorting and storage modules are used to receive materials discharged from the discharge port (16), and can identify different unloading areas and then rotate to discharge the received materials; the sorting module a is arranged on the mobile base (1), and the sorting module b is a manipulator structure, and is used to sort the materials in the barrel body (8) and place them one by one into the corresponding sorting and storage modules; the control module is controlled and connected with the mobile module, the sorting module a, the sorting and storage module, and the sorting module b. 2. According to claim 1, the automatic conveying and sorting system based on industrial robots is characterized in that the power assembly includes an annular ring gear (3), a gear (4) and a motor a (5); the annular ring gear (3) is arranged on the inner circumferential wall of the rotating support ring (2); a mounting groove (6) is arranged on the movable base (1), the motor a (5) is arranged in the mounting groove (6), the gear (4) is arranged on the output shaft of the motor a (5), and the gear (4) is meshed with the annular ring gear (3). 3. The automatic conveying and sorting system based on an industrial robot according to claim 1 is characterized in that the sorting and storage module comprises a receiving box (17), a baffle (18), a motor c (21), a support plate (22), a reader (23) and a camera (24); the support plate (22) is arranged on the outer peripheral wall of the barrel (8), and the support plate (22) is arranged in two groups, and a rotating rod (20) is rotatably arranged between the two groups of support plates (22); the motor c (21) is arranged on the support plate (22) to drive the rotating rod (20) to rotate; the receiving box (17) is arranged on the rotating rod (20), and the receiving box (17) ) is in close contact with the outer wall of the barrel body (8), the storage cavity (19) in the receiving box (17) is V-shaped, and two groups of baffles (18) are arranged on the top of the receiving box (17); the reader (23) is arranged on the mobile base (1), and a plurality of groups of readers (23) are arranged, and an electronic tag paired with the reader (23) is arranged at the bottom of the receiving box (17), and the content of the electronic tag at the bottom of each group of receiving boxes (17) is different; the camera (24) is arranged on the receiving box (17), and the camera (24) faces the unloading area for identifying different unloading areas; the number of sorting storage modules is the same as the number of discharge ports (16). 4. According to claim 3, the automatic conveying and sorting system based on industrial robots is characterized in that a plurality of power supplies (13) are arranged in the box body (11); a cylinder (14) is arranged on the top outer wall of the box body (11), the support rod (10) passes through the cylinder (14), and a plurality of electric slip rings (15) are arranged on the support rod (10), and two lead wires of the electric slip ring (15) are respectively connected to the sorting storage module and the power supply (13), and the power supply (13) is used to supply power to the motor c (21) and the camera (24). 5. According to the automatic conveying and sorting system based on industrial robots as described in claim 1, it is characterized in that the sorting module b includes a vertical plate (25), a mechanical arm (26) and a clamping mechanism (27); the vertical plate (25) is arranged on the mobile base (1); the mechanical arm (26) is arranged on the vertical plate (25); the clamping mechanism (27) is arranged at the holding end of the mechanical arm (26), and a plurality of groups of object recognition cameras (28) are arranged on the mechanical arm (26), and the material type is identified by the object recognition camera (28) and clamped and placed in the corresponding sorting storage module. 6. According to the automatic conveying and sorting system based on industrial robots as described in claim 1, it is characterized in that the mobile base (1) includes a power unit, a mobile unit, a command receiving unit and a path planning unit; the power unit supplies power to the mobile unit, the command receiving unit and the path planning unit; the mobile unit drives the overall movement or rotation; the command receiving unit receives the control command of the control module; and the path planning unit performs path planning according to the command. 7. An automatic conveying and sorting method based on an automatic conveying and sorting system of an industrial robot according to claim 1, characterized in that it comprises the following steps: S1. placing a plurality of materials simultaneously on a turntable (9) in a barrel (8); S2, the power assembly drives the turntable (9) to rotate, and the materials are thrown into the sorting and storage modules through a plurality of discharge ports (16) of different sizes by centrifugal force; if the materials are not suitable for rotating and throwing, they are taken and placed one by one into the corresponding sorting and storage modules through the sorting module b; S3, the mobile base (1) moves to a required position according to the transportation requirements; S4, the sorting and storage modules identify different unloading areas, and the control module controls the power assembly to move the corresponding sorting and storage modules toward the unloading area and complete the unloading according to the electronic tags recognized by the reader (23); S5, the mobile base (1) continues to move to the next unloading area. The control module controls the power assembly to move the corresponding sorting and storage module toward the unloading area and complete the unloading according to the electronic tag recognized by the reader (23). The unloading operation is repeated until the materials in all the sorting and storage modules are completed. Finally, the mobile base (1) moves to the initial position and waits for the next loading, sorting and unloading.