CN105057222A - Flexible material sorting system - Google Patents
Flexible material sorting system Download PDFInfo
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- CN105057222A CN105057222A CN201510582906.3A CN201510582906A CN105057222A CN 105057222 A CN105057222 A CN 105057222A CN 201510582906 A CN201510582906 A CN 201510582906A CN 105057222 A CN105057222 A CN 105057222A
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- jaw
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- corpus unguis
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Abstract
The invention discloses a flexible material sorting system, which relates to a material sorting system. The invention is intended to solve the problem that conventional sorting work which mostly uses colors for sorting cannot be applied to materials of different sizes and shapes. A track (4) is horizontally mounted on a support (5); a rack (3) is horizontally mounted on the support (5); a horizontal moving plate (2) is slidably mounted on the track (4); a horizontal moving servomotor (8) is mounted on the horizontal moving plate (2); a gear (9) is mounted at the output end of the horizontal moving servomotor (8), moreover, the gear (9) is engaged with the rack (3); a lifting module (7) is mounted on the horizontal moving plate (2); a lifting servomotor (6) is connected with the upper end of the lifting module (7), and the lower end of the lifting module (7) is connected with a flexible gripper (A). The flexible material sorting system is used for material sorting.
Description
Technical field
The present invention relates to a kind of sorting system, be specifically related to a kind of material flexible sorting system.
Background technology
Sorting operation is the important operation of one on flow production line, its objective is and dissimilar material or workpiece classification are put corresponding position, and its step is mainly divided into location, identifications, crawl and placement four-stage.Use and sort based on the industrial robot of machine vision, not only efficiently and accurately but also stable lasting, there is very large advantage.
But existing sorting work uses color to classify mostly, there is the problem that cannot be applicable to the material of different size and shape.
Summary of the invention
The object of the invention is mostly to use color to classify to solve existing sorting work, there is the problem that cannot be applicable to the material of different size and shape.And then a kind of material flexible sorting system is provided.
Technical scheme of the present invention is: a kind of material flexible sorting system, it comprises flexible paw, move horizontally plate, tooth bar, guide rail, support, lift servo motor, lifting module, move horizontally servomotor and gear, guide rail level is rack-mount, tooth bar level is rack-mount, move horizontally plate to be slidably arranged on guide rail, move horizontally servomotor to be arranged on and to move horizontally on plate, gear is arranged on the output moving horizontally servomotor, and wheel and rack engagement, lifting module is arranged on and moves horizontally on plate, lift servo motor is connected with the upper end of lifting module, the lower end of lifting module is connected with flexible paw,
Flexible paw comprises jaw assembly, leading screw, jaw servomotor and supporting frame, jaw servomotor is arranged on the side of supporting frame lower end, and the output of jaw servomotor is connected with one end of leading screw, and the other end of leading screw is connected with supporting frame, jaw assembly is removable to be arranged on leading screw
Jaw assembly comprises left jaw and right jaw, left jaw is identical with right clamping jaw structure, left jaw and right jaw symmetry are crisscross arranged, left jaw comprises corpus unguis, frame plate, support, cylinder, sucker and feed screw nut, the top of corpus unguis is rotatably arranged on one end of frame plate, one end of cylinder is connected with the upper end of corpus unguis, the other end of cylinder is fixedly mounted on the other end of frame plate, support installing is on frame plate, the upper end of support is connected with the upper end lateral surface of feed screw nut, sucker is arranged on frame plate, and the two ends rotation direction of leading screw is different.
The present invention compared with prior art has following effect:
The present invention judges original shape and the size of material according to the industrial vision sensor of system, the operating type that selective gist jaw accommodates or sucker is drawn, inwardly reduce the while of realizing left jaw and right jaw by the two ends rotation direction difference of leading screw to pick and place size or outwards expand simultaneously and pick and place size, thus realize picking and placeing the material of difformity and size, and pick and place being rotated by servomotor drive leading screw of size and dimension, adjust more flexible, fast with convenient, in addition, left jaw and right jaw adopt cylinder to clamp respectively, make the chucking power of left jaw and right jaw more stable, improve the security that material picks and places, whole production efficiency improves 60-70%, owing to formulating separately and manufacturing machine paw without the need to carrying out according to different size and shape, production cost reduces 70-80%.
The present invention in use, by obtaining the shape of material and dimension information, after then carrying out match cognization with sample template, can also capture (absorption) corresponding material and being placed into default position.Can accurately, stable, the sorting work that completes various material material at high speed, support that the match cognization of irregular-shaped objects and the differentiation of approximate object capture (absorption) work, can meet and sorting operation is carried out to the material of multiple different size type, simple to operate, utilization rate of equipment and installations is high, can significantly improve production efficiency and reduce production cost simultaneously.
