CN106003142A - Movable sorting and carrying device with high adaptability - Google Patents
Movable sorting and carrying device with high adaptability Download PDFInfo
- Publication number
- CN106003142A CN106003142A CN201610409511.8A CN201610409511A CN106003142A CN 106003142 A CN106003142 A CN 106003142A CN 201610409511 A CN201610409511 A CN 201610409511A CN 106003142 A CN106003142 A CN 106003142A
- Authority
- CN
- China
- Prior art keywords
- rotary
- vehicle frame
- packaged type
- sorting
- seat
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
- B25J13/065—Control stands, e.g. consoles, switchboards comprising joy-sticks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a movable sorting and carrying device with high adaptability. The movable sorting and carrying device mainly comprises a movable frame, a left grabbing manipulator and a right clamping manipulator, and can realize grab conventional square expresses and unconventional special-shaped expresses . A shearing fork mechanism in the right clamping manipulator is applied to enable the right clamping manipulator to clamp square expresses with different sizes. A six-linkage structure in the right clamping manipulator is applied to enable the right clamping manipulator to grab special-shaped expresses of different sizes. A rotating structure in the movable frame is applied to realize the rotation of the whole device in different directions. Through the cooperation of the left grabbing manipulator and the right clamping manipulator, the clamping and sorting of expresses of different shapes and different sizes can be realized, the movable sorting and carrying device is simple and time-saving to operate and wide in application range, the problems of labor shortage and low sorting efficiency are solved, the labor cost is reduced, and the express sorting efficiency is improved.
Description
Technical field
The present invention relates to a kind of plant equipment, specifically a kind of adaptability packaged type sorting transport device, be the mechanically aided device for improving the sorting efficiency that express delivery sorting is stood.
Background technology
In recent years, development along with ecommerce, quick despatch increasing number, postman transports the increasing of workload, and increasing express company is exposed the uncivil handling such as the rash-and-rough way of loading and unloading, the violence sorting that exist in transport process in various degree, distributes, delivers the phenomenon of all kinds of express mail.According to investigation, except lacking standardized operating norms, mechanization degree is too low is also the major reason causing " rash-and-rough way of loading and unloading, violence is sorted "；In express delivery handling, sorting flow process, quick despatch quantity is many, causes postman's labor intensity big, and the distribution efficiency of express delivery is low.
Summary of the invention
The main object of the present invention is the vacancy making up existing market, a kind of adaptability packaged type sorting transport device of design, the sorting to different size convention square quick despatch and the sorting to unconventional abnormity quick despatch can be realized by coordinating of left and right mechanical hand, save manpower, improve express delivery sorting efficiency.
The present invention is achieved in that
A kind of adaptability packaged type sorting transport device, is arranged on removable vehicle frame including removable vehicle frame, left end catching robot and right-hand member gripping manipulator, left end catching robot and right-hand member gripping manipulator.A rotary seat and a control station is had on described removable vehicle frame, the support of seat constrains in swivelling chute, seat realizes the connection with packaged type vehicle frame by swivelling chute and bearing, left end catching robot is connected on packaged type vehicle frame by rotary shaft, and by step motor control its along the rotation of rotary shaft, right-hand member gripping manipulator is connected on packaged type vehicle frame by rotary shaft, and by step motor control its along the rotation of rotary shaft.
Described removable vehicle frame is propped up be configured to by rotary seat, Artificial Control platform and rotary type, and rotary seat is arranged on base by bottom rotating shaft, and bottom rotating shaft is fixed on base by bearing；Rotary type support is connected with seat rotary shaft by spline and realizes linkage, and connecting rod realizes being slidably connected by rotary type chute and base below；Artificial Control platform is mostly installed on rotary type support.
Described left end gripping manipulator is jointed gear unit, forms including whitworth mechanism, parallel-crank mechanism and scissors mechanism；Being connected with mechanical arm base below described whitworth mechanism, the middle bolt that passes through is connected with electric pushrod, and top is connected with parallel-crank mechanism by bolt；Parallel-crank mechanism is made up of two parallel rods, and lower section is fixed axle by bolt with scissors mechanism and is connected；Being connected with fixing axle transmission by spline above scissors mechanism, fixing axle is by step motor drive, and its jackshaft is connected with electric pushrod by pin to be fixed.
