阅读说明：本技术 一种三轴快速分拣机器人系统 (Three-axis quick sorting robot system ) 是由 杜宇 刘冬 邹强 张佳琦 宁丹阳 邓蕊 于 2019-08-15 设计创作，主要内容包括：本发明属于机器人领域,涉及一种三轴快速分拣机器人系统,包括模块化框架、传送带组件、并联机器人和视觉系统；传送带组件穿过模块化框架的床身内部,位于并联机器人下方,通过支撑杆固定于模块化框架上；视觉系统螺接于并联机器人的静平台下端,用于采集传送带上待分拣物件的位置信息,提供给并联机器人,实现待分拣物件的精确分拣。本发明中并联机器人的三个支路均由两个连杆构成,呈现平行四边形状态,能够降低单杆的负载受力,提高系统有效分拣载荷,且运动连杆具有机械限位装置,保护连杆不被损坏。并联机器人能随时拆卸和安装。多分拣系统的串联组合,可大大提高分拣效率,模块化设计可快速实现生产线的组装与拆卸。(The invention belongs to the field of robots, and relates to a three-axis rapid sorting robot system, which comprises a modular frame, a conveyor belt assembly, parallel robots and a vision system, wherein the modular frame is provided with a plurality of parallel robots; the conveyor belt assembly penetrates through the interior of the bed body of the modular frame, is positioned below the parallel robots and is fixed on the modular frame through the support rod; the vision system is in threaded connection with the lower end of the static platform of the parallel robot and used for collecting the position information of the objects to be sorted on the conveyor belt and providing the position information for the parallel robot to realize the accurate sorting of the objects to be sorted. The three branches of the parallel robot are formed by two connecting rods, the parallel robot is in a parallelogram state, the load stress of a single rod can be reduced, the effective sorting load of a system is improved, and the moving connecting rods are provided with mechanical limiting devices and are protected from being damaged. The parallel robot can be detached and installed at any time. The series combination of a plurality of sorting systems can greatly improve the sorting efficiency, and the assembly and disassembly of a production line can be quickly realized through modular design.)

1. A three-axis rapid sorting robot system is characterized by comprising a modular frame, a conveyor belt assembly, a parallel robot and a vision system;

the modularized frame comprises a lathe bed, a fixed top plate (102), a supporting rod (105), a triangular connecting piece (106), a roller (107) and a ground foot (108); the lathe bed is built by sectional materials (101), the sectional materials (101) are connected through a triangular connecting piece (106), and a fixed top plate (102) is arranged above the lathe bed; the lower end of the supporting rod (105) is fixed on the lathe bed through a triangular connecting piece (106), and the upper end of the supporting rod is connected with the conveyor belt component and used for supporting and fixing the conveyor belt component; the roller (107) and the ground feet (108) are respectively connected to four corners of the bottom end of the machine body, the roller (107) is located on the inner side of the ground feet (108), the ground feet (108) can be adjusted up and down and used for leveling the machine body, and the roller (107) is provided with a locking device; when the lathe bed needs to be moved rapidly, the anchor (108) is lifted, and the roller (107) is unlocked;

the parallel robot comprises a static platform (200), three same branches and a movable platform (206); each branch consists of two connecting rods, the branches are in a parallelogram state, the difference between the branches is 120 degrees, the upper end of each branch is connected with the static platform (200), and the tail end of each branch is connected with the movable platform (206); each branch comprises a direct-current speed reducing motor (201), a motor bracket (202), a driving arm (203), a left driven arm (204), a right driven arm (205), a coupler (207), a coupler end cover (208) and a mechanical limit stop (209); the direct-current speed reducing motor (201) is connected with the driving arm (203) through a coupler (207) and a coupler end cover (208); the motor bracket (202) is connected to the static platform (200); the driving arm (203) is fixed with a coupling end cover (208); the left driven arm (204) and the right driven arm (205) are arranged in parallel, the upper ends of the left driven arm and the right driven arm are connected with a jack at the tail end of the driving arm (203) through a rotating shaft, and the lower ends of the left driven arm and the right driven arm are connected with the movable platform (206); the mechanical limit stop (209) is connected with the motor bracket (202) and used for limiting the angle of the driving arm (203); through the driving of a direct current speed reducing motor (201), each branch transmits the motion to a movable platform (206), and the lower end of the movable platform (206) is connected with an end effector for realizing rapid sorting action;

The conveyor belt component comprises a left conveyor belt (103) and a right conveyor belt (104), the left conveyor belt (103) and the right conveyor belt (104) penetrate through the inside of the bed body, are positioned below the parallel robots, and are fixed on the modular frame through a support rod (105), and the conveyor belt component is used for conveying belts to sort objects;

the vision system is connected to the lower end of the static platform (200), comprises a vision sensor assembly and is used for collecting position information of the objects to be sorted on the conveyor belt and providing the position information for the parallel robot, so that the objects to be sorted are accurately sorted.