Accompanying drawing explanation
Fig. 1 is the front view of flexible paw A; Fig. 2 is the side view of Fig. 1; Fig. 3 is the axle geodesic structure schematic diagram of left jaw; Fig. 4 is front view of the present invention; Fig. 5 is the side view of Fig. 4.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 to Fig. 5 illustrates present embodiment, a kind of material flexible sorting system of present embodiment, it comprises flexible paw A, move horizontally plate 2, tooth bar 3, guide rail 4, support 5, lift servo motor 6, lifting module 7, move horizontally servomotor 8 and gear 9, guide rail 4 level is arranged on support 5, tooth bar 3 level is arranged on support 5, moving horizontally plate 2 is slidably arranged on guide rail 4, move horizontally servomotor 8 to be arranged on and to move horizontally on plate 2, gear 9 is arranged on the output moving horizontally servomotor 8, and gear 9 engages with tooth bar 3, lifting module 7 is arranged on and moves horizontally on plate 2, lift servo motor 6 is connected with the upper end of lifting module 7, the lower end of lifting module 7 is connected with flexible paw A,
Flexible paw A comprises jaw assembly A-1, leading screw A-2, jaw servomotor A-3 and supporting frame A-4, jaw servomotor A-3 is arranged on the side of supporting frame A-4 lower end, the output of jaw servomotor A-3 is connected with one end of leading screw A-2, the other end of leading screw A-2 is connected with supporting frame A-4, jaw assembly A-1 is removable to be arranged on leading screw A-2
Jaw assembly A-1 comprises left jaw A-1-1 and right jaw A-1-2, left jaw A-1-1 is identical with right jaw A-1-2 structure, left jaw A-1-1 and right jaw A-1-2 symmetry are crisscross arranged, left jaw A-1-1 comprises corpus unguis A-1-3, frame plate A-1-4, support A-1-5, cylinder A-1-6, sucker A-1-7 and feed screw nut A-1-8, the top of corpus unguis A-1-3 is rotatably arranged on one end of frame plate A-1-4, one end of cylinder A-1-6 is connected with the upper end of corpus unguis A-1-3, the other end of cylinder A-1-6 is fixedly mounted on the other end of frame plate A-1-4, support A-1-5 is arranged on frame plate A-1-4, the upper end of support A-1-5 is connected with the upper end lateral surface of feed screw nut A-1-8, sucker A-1-7 is arranged on frame plate A-1-4, the two ends rotation direction of leading screw A-2 is different.
The feed screw nut A-1-8 of present embodiment offers successively three through holes, be convenient to be connected with leading screw A-2 leading screw A-2.
Corpus unguis A-1-3 in the left jaw A-1-1 of present embodiment and the corpus unguis A-1-3 in right jaw A-1-2 is oppositely arranged, and the corpus unguis A-1-3 in left jaw A-1-1 and the corpus unguis A-1-3 in right jaw A-1-2 slopes inwardly setting.Be convenient to the clamping effect ensureing corpus unguis end.
The operation principle of the flexible paw A of present embodiment: when system judges that material is flat articles, jaw A-1-3 is in horizontal open configuration, and material holds by sucker A-1-7, is sucked by material, is then carried material by materials conveying system.If when system judges that material is block rectangle object, the information such as the shape of sensor meeting automatic identification material and size, then by signal transmission to jaw servomotor A-3, jaw servomotor A-3 drives leading screw A-2 to rotate according to the signal accepted, thus drive jaw assembly A-1 to move left and right, when moving to suitable position, jaw servomotor A-3 stops operating, when material enters in left jaw A-1-1 and right jaw A-1-2, cylinder A-1-5 drives jaw A-1-3 motion simultaneously, material is clamped, then by materials conveying system, material is carried.
The model of the lifting module 7 of present embodiment is kk86 pattern group, can realize elevating function.
Detailed description of the invention two: composition graphs 1 to Fig. 5 illustrates present embodiment, present embodiment corpus unguis A-1-3 comprises corpus unguis frame A-1-3-1 and pawl A-1-3-2, between corpus unguis frame A-1-3-1 and one end of cylinder A-1-6, bias is connected, and pawl A-1-3-2 is fixedly mounted on corpus unguis frame A-1-3-1.Setting like this, the upper end, right side of corpus unguis frame A-1-3-1 is connected with cylinder A-1-6, and easy to connect, chucking power is more concentrated.Other composition is identical with detailed description of the invention one with annexation.
Detailed description of the invention three: composition graphs 1 to Fig. 5 illustrates present embodiment, the corpus unguis frame A-1-3-1 of present embodiment is hollow out corpus unguis frame, and pawl A-1-3-2 is hollow out pawl.Setting like this, alleviates the overall weight of paw.Other composition is identical with detailed description of the invention two with annexation.
