CN106003142B - A kind of adaptability packaged type sorting transport device - Google Patents
A kind of adaptability packaged type sorting transport device Download PDFInfo
- Publication number
- CN106003142B CN106003142B CN201610409511.8A CN201610409511A CN106003142B CN 106003142 B CN106003142 B CN 106003142B CN 201610409511 A CN201610409511 A CN 201610409511A CN 106003142 B CN106003142 B CN 106003142B
- Authority
- CN
- China
- Prior art keywords
- right end
- vehicle frame
- manipulator
- rotary
- sorting
- 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.)
- Expired - Fee Related
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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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of adaptability packaged type sorting transport devices, mainly form the crawl, it can be achieved that convention square quick despatch and unconventional special-shaped quick despatch by moving vehicle frame, left end catching robot and right end gripping manipulator.The utilization of scissors mechanism in right end gripping manipulator makes right end manipulator that can realize the gripping to the rectangular quick despatch of different size size；The utilization of six-bar linkage structure in right end manipulator makes right end manipulator that can realize the crawl to different size abnormity quick despatch；The utilization of rotational structure is, it can be achieved that rotation of the single unit system in different direction in packaged type vehicle frame.The present apparatus is by the cooperation of left and right end manipulator with the gripping and sorting that can be achieved to the quick despatch of different shape and size, it is easy to operate time saving, it is applied widely, solve the problems, such as express delivery sorting in be short of hands, sorting efficiency it is low, human cost is reduced, improves the efficiency of express delivery sorting.
Description
Technical field
The present invention relates to a kind of mechanical equipment, specifically a kind of adaptability packaged type sorting transport device, is for carrying
The mechanically aided device of the sorting efficiency at high express delivery sorting station.
Background technology
In recent years, with the development of e-commerce, quick despatch increasing number, postman transports the increasing of workload, more
Come more express companies be exposed in transport process there are different degrees of rash-and-rough way of loading and unloading, violence sorting etc. uncivil dress
It unloads, distribute, deliver the phenomenon that all kinds of express mails.According to investigation, in addition to lacking standardized operating norms, too low mechanization degree is also to lead
Cause the major reason of " rash-and-rough way of loading and unloading, violence sorting "；In express delivery handling, sorting flow, quick despatch quantity is more, leads to postman
Labor intensity is big, and the distribution efficiency of express delivery is low.
Invention content
The main object of the present invention is to make up the vacancy of existing market, designs a kind of adaptability packaged type sorting transport dress
It puts, it can be by the cooperation realization of left and right manipulator to the sorting of different size convention square quick despatch and to unconventional special-shaped fast
The sorting of part is passed, saves manpower, improves express delivery sorting efficiency.
The invention is realized in this way：
A kind of adaptability packaged type sorting transport device, including removable vehicle frame, left end catching robot and right end folder
Manipulator is taken, left end catching robot and right end gripping manipulator are mounted on removable vehicle frame.On the removable vehicle frame
There are one rotary seats and a console, the stent of seat to constrain in swivelling chute, and seat is real by swivelling chute and bearing
Now with the connection of removable vehicle frame, left end catching robot is connected to by rotary shaft on removable vehicle frame, and passes through stepping electricity
Machine controls its rotation along rotary shaft, and right end gripping manipulator is connected to by rotary shaft on removable vehicle frame, and passes through stepping
Motor controls its rotation along rotary shaft.
The removable vehicle frame is made of rotary seat, console and rotary type stent, and rotary seat leads to
Bottom rotating shaft is crossed on pedestal, bottom rotating shaft is fixed on by bearing on pedestal；Rotary type stent passes through spline
Be connected realization linkage with seat rotary shaft, and connecting rod is slidably connected by rotary type sliding slot and pedestal realization below；Console
It is mostly installed on rotary type stent.
The left end gripping manipulator be jointed gear unit, including whitworth mechanism, parallelogram mechanism and
Scissors mechanism forms；It is connected below the whitworth mechanism with mechanical arm pedestal, centre passes through bolt and electric pushrod phase
Even, top is connected by bolt with parallelogram mechanism；Parallelogram mechanism is made of two parallel rods, and lower section passes through
Bolt is connected with scissors mechanism fixing axle；It is connected by spline with fixing axle transmission above scissors mechanism, fixing axle is by step
Stepper motor drives, and in-between drive shaft connect fixation with electric pushrod by pin.
The right end catching robot is jointed gear unit, is formed including whitworth mechanism, six-bar mechanism；It is described
Jointed gear unit by electric pushrod realizes and is connect with manipulator base that top top is connected by pin with six-bar mechanism
It connects, and the fixation with six-bar mechanism is realized by electric pushrod；The six-bar mechanism is made of six roots of sensation connecting rod, is passed through each other
Pin is fixedly connected, and is formed " finger " of manipulator.
A kind of adaptability packaged type sorting transport device disclosed by the invention is, it can be achieved that convention square quick despatch and non-
The crawl of conventional abnormity quick despatch.The utilization of scissors mechanism in right end gripping manipulator, makes right end manipulator that can realize to difference
The gripping of the rectangular quick despatch of size dimension；The utilization of six-bar linkage structure in right end manipulator makes right end manipulator that can realize pair
The crawl of different size abnormity quick despatch；The utilization of rotational structure in vehicle frame is moved, it can be achieved that single unit system is in different direction
Interior rotation.The present apparatus is by the cooperation of left and right end manipulator with the achievable quick despatch to different shape and size
Gripping and sorting, it is easy to operate time saving, it is applied widely, solve the problems, such as express delivery sorting in be short of hands, sorting efficiency it is low,
Human cost is reduced, improves the efficiency of express delivery sorting.
Description of the drawings
Fig. 1 is device entirety installation diagram；
Fig. 2 is the rack-mounted figure of movable car；
Fig. 3 is right end gripping manipulator installation diagram；
Fig. 4 is left end catching robot installation diagram.
Specific embodiment
Below in conjunction with attached drawing, the present invention is further illustrated.
As shown in Figure 1, invention have been described a kind of adaptability packaged type sorting transport device, including removable vehicle frame 1,
Right end catching robot 4 and left end gripping manipulator 2, right end catching robot 4 and left end gripping manipulator 2 are mounted on removable
On vehicle frame 1.There are one rotary seat and a consoles 3, the stent of seat on the removable vehicle frame 1 to constrain in rotation
In slot, seat realizes the connection with moving vehicle frame by swivelling chute and bearing, and right end catching robot 4 is by rotating axis connection
On removable vehicle frame, and pass through step motor control its rotation along rotary shaft, left end gripping manipulator 2 is connected by rotary shaft
It is connected on removable vehicle frame 1, and passes through step motor control its rotation along rotary shaft.
As shown in Fig. 2, removable vehicle frame 1 is made of rotary seat 5, console 3 and rotary type stent 6, can revolve
Swivel base chair 5 is mounted on by bottom rotating shaft on pedestal 8, and bottom rotating shaft is fixed on by bearing on pedestal；Rotary type branch
Frame is connected by spline with seat rotary shaft realizes linkage, and connecting rod passes through rotary type sliding slot 7 below and pedestal 8 is realized and slided
Connection；Console 3 is mostly installed on rotary type stent 6.
Right end catching robot 4 is jointed gear unit, including whitworth mechanism 11,14, six-bar mechanism composition；It is described
Whitworth mechanism 11,14 realizes the connection with manipulator base 9 by electric pushrod 10,13, and top top passes through pin
It is connected with six-bar mechanism 18, and passes through the realization of electric pushrod 16 and the fixation of six-bar mechanism；The six-bar mechanism is connected by first
Bar 19, second connecting rod 20, third connecting rod 21, fourth link 22, the 5th connecting rod 23 and six-bar linkage 24 form, and pass through each other
Pin is fixedly connected, and is formed " finger " of manipulator.
Left end gripping manipulator is jointed gear unit, including whitworth mechanism 27, parallelogram mechanism and scissor
Mechanism forms；27 lower section of the whitworth mechanism is connected by pin and mechanical arm pedestal 25, centre by bolt and
Electric pushrod 31 is connected, and top is connected by bolt with parallelogram mechanism 28；Parallelogram mechanism by parallel rod 28,
Parallel rod 30 is formed, and lower section is connected by bolt with scissors mechanism fixing axle 29；By spline and admittedly above scissors mechanism
The connection transmission of dead axle phase 29, fixing axle are driven by stepper motor, and in-between drive shaft connect fixation by pin with electric pushrod 34.
Claims (1)
1. a kind of adaptability packaged type sorting transport device, it is characterised in that：Including removable vehicle frame, right end catching robot
With left end gripping manipulator, right end catching robot and left end gripping manipulator are mounted on removable vehicle frame；It is described removable
There are one rotary seats and a console, the stent of rotary seat on vehicle frame to constrain in swivelling chute, and seat passes through rotation
Turn trough and bearing realize the connection with moving vehicle frame, and right end catching robot is connected to by rotary shaft on removable vehicle frame,
And passing through step motor control its rotation along rotary shaft, left end gripping manipulator is connected to removable vehicle frame by rotary shaft
On, and pass through step motor control its rotation along rotary shaft；
The removable vehicle frame includes rotary seat, console and rotary type stent, rotary seat and is revolved by bottom
Shaft is mounted on pedestal, and bottom rotating shaft is fixed on by bearing on pedestal；Rotary type stent is revolved by spline and seat
Shaft, which is connected, realizes linkage, and connecting rod is slidably connected by rotary type sliding slot and pedestal realization below；Console is mounted on can
On rotation bracket；
The right end catching robot is jointed gear unit, including whitworth mechanism, six-bar mechanism；The rotating guide-bar machine
Structure realizes the connection with manipulator base by electric pushrod, and top top is connected, and lead to by pin with six-bar mechanism
Cross electric pushrod realization and the fixation of six-bar mechanism；The six-bar mechanism is by first connecting rod, second connecting rod, third connecting rod, the 4th
Connecting rod, the 5th connecting rod and six-bar linkage composition, are fixedly connected by pin, form " finger " of manipulator each other；
The left end gripping manipulator is jointed gear unit, including whitworth mechanism, parallelogram mechanism and scissor machine
Structure；It is connected below the whitworth mechanism by pin with mechanical arm pedestal, centre is connected by bolt with electric pushrod,
Top is connected by bolt with parallelogram mechanism；Parallelogram mechanism is made of parallel rod, parallel rod, and lower section leads to
Bolt is crossed with scissors mechanism fixing axle to be connected；Be connected by spline with fixing axle transmission above scissors mechanism, fixing axle by
Stepper motor drives, and in-between drive shaft connect fixation with electric pushrod by pin.
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 CN106003142A (en) | 2016-10-12 |
| CN106003142B true 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 |
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| CN (1) | CN106003142B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107096722B (en) * | 2017-04-20 | 2018-12-04 | 青岛黄海学院 | Internet of Things sorting system based on RFID technique |
| JP6663541B2 (en) * | 2017-09-30 | 2020-03-11 | 北京極智嘉科技有限公司 | Goods transporter |
| CN108057629B (en) * | 2017-12-28 | 2019-06-07 | 河南工程学院 | A kind of novel sorting dispatching all-in-one machine |
| CN113830201B (en) * | 2021-11-10 | 2022-07-01 | 徐州工程学院 | Express delivery transport vechicle based on 5G communication |
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| CN204433585U (en) * | 2014-12-13 | 2015-07-01 | 天津天成昇科技有限公司 | The machinery barrel handling carrier of novel improved structure |
| WO2015143273A2 (en) * | 2014-03-21 | 2015-09-24 | Rensselaer Polytechnic Institute | Mobile human-friendly assistive robot |
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2016
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Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007276063A (en) * | 2006-04-07 | 2007-10-25 | Toyota Motor Corp | Fixing device for robot |
| 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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| WO2015143273A2 (en) * | 2014-03-21 | 2015-09-24 | Rensselaer Polytechnic Institute | Mobile human-friendly assistive robot |
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| Publication number | Publication date |
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| CN106003142A (en) | 2016-10-12 |
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Granted publication date: 20180612 Termination date: 20190612 |