Technical Field

the invention belongs to the field of robots, and particularly relates to a three-axis rapid sorting robot system.

Background

In the industries of food, packaging, printing, electronic assembly and the like, objects to be sorted on a production line often have high speed and translate along with a conveyor belt, so that a sorting system is required to be capable of sorting and picking the objects at high speed. The problems with the current sorting system are:

(1) The load bearing capacity is poor, and only the actions of sorting, inserting, packaging and packaging can be performed on light and small materials, so that the sorting speed of the sorting system is reduced when the large materials are sorted.

(2) The motion swing angle is not limited generally, and when the motion amplitude is too large, irreversible damage can be caused to a motor for driving the connecting rod to move.

(3) The sorting systems are not independent and cannot be replaced or maintained in time when a module fails.

Disclosure of Invention

Aiming at the problems in the prior art, the invention designs a three-axis rapid sorting robot system to replace the existing sorting system, and meets the sorting requirements of large load capacity and protection mechanism.

In order to achieve the purpose, the technical scheme of the invention is as follows:

A three-axis rapid sorting robot system includes a modular frame, a conveyor belt assembly, a parallel robot, and a vision system.

the modular frame comprises a bed body, a fixed top plate 102, a supporting rod 105, a triangular connecting piece 106, a roller 107 and a ground foot 108. The lathe bed is built by sectional materials 101, the sectional materials 101 are in threaded connection through triangular connecting pieces 106, and a fixed top plate 102 is arranged above the lathe bed. The lower end of the supporting rod 105 is fixed on the bed body through a triangular connecting piece 106, and the upper end of the supporting rod is in threaded connection with the conveyor belt component and is used for supporting and fixing the conveyor belt component. The roller 107 and the foot margin 108 are respectively screwed at four corners of the bottom end of the machine tool body, the roller 107 is positioned on the inner side of the foot margin 108, the foot margin 108 can be adjusted up and down and used for leveling the machine tool body, and the roller 107 is provided with a locking device; when the bed needs to be moved quickly, the anchor 108 is raised and the roller 107 is unlocked.

The parallel robot includes a stationary platform 200, three identical branches, and a moving platform 206. Each branch consists of two connecting rods (a left driven arm 204 and a right driven arm 205), presents a parallelogram state, reduces the load stress of a single rod, and is beneficial to improving the effective sorting load of the system, each branch comprises a direct current speed reducing motor 201, a motor bracket 202, a driving arm 203, a left driven arm 204, a right driven arm 205, a coupler 207, a coupler end cover 208 and a mechanical limit stop 209, all branches are connected in parallel and have a phase difference of 120 degrees, the upper end of each branch is in threaded connection with the static platform 200, and the tail end of each branch is connected with the dynamic platform 206. The direct current gear motor 201 is connected with the driving arm 203 through a coupler 207 and a coupler end cover 208, wherein the coupler 207 is connected with the direct current gear motor 201 through a key, and the coupler end cover 208 is screwed on the coupler 207. The motor bracket 202 is screwed to the stationary platform 200. The active arm 203 is fixed with the coupling end cover 208 through bolts. The left driven arm 204 and the right driven arm 205 are arranged in parallel, the upper ends of the left driven arm and the right driven arm are connected with a jack at the tail end of the driving arm 203 through a rotating shaft, and the lower ends of the left driven arm and the right driven arm are connected with the movable platform 206. The mechanical limit stop 209 is screwed to the motor bracket 202 to limit the angle of the driving arm 203. Through the drive of direct current gear motor 201, each branch road will move the transmission to moving platform 206, and moving platform 206 lower extreme is connected end effector for realize quick letter sorting action.

The conveyor belt assembly comprises a left conveyor belt 103 and a right conveyor belt 104, penetrates through the inside of the bed body, is positioned below the parallel robot, and is fixed on the modular frame through a support rod 105, and the conveyor belt assembly is used for conveying and sorting objects.

The vision system is in threaded connection with the lower end of the static platform 200 and comprises a vision sensor assembly used for collecting position information of the objects to be sorted on the conveying belt and providing the position information for the parallel robot, so that the objects to be sorted are accurately sorted.