Detailed description of the invention four: composition graphs 1 to Fig. 5 illustrates present embodiment, the left jaw A-1-1 of present embodiment also comprises slipmat, and slipmat is arranged on pawl A-1-3-2, and slipmat is rubber antiskid pad.Setting like this, for clamping material provides better skidproof effect, ensures that the safety of material picks and places.Other composition is identical with detailed description of the invention three with annexation.
Detailed description of the invention five: composition graphs 1 to Fig. 5 illustrates present embodiment, the supporting frame A-4 of present embodiment is the supporting frames of both sides, lower end with two bearing blocks.Setting like this, is convenient to the placement ensureing leading screw both sides, for leading screw provides support.Other composition and annexation and detailed description of the invention one, two, three or four identical.
Operation principle of the present invention: when material arrives C point through conveying mechanism, by the sensing system being placed in C point, the shape of material and dimension information are obtained, then match cognization is carried out with sample template, when both mate mutually, control program sends commanded level shift servo electric motor starting, wheel and rack engagement on motor, thus drive flexible paw and move horizontally plate and be moved to the left along guide rail, when moving to directly over material, move horizontally servomotor to shut down, lift servo electric motor starting drives flexible paw to move up and down by module, when moving to correct position, material is picked up (absorption) by flexible paw, move horizontally servomotor 8 to start material handling is entered next station to D point.
Note: C-D point-to-point transmission line material input setting can be parallel with horizontal moving mechanical hand, also can orthogonal vertical with it.
Claims (5)
1. a material flexible sorting system, it is characterized in that: it comprises flexible paw (A), move horizontally plate (2), tooth bar (3), guide rail (4), support (5), lift servo motor (6), lifting module (7), move horizontally servomotor (8) and gear (9), guide rail (4) level is arranged on support (5), tooth bar (3) level is arranged on support (5), moving horizontally plate (2) is slidably arranged on guide rail (4), move horizontally servomotor (8) to be arranged on and to move horizontally on plate (2), gear (9) is arranged on the output moving horizontally servomotor (8), and gear (9) engages with tooth bar (3), lifting module (7) is arranged on and moves horizontally on plate (2), lift servo motor (6) is connected with the upper end of lifting module (7), the lower end of lifting module (7) is connected with flexible paw (A),
Flexible paw (A) comprises jaw assembly (A-1), leading screw (A-2), jaw servomotor (A-3) and supporting frame (A-4), jaw servomotor (A-3) is arranged on the side of supporting frame (A-4) lower end, the output of jaw servomotor (A-3) is connected with one end of leading screw (A-2), the other end of leading screw (A-2) is connected with supporting frame (A-4), jaw assembly (A-1) is removable to be arranged on leading screw (A-2)
Jaw assembly (A-1) comprises left jaw (A-1-1) and right jaw (A-1-2), left jaw (A-1-1) is identical with right jaw (A-1-2) structure, left jaw (A-1-1) and right jaw (A-1-2) symmetry are crisscross arranged, left jaw (A-1-1) comprises corpus unguis (A-1-3), frame plate (A-1-4), support (A-1-5), cylinder (A-1-6), sucker (A-1-7) and feed screw nut (A-1-8), the top of corpus unguis (A-1-3) is rotatably arranged on one end of frame plate (A-1-4), one end of cylinder (A-1-6) is connected with the upper end of corpus unguis (A-1-3), the other end of cylinder (A-1-6) is fixedly mounted on the other end of frame plate (A-1-4), support (A-1-5) is arranged on frame plate (A-1-4), the upper end of support (A-1-5) is connected with the upper end lateral surface of feed screw nut (A-1-8), sucker (A-1-7) is arranged on frame plate (A-1-4), the two ends rotation direction of leading screw (A-2) is different.
2. a kind of material flexible sorting system according to claim 1, it is characterized in that: corpus unguis (A-1-3) comprises corpus unguis frame (A-1-3-1) and pawl (A-1-3-2), between corpus unguis frame (A-1-3-1) and one end of cylinder (1-6), bias is connected, and pawl (A-1-3-2) is fixedly mounted on corpus unguis frame (A-1-3-1).
3. a kind of material flexible sorting system according to claim 2, is characterized in that: corpus unguis frame (A-1-3-1) is hollow out corpus unguis frame, and pawl (A-1-3-2) is hollow out pawl.
4. a kind of material flexible sorting system according to claim 3, it is characterized in that: left jaw (A-1-1) also comprises slipmat, slipmat is arranged on pawl (A-1-3-2).