Described right-hand member catching robot is jointed gear unit, including whitworth mechanism, six-bar mechanism composition；Described jointed gear unit is realized and the connection of mechanical hand base by electric pushrod, and above it, top is connected with six-bar mechanism by pin, and is realized by electric pushrod and the fixing of six-bar mechanism；Described six-bar mechanism is made up of six roots of sensation connecting rod, and it is fixedly connected by pin each other, constitutes " finger " of mechanical hand.
A kind of adaptability packaged type sorting transport device disclosed by the invention, can realize convention square quick despatch and the crawl of unconventional abnormity quick despatch.The utilization of scissors mechanism in right-hand member gripping manipulator, makes right-hand member mechanical hand can realize the gripping of the square quick despatch to different size size；The utilization of six-bar linkage structure in right-hand member mechanical hand, makes right-hand member mechanical hand can realize the crawl to different size abnormity quick despatch；The utilization of rotational structure in packaged type vehicle frame, can realize single unit system rotation in different azimuth.This device is coordinated to use can be realized difformity and the gripping of the quick despatch of size and sorting by left and right end mechanical hand, simple to operate save time, applied widely, solve in express delivery sorting and be short of hands, sort inefficient problem, reduce human cost, improve the efficiency of express delivery sorting.
Accompanying drawing explanation
Fig. 1 is device integral installation figure；
Fig. 2 is the rack-mounted figure of movable car；
Fig. 3 is left end catching robot installation diagram；
Fig. 4 is right-hand member gripping manipulator installation diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated.
As it is shown in figure 1, invention have been described a kind of adaptability packaged type sorting transport device, it is arranged on removable vehicle frame 1 including removable vehicle frame 1, right-hand member catching robot 4 and left end gripping manipulator 2, right-hand member catching robot 4 and left end gripping manipulator 2.A rotary seat and a control station 3 is had on described removable vehicle frame 1, the support of seat constrains in swivelling chute, seat realizes the connection with packaged type vehicle frame by swivelling chute and bearing, right-hand member catching robot 4 is connected on packaged type vehicle frame by rotary shaft, and by step motor control its along the rotation of rotary shaft, left end gripping manipulator 2 is connected on packaged type vehicle frame 1 by rotary shaft, and by step motor control its along the rotation of rotary shaft.
As in figure 2 it is shown, removable vehicle frame 1 is made up of rotary seat 5, Artificial Control platform 3 and rotary type support 6, rotary seat 5 is arranged on base 8 by bottom rotating shaft, and bottom rotating shaft is fixed on base by bearing；Rotary type support is connected with seat rotary shaft by spline and realizes linkage, and connecting rod realizes being slidably connected by rotary type chute 7 and base 8 below；Artificial Control platform 3 is mostly installed on rotary type support 6.
As it is shown on figure 3, right-hand member catching robot 4 is jointed gear unit, including whitworth mechanism 11,14, six-bar mechanism composition；Described whitworth mechanism 11,14 realizes the connection with mechanical hand base 9 by electric pushrod 10,13, and above it, top is connected with six-bar mechanism 18 by pin, and is realized and the fixing of six-bar mechanism by electric pushrod 16；Described six-bar mechanism is made up of first connecting rod 19, second connecting rod 20, third connecting rod 21, fourth link the 22, the 5th connecting rod 23 and six-bar linkage 24, and it is fixedly connected by pin each other, constitutes " finger " of mechanical hand.
As shown in Figure 4, left end gripping manipulator is jointed gear unit, forms including whitworth mechanism 27, parallel-crank mechanism and scissors mechanism；Being connected by pin and mechanical arm base 25 below described whitworth mechanism 27, middle being connected with electric pushrod 31 by bolt, top is passed through bolt and is connected with parallel-crank mechanism 28；Parallel-crank mechanism is made up of parallel rod 28, parallel rod 30, and lower section is fixed axle 29 by bolt with scissors mechanism and is connected；Being connected transmission by spline with fixing axle phase 29 above scissors mechanism, fixing axle is by step motor drive, and its jackshaft is connected fixing by pin with electric pushrod 34.
Claims (4)
1. an adaptability packaged type sorting transport device, it is characterised in that: include that removable vehicle frame, right-hand member catching robot and left end gripping manipulator, right-hand member catching robot and left end gripping manipulator are arranged on removable vehicle frame；A rotary seat and a control station is had on described removable vehicle frame, the support of rotary seat constrains in swivelling chute, seat realizes the connection with packaged type vehicle frame by swivelling chute and bearing, right-hand member catching robot is connected on packaged type vehicle frame by rotary shaft, and by step motor control its along the rotation of rotary shaft, left end gripping manipulator is connected on packaged type vehicle frame by rotary shaft, and by step motor control its along the rotation of rotary shaft.
Adaptability packaged type sorting transport device the most according to claim 1, it is characterized in that: described removable vehicle frame includes rotary seat, Artificial Control platform and rotary type support, rotary seat is arranged on base by bottom rotating shaft, and bottom rotating shaft is fixed on base by bearing；Rotary type support is connected with seat rotary shaft by spline and realizes linkage, and connecting rod realizes being slidably connected by rotary type chute and base below；Artificial Control platform is arranged on rotary type support.
Adaptability packaged type sorting transport device the most according to claim 1 or claim 2, it is characterised in that: described right-hand member catching robot is jointed gear unit, including whitworth mechanism, six-bar mechanism；Described whitworth mechanism is realized and the connection of mechanical hand base by electric pushrod, and above it, top is connected with six-bar mechanism by pin, and is realized by electric pushrod and the fixing of six-bar mechanism；Described six-bar mechanism is made up of first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod and six-bar linkage, and it is fixedly connected by pin each other, constitutes " finger " of mechanical hand.
Adaptability packaged type sorting transport device the most according to claim 1 or claim 2, it is characterised in that: described left end gripping manipulator is jointed gear unit, including whitworth mechanism, parallel-crank mechanism and scissors mechanism；Being connected with mechanical arm base by pin below described whitworth mechanism, the middle bolt that passes through is connected with electric pushrod, and top is connected with parallel-crank mechanism by bolt；Parallel-crank mechanism is made up of parallel rod, parallel rod, and lower section is fixed axle by bolt with scissors mechanism and is connected；Being connected with fixing axle transmission by spline above scissors mechanism, fixing axle is by step motor drive, and its jackshaft is connected with electric pushrod by pin to be fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409511.8A CN106003142B (en) | 2016-06-12 | 2016-06-12 | A kind of adaptability packaged type sorting transport device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409511.8A CN106003142B (en) | 2016-06-12 | 2016-06-12 | A kind of adaptability packaged type sorting transport device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106003142A true CN106003142A (en) | 2016-10-12 |
| CN106003142B CN106003142B (en) | 2018-06-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610409511.8A Expired - Fee Related CN106003142B (en) | 2016-06-12 | 2016-06-12 | A kind of adaptability packaged type sorting transport device |
Country Status (1)
| Country | Link |
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| CN (1) | CN106003142B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107096722A (en) * | 2017-04-20 | 2017-08-29 | 青岛黄海学院 | Internet of Things sorting system based on RFID technique |
| CN108057629A (en) * | 2017-12-28 | 2018-05-22 | 河南工程学院 | A kind of new sorting dispatching all-in-one machine |
| WO2019062324A1 (en) * | 2017-09-30 | 2019-04-04 | 北京极智嘉科技有限公司 | Article conveying equipment |
| CN113830201A (en) * | 2021-11-10 | 2021-12-24 | 徐州工程学院 | Express delivery transport vechicle based on 5G communication |
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2016
- 2016-06-12 CN CN201610409511.8A patent/CN106003142B/en not_active Expired - Fee Related
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| CN101049690A (en) * | 2007-04-25 | 2007-10-10 | 大连理工大学 | Cantalever type processing robot with fire and water |
| CN102085654A (en) * | 2009-12-04 | 2011-06-08 | 上海电气集团股份有限公司 | Manned household service robot structure |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107096722A (en) * | 2017-04-20 | 2017-08-29 | 青岛黄海学院 | Internet of Things sorting system based on RFID technique |
| WO2019062324A1 (en) * | 2017-09-30 | 2019-04-04 | 北京极智嘉科技有限公司 | Article conveying equipment |
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| CN108057629A (en) * | 2017-12-28 | 2018-05-22 | 河南工程学院 | A kind of new sorting dispatching all-in-one machine |
| CN113830201A (en) * | 2021-11-10 | 2021-12-24 | 徐州工程学院 | Express delivery transport vechicle based on 5G communication |
| CN113830201B (en) * | 2021-11-10 | 2022-07-01 | 徐州工程学院 | Express delivery transport vechicle based on 5G communication |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106003142B (en) | 2018-06-12 |
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