The three-axis rapid sorting robot system is assembled on a straight-flow water line in parallel, so that the multiple paths can be simultaneously sorted, the speed of a driving belt is increased, and the sorting efficiency is improved.

The invention has the beneficial effects that: three branches of the parallel robot are formed by two connecting rods and are in a parallelogram state, so that the load stress of a single rod is reduced, and the improvement of the effective sorting load of the system is facilitated. The motion connecting rod is provided with a mechanical limiting device, so that the connecting rod can be well protected from being damaged; the parallel robot in the whole system can be detached and installed at any time, and all parts in 3 branches have complete interchangeability. When the components in the sorting unit need to be replaced, rapid disassembly and replacement can be achieved due to the modular design. The series combination of a plurality of sorting systems can greatly improve the sorting efficiency, and the assembly and disassembly of a production line can be quickly realized through modular design.

drawings

FIG. 1 is a schematic view of the overall structure;

FIG. 2 is a schematic diagram of a parallel robot structure;

FIG. 3 is an exploded view of a part of the parallel robot structure;

In the figure: 101 section bar; 102 fixing the top plate; 103 a left side conveyor belt; 104 right conveyor belt; 105 supporting rods; 106 triangular connecting pieces; 107 moving the roller; 108 feet; 200 a static platform; 201 direct current gear motor; 202 motor support; 203 an active arm; 204 left follower arm; 205 right follower arm; 206 moving the platform; 207 a coupling; 208 a coupling end cap; 209 mechanical limit stops.

Detailed Description

The invention is further illustrated by the following specific examples:

A three-axis rapid sorting robot system comprises a modular frame, a conveyor belt assembly, a parallel robot and a vision system;

As shown in fig. 1, the modular frame comprises a bed, a fixed top plate 102, a support rod 105, a triangular connecting piece 106, a roller 107 and a foot margin 108; the lathe bed is built by sectional materials 101, and the sectional materials 101 are in threaded connection through triangular connecting pieces 106; the lower end of the support rod 105 is fixed on the lathe bed through a triangular connecting piece 106, and the upper end of the support rod is in threaded connection with the conveyor belt component and is used for supporting and fixing the conveyor belt component; the roller 107 and the foot margin 108 are respectively screwed at four corners of the bottom end of the machine tool body, the roller 107 is positioned on the inner side of the foot margin 108, the foot margin 108 can be adjusted up and down and used for leveling the machine tool body, and the roller 107 is provided with a locking device; when the lathe bed needs to be moved rapidly, the ground feet 108 are lifted, and meanwhile, the rollers 107 are unlocked;

As shown in fig. 2, the parallel robot includes a static platform 200, 3 identical branches and a dynamic platform 206, wherein the branches are connected in parallel and have a difference of 120 °, the upper end of each branch is screwed to the static platform 200, and the tail end of each branch is connected to the dynamic platform 206; each branch comprises a direct current speed reducing motor 201, a motor bracket 202, a driving arm 203, a left driven arm 204, a right driven arm 205, a coupler 207, a coupler end cover 208 and a mechanical limit stop 209;

The direct current speed reducing motor 201 is connected with the driving arm 203 through a coupler 207 and a coupler end cover 208; the motor bracket 202 is in threaded connection with the static platform 200; the driving arm 203 is fixed with a coupling end cover 208 through bolts; the left driven arm 204 and the right driven arm 205 are parallel and are connected with the jack at the tail end of the driving arm 203 through a rotating shaft; the coupling 207 is connected with the direct current speed reducing motor 201 through a key; the coupling end cover 208 is screwed on the coupling 207; the mechanical limit stop 209 is screwed with the motor bracket 202 to limit the angle of the driving arm 203; through the driving of the direct current speed reducing motor 201, each branch transmits the motion to the movable platform 206, and the lower end of the movable platform 206 is connected with an end effector for realizing the rapid sorting action;

The conveyor belt assembly consists of a left conveyor belt 103 and a right conveyor belt 104, penetrates through the inside of the bed body, is positioned below the parallel robots, and is fixed on the modular frame through a support rod 105, and the conveyor belt assembly is used for conveying belts to sort objects;

the vision system is in threaded connection with the lower end of the static platform 200 and comprises a vision sensor assembly used for collecting position information of the objects to be sorted on the conveying belt and providing the position information for the parallel robot, so that the objects to be sorted are accurately sorted.

the three-axis rapid sorting robot system is assembled on a straight-flow water line in parallel, so that the multiple paths can be simultaneously sorted, the speed of a driving belt is increased, and the sorting efficiency is improved.

the above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.