CN106826893A - Terminal-collecting machine and robot transportation system - Google Patents
Terminal-collecting machine and robot transportation system Download PDFInfo
- Publication number
- CN106826893A CN106826893A CN201611166310.6A CN201611166310A CN106826893A CN 106826893 A CN106826893 A CN 106826893A CN 201611166310 A CN201611166310 A CN 201611166310A CN 106826893 A CN106826893 A CN 106826893A
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- Prior art keywords
- row
- terminal
- collecting machine
- mounting bracket
- position adjusting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of terminal-collecting machine and robot transportation system.Terminal-collecting machine includes the first mounting bracket, two the second mounting brackets, multiple vacuum cups, position adjusting mechanism and Lie Nei position adjusting mechanisms between row, two the second mounting brackets are movably arranged on the first mounting bracket, multiple vacuum cups form two suction cup arrays being respectively arranged on two the second mounting brackets, position adjusting mechanism adjusts two distances of the second mounting bracket to adjust the distance between two suction cup arrays between row, position adjusting mechanism is set correspondingly with two suction cup arrays in two row, position adjusting mechanism is used to adjust the distance between adjacent vacuum cup in corresponding suction cup array in row.Robot transportation system includes robot and the terminal-collecting machine.The present invention improves the adaptability of terminal-collecting machine and robot transportation system to Package size.
Description
Technical field
The present invention relates to logistlcs technology field, more particularly to a kind of terminal-collecting machine and robot transportation system.
Background technology
Terminal-collecting machine is the grabbing device being connected on robot or manipulator, its using vacuum cup or clamp be crawled
Thing is contacted, and will be crawled thing and is transported to specified location from a position.It is, for example possible to use six-joint robot is picked up by terminal-collecting machine
Commodity are taken to realize the work of the unmanned de-stacking of commodity, stacking.
Fig. 1 shows a kind of structural representation of terminal-collecting machine in the prior art.Fig. 2 shows and the terminal-collecting machine shown in Fig. 1
The structural representation of the six-joint robot for using cooperatively.The terminal-collecting machine carries system with six-joint robot with the use of robot is formed
System.As shown in figure 1, the terminal-collecting machine is with the section bar basis of formation framework 10 of 20mm × 20mm.On the section bar of basis of formation framework 10
With T-slot 11, framework branch 20 is connected to base by nut coordinating by bolt and with bolt, being arranged in T-slot 11
On plinth framework 10.Vacuum cup 30 is fixedly installed in framework branch 20.In two suction cup arrays of terminal-collecting machine in each suction cup array
The distance between each vacuum cup 30 can be adjusted by apparatus for adjusting position 40, terminal-collecting machine is adjusted two work shapes
State.As shown in Fig. 2 the vacuum generator 60 for making vacuum cup 30 form vacuum is arranged on the 3rd axle of six-joint robot 50
On.The output end 51 of six-joint robot 50 is connected with basic framework 10.
Realize it is of the invention during, designer has found, the terminal-collecting machine and robot of above prior art carry system
System has following weak point：
1st, the terminal-collecting machine is only capable of two working conditions of adjust automatically, and working condition change is less, it is difficult to while adapting to various
The logistics demand of specification packaging.Now it is described as follows with reference to Fig. 3 and Fig. 4 by taking carton 70 as an example.If as shown in figure 3, multiple vacuum
Sucker 30 is obtained in the surface distributed to be captured of carton 70 and more disperseed, then capture effect preferably, and carton is hardly damaged；Such as Fig. 4 institutes
Show, if multiple vacuum cups 30 obtain more intensive in the surface distributed to be captured of carton 70, crawl effect is bad, and carton is easy
Damage.Therefore, the distance between multiple vacuum cups 30 of terminal-collecting machine determine carton, the plastic wraps that terminal-collecting machine is adapted to
Etc. the size of packaging, foregoing terminal-collecting machine is more limited because of only two working conditions, the size of adaptable packaging.
2nd, when by larger external force, T-slot 11 can be torn the section bar of basis of formation framework 10, cause terminal-collecting machine to damage
It is bad.
3rd, when framework branch 20 is assembled on basic framework 10, nut slidably, is fitted without in T-slot 11
Benchmark, producting process difficulty is big, and design size and fitted position deviation are larger.
4th, vacuum generator 60 is arranged on the 3rd axle of robot 50, apart from vacuum cup 30 farther out, negative pressure value loss
It is larger.
The content of the invention
It is an object of the invention to provide a kind of terminal-collecting machine and robot transportation system, it is intended to improve terminal-collecting machine to packaging chi
Very little adaptability.
First aspect present invention provides a kind of terminal-collecting machine, including the first mounting bracket, two the second mounting brackets, multiple vacuum are inhaled
Position adjusting mechanism and Lie Nei position adjusting mechanisms between disk, row, described two second mounting brackets are movably arranged at described the
On one mounting bracket, the multiple vacuum cup forms two suction cup arrays being respectively arranged on two second mounting brackets, institute
Position adjusting mechanism adjusts the distance of described two second mounting brackets to adjust the distance between described two suction cup arrays between stating row,
Position adjusting mechanism is set correspondingly with described two suction cup arrays in two row, and position adjusting mechanism is used in the row
The distance between adjacent vacuum cup in corresponding suction cup array is adjusted.
Further, drive mechanism between position adjusting mechanism includes row between the row, between the row drive mechanism with it is described
Two the second mounting brackets distinguish drive connection.
Further, drive mechanism includes and described two second mounting brackets drive connection correspondingly between the row
Two the first actuators.
Further, position adjusting mechanism includes the first guide rail and the first director element, first guide rail between the row
It is arranged on first mounting bracket, first director element is oriented to first guide rail and is ordinatedly arranged at described first
On guide rail, second mounting bracket is connected with first director element.
Further, first mounting bracket includes the first installing plate, is set in parallel in below first installing plate
Drive mechanism sets between multiple connecting poles of the second installing plate and connection first installing plate and second installing plate, the row
It is placed between first installing plate and second installing plate, first installing plate includes being connected with the output end of robot
Robot connecting portion, second mounting bracket is installed on second installing plate.
Further, second installing plate includes hollow bulb, and the hollow bulb is along perpendicular to the direction of the suction cup array
Extend, drive mechanism also includes being arranged in the first joint connecting plate of the hollow bulb and connects with first joint between the row
Drive mechanism is connected with first floating junction between the first floating junction that fishplate bar gap ordinatedly connects, the row, described
First joint connecting plate is connected with second mounting bracket.
Further, position adjusting mechanism includes being arranged at driving machine in the row on second mounting bracket in the row
Structure, at least part of vacuum cup drive connection of drive mechanism and corresponding suction cup array in the row.
Further, drive mechanism is located between described two suction cup arrays in the row.
Further, drive mechanism includes two the second actuators in the row, and the suction cup array includes what is be sequentially arranged
Three vacuum cups, described two second actuators respectively with three vