CN104526701A - Simple sorting robot - Google Patents

Simple sorting robot Download PDF

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Publication number
CN104526701A
CN104526701A CN201510030683.XA CN201510030683A CN104526701A CN 104526701 A CN104526701 A CN 104526701A CN 201510030683 A CN201510030683 A CN 201510030683A CN 104526701 A CN104526701 A CN 104526701A
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CN
China
Prior art keywords
drive unit
rod
sucker
decelerator
cylinder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510030683.XA
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Chinese (zh)
Inventor
张良安
王梦涛
余亮
高鲁文
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Anhui University of Technology AHUT
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Anhui University of Technology AHUT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anhui University of Technology AHUT filed Critical Anhui University of Technology AHUT
Priority to CN201510030683.XA priority Critical patent/CN104526701A/en
Publication of CN104526701A publication Critical patent/CN104526701A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a simple sorting robot. The simple sorting robot comprises a base, drive devices, a four-bar mechanism, an air cylinder and a sucker. The drive devices are installed on the base, the four-bar mechanism is connected with the drive devices through flat keys, the air cylinder is installed at the tail end of the four-bar mechanism, and the sucker is installed on a piston rod of the air cylinder. The simple sorting robot has the advantages that the sucker stably moves in a plane, the motion speed is high, and the position accuracy is high; the simple sorting robot is simple in structure, small in number of components, convenient to install, low in manufacturing cost and practical.

Description

A kind of simple and easy sorting machine people
Technical field:
The invention belongs to Industrial Robot Technology field, be specifically related to a kind of simple and easy sorting machine people.
Background technology:
Along with the development of market economy, the demand of society is to small lot, multi items, multiple batches of multicycle future development, and the ratio making sorting operation shared in home-delivery center's overall operation is also increasing, becomes most labor intensive and the operation of time.Sorting operation has purposes widely in reality is produced, and in the automatic production line of the industries such as light industry, medicine, food and electronics, sorting operation is an important step.Robot based on machine vision sorts compared with manual sorting's operation, not only efficiently, accurately, and in quality assurance, medical support etc., has the irreplaceable advantage of manual work; Compared with traditional mechanical sorting operation, the robot sorting based on machine vision then has wide accommodation, can convert the advantage of manipulating object and conversion sorting operation at any time.Robot Sorting Technique is the organic assembling of Robotics and machine vision technique, Japan and more American-European developed countries, quite universal in production field applied robot sortings such as machinery, food, medicine, cosmetics.Very important meaning is had according to the market demand situation of current China and correlation technique basic research, development and application robot Sorting Technique.
Existing sorting machine people in parallel has that rigidity is large, bearing capacity is strong, error is little, precision is high, deadweight duty ratio is little, power performance good, control the series of advantages such as easy, on applying, complementary relationship is formed with the serial manipulator of current extensive use, but most sorting machine people structure in parallel is more complicated, cost is high, then to seem some wasting of resources for sorting quality light, that volume is little article.It is simple that the present invention devises a kind of mechanism, is applicable to the economical sorting machine people of slight small item product sorting.
Summary of the invention:
The object of the invention is, in order to provide a kind of structure simple, to be applicable to the economical sorting machine people of slight small item product sorting.
A kind of simple and easy sorting machine people of one provided by the present invention simple and easy sorting machine people comprises base 4, drive unit, quadric chain 5, cylinder 6 and sucker 12; Described base 4 is bolted on the upper end of column 1, and described column 1 fixes on the ground; Described drive unit comprises the first drive unit and the second drive unit, and described first drive unit is arranged on described base 4 with described second drive unit is concentric; Described quadric chain 5 is connected by flat key with described drive unit, and described cylinder 6 is arranged on the end of described quadric chain 5, and described sucker 12 is arranged on the piston rod of described cylinder 6.
Described first drive unit comprises the first motor 2 and the first decelerator 3, and described second drive unit comprises the second motor 14 and the second decelerator 13; Described quadric chain 5 comprises the first master arm 9, second master arm 8, connecting rod 7 and performs connecting rod 11, described first master arm 9 is connected by flat key with the first decelerator 3 of described first drive unit, described second master arm 8 is connected by flat key with the second decelerator 13 of described second drive unit, described connecting rod 7 one end is connected by bearing with described second master arm 8, the other end of described connecting rod 7 is connected by bearing with described execution connecting rod 11, and the middle part of described execution connecting rod 11 is connected by bearing pin 10 with described first master arm logical 9; Described cylinder 6 is bolted on the end of described execution connecting rod 11; Described sucker 12 is fixed on the piston rod of described cylinder 6.
Described first motor (2) and described second motor (14) adopt servomotor, and described first decelerator (3) and the second decelerator (13) adopt harmonic speed reducer.
Two drive units of the present invention drive quadric chain jointly, and making end perform bar planar has two one-movement-freedom-degrees; Described sucker is arranged on the piston rod of cylinder, and piston rod is driven can be moved up and down by air pressure, thus drives sucker to move up and down; Thus sucker has three one-movement-freedom-degrees, can realize sorting task accordingly.
The invention has the beneficial effects as follows: the rotational freedom of quadric chain constraint end sucker, ensures sucker planar stable movement, make sucker translational speed fast and have higher positional precision; Structure of the present invention is simple, and the number of components is few, is the low and simple and easy sorting machine people of practicality of a kind of cost.
Accompanying drawing illustrates:
Fig. 1 is the present invention simple and easy sorting machine people structural representation;
Fig. 2 is the partial structurtes enlarged diagram of quadric chain and sucker in the present invention.
In figure: 1: column, 2: the first motors, 3: the first decelerators, 4: base, 5: quadric chain, 6: cylinder, 7: connecting rod, 8: the second master arms, 9: the first master arms, 10: bearing pin, 11: perform connecting rod, 12: sucker, 13: the second decelerators, 14: the second motors.
Detailed description of the invention:
As shown in Figure 1 and Figure 2, a kind of simple and easy sorting machine people, comprises base portion, drive unit (first motor 2 and the first decelerator 3), quadric chain 5, cylinder 6 and sucker 12; Described drive unit is arranged on base 4, and quadric chain 5 is connected by flat key with drive unit, and cylinder 6 is arranged on the end of quadric chain 5, and sucker 12 is arranged on cylinder piston rod.
As shown in Figure 1, described column 1 is hollow square steel material, so that carry out sorting operation on corresponding production line on position robot being supported on certain altitude; The first described motor 2 is bolted on the first decelerator 3, and the first decelerator 3 is bolted on described base 4; The first described decelerator 3 adopts harmonic speed reducer, improves transmission accuracy, reduces vibration.
As shown in Figure 2, described quadric chain 5 comprises the first master arm 9, second master arm 8, connecting rod 7 and performs connecting rod 11, the first described master arm 9 is same with the bar appearance of described connecting rod 7, described execution connecting rod 11 and the cradle head of the first master arm 9 are to same with the bar appearance of the second master arm 8 with the length (figure middle conductor A) of the cradle head performing connecting rod 11 and connecting rod 7, thus constitute stable parallelogram sturcutre, make motion quick and stable; The end of quadric chain can planar move, and has two translational degree of freedom; Cradle head between connecting rod is connected by bearing, bearing pin 10, axle sleeve, nut; The piston rod of described cylinder 6 can realize the motion of vertical direction, thus drives sucker 12 vertical motion.
This simple and easy sorting machine people course of work is: when article (as biscuit) enter in robot opereating specification, first drive unit drives quadric chain 5 to move to directly over biscuit position by end sucker 12, the air slide bar that cylinder 6 connects certain pressure moves down, sucker 12 is ventilated and to be held by biscuit, then the piston rod of cylinder 6 moves up, at this moment drive unit drives quadric chain 5 that sucker is moved to preposition, sucker 12 is died and to be put down by biscuit, last sucker moves on to directly over the position of next biscuit, action before repetition, complete sorting operation biscuit being transported to precalculated position from a position.

Claims (3)

1. a simple and easy sorting machine people, is characterized in that this robot comprises base (4), drive unit, quadric chain (5), cylinder (6) and sucker (12); Described base (4) is bolted on the upper end of column (1), and described column (1) fixes on the ground; Described drive unit comprises the first drive unit and the second drive unit, and described first drive unit is arranged on described base (4) with described second drive unit is concentric; Described quadric chain (5) is connected by flat key with described drive unit, described cylinder (6) is arranged on the end of described quadric chain (5), and described sucker (12) is arranged on the piston rod of described cylinder (6).
2. the simple and easy sorting machine people of one according to claim 1, it is characterized in that described first drive unit comprises the first motor (2) and the first decelerator (3), described second drive unit comprises the second motor (14) and the second decelerator (13), described quadric chain (5) comprises the first master arm (9), second master arm (8), connecting rod (7) and execution connecting rod (11), described first master arm (9) is connected by flat key with first decelerator (3) of described first drive unit, described second master arm (8) is connected by flat key with second decelerator (13) of described second drive unit, described connecting rod (7) one end is connected by bearing with described second master arm (8), the other end of described connecting rod (7) is connected by bearing with described execution connecting rod (11), the middle part of described execution connecting rod (11) is connected by bearing pin (10) with described first master arm logical (9), described cylinder (6) is bolted on the end of described execution connecting rod (11), described sucker (12) is fixed on the piston rod of described cylinder (6).
3. the simple and easy sorting machine people of one according to claim 2, it is characterized in that described first motor (2) and described second motor (14) adopt servomotor, described first decelerator (3) and described second decelerator (13) adopt harmonic speed reducer.
CN201510030683.XA 2015-01-21 2015-01-21 Simple sorting robot Pending CN104526701A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510030683.XA CN104526701A (en) 2015-01-21 2015-01-21 Simple sorting robot

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Application Number Priority Date Filing Date Title
CN201510030683.XA CN104526701A (en) 2015-01-21 2015-01-21 Simple sorting robot

Publications (1)

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CN104526701A true CN104526701A (en) 2015-04-22

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105127981A (en) * 2015-09-17 2015-12-09 安徽工业大学 Three-freedom-degree transfer robot with movable support
CN105196165A (en) * 2015-09-17 2015-12-30 安徽工业大学 Grabbing and placing device for deburring
CN106041921A (en) * 2016-07-04 2016-10-26 安徽海思达机器人有限公司 Six-degree-of-freedom hybrid robot
CN108732976A (en) * 2018-08-16 2018-11-02 无锡诚勇自动化技术有限公司 A kind of automatic grading machine control system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5054332A (en) * 1987-07-07 1991-10-08 Mitsubishi Denki K.K. Articulated robot
JPH06262561A (en) * 1993-03-18 1994-09-20 Tokico Ltd Industrial robot
CN101112758A (en) * 2007-08-30 2008-01-30 于复生 Gas sucking disc type mechanical hand
CN102380867A (en) * 2011-10-09 2012-03-21 郭庆省 Egg pickup robot
CN202356326U (en) * 2011-11-30 2012-08-01 深圳市大族激光科技股份有限公司 Sorting device
CN104260083A (en) * 2014-10-09 2015-01-07 马鞍山市安工大工业技术研究院有限公司 Five-degree-of-freedom planar joint robot mechanism
CN204397902U (en) * 2015-01-21 2015-06-17 安徽工业大学 A kind of simple and easy sorting machine people

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5054332A (en) * 1987-07-07 1991-10-08 Mitsubishi Denki K.K. Articulated robot
JPH06262561A (en) * 1993-03-18 1994-09-20 Tokico Ltd Industrial robot
CN101112758A (en) * 2007-08-30 2008-01-30 于复生 Gas sucking disc type mechanical hand
CN102380867A (en) * 2011-10-09 2012-03-21 郭庆省 Egg pickup robot
CN202356326U (en) * 2011-11-30 2012-08-01 深圳市大族激光科技股份有限公司 Sorting device
CN104260083A (en) * 2014-10-09 2015-01-07 马鞍山市安工大工业技术研究院有限公司 Five-degree-of-freedom planar joint robot mechanism
CN204397902U (en) * 2015-01-21 2015-06-17 安徽工业大学 A kind of simple and easy sorting machine people

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105127981A (en) * 2015-09-17 2015-12-09 安徽工业大学 Three-freedom-degree transfer robot with movable support
CN105196165A (en) * 2015-09-17 2015-12-30 安徽工业大学 Grabbing and placing device for deburring
CN106041921A (en) * 2016-07-04 2016-10-26 安徽海思达机器人有限公司 Six-degree-of-freedom hybrid robot
CN108732976A (en) * 2018-08-16 2018-11-02 无锡诚勇自动化技术有限公司 A kind of automatic grading machine control system

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Application publication date: 20150422

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