5. a kind of material flexible sorting system according to claim 4, is characterized in that: supporting frame (A-4) is for both sides, lower end are with the supporting frame of two bearing blocks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510582906.3A CN105057222A (en) | 2015-09-15 | 2015-09-15 | Flexible material sorting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510582906.3A CN105057222A (en) | 2015-09-15 | 2015-09-15 | Flexible material sorting system |
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| CN105057222A true CN105057222A (en) | 2015-11-18 |
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| CN201510582906.3A Pending CN105057222A (en) | 2015-09-15 | 2015-09-15 | Flexible material sorting system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113004A (en) * | 2016-08-11 | 2016-11-16 | 无锡百禾工业机器人有限公司 | A kind of suspension type boosting manipulator |
| CN106896628A (en) * | 2015-12-17 | 2017-06-27 | 研祥智能科技股份有限公司 | A kind of camera tunable arrangement and machine vision equipment |
| CN106940250A (en) * | 2017-02-04 | 2017-07-11 | 苏州睿达矩自动化设备有限公司 | A kind of pipe fitting quality inspection device |
| CN107378831A (en) * | 2017-08-29 | 2017-11-24 | 珠海市博杰电子有限公司 | Adsorb positioning component and automatically assemble equipment with its LED string |
| CN108745936A (en) * | 2018-05-29 | 2018-11-06 | 和县小辣椒电子商务有限公司 | A kind of e-commerce pigeonholes |
| CN109954730A (en) * | 2017-12-22 | 2019-07-02 | 克朗斯股份公司 | For carrying out clean bottle sanitation machine to bottle |
| CN111889392A (en) * | 2020-07-30 | 2020-11-06 | 南阳师范学院 | Sorting device based on information communication |
| CN114101121A (en) * | 2020-08-27 | 2022-03-01 | 株式会社日立制作所 | Robot hand and picking system |
| CN114798477A (en) * | 2022-04-29 | 2022-07-29 | 安徽汉烯科技有限公司 | Graphene oxide membrane automatic sorting device |
| CN115591781A (en) * | 2022-12-15 | 2023-01-13 | 成都云裳科技有限公司（Cn） | Cross-border e-commerce artificial intelligent checking device |
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| CN204912107U (en) * | 2015-09-15 | 2015-12-30 | 哈尔滨展达机器人自动化有限责任公司 | Flexible letter sorting system of material |
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| JPH07299790A (en) * | 1994-04-29 | 1995-11-14 | Toyoda Mach Works Ltd | Robot hand for work transport |
| CN1807207A (en) * | 2005-12-19 | 2006-07-26 | 郑卫星 | Triple motion device for striding multiple lines using in delivery lines |
| CN201410662Y (en) * | 2009-06-12 | 2010-02-24 | 北京物资学院 | Flexible grabbing system for case |
| CN201801178U (en) * | 2010-09-01 | 2011-04-20 | 江苏天奇物流系统工程股份有限公司 | Sliding block and sliding track type pushing-out mechanism |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106896628A (en) * | 2015-12-17 | 2017-06-27 | 研祥智能科技股份有限公司 | A kind of camera tunable arrangement and machine vision equipment |
| CN106896628B (en) * | 2015-12-17 | 2019-12-24 | 研祥智能科技股份有限公司 | Adjustable device of camera and machine vision equipment |
| CN106113004A (en) * | 2016-08-11 | 2016-11-16 | 无锡百禾工业机器人有限公司 | A kind of suspension type boosting manipulator |
| CN106940250A (en) * | 2017-02-04 | 2017-07-11 | 苏州睿达矩自动化设备有限公司 | A kind of pipe fitting quality inspection device |
| CN107378831A (en) * | 2017-08-29 | 2017-11-24 | 珠海市博杰电子有限公司 | Adsorb positioning component and automatically assemble equipment with its LED string |
| CN109954730A (en) * | 2017-12-22 | 2019-07-02 | 克朗斯股份公司 | For carrying out clean bottle sanitation machine to bottle |
| CN108745936A (en) * | 2018-05-29 | 2018-11-06 | 和县小辣椒电子商务有限公司 | A kind of e-commerce pigeonholes |
| CN111889392A (en) * | 2020-07-30 | 2020-11-06 | 南阳师范学院 | Sorting device based on information communication |
| CN114101121A (en) * | 2020-08-27 | 2022-03-01 | 株式会社日立制作所 | Robot hand and picking system |
| CN114798477A (en) * | 2022-04-29 | 2022-07-29 | 安徽汉烯科技有限公司 | Graphene oxide membrane automatic sorting device |
| CN115591781A (en) * | 2022-12-15 | 2023-01-13 | 成都云裳科技有限公司（Cn） | Cross-border e-commerce artificial intelligent checking device |
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Application publication date: 20151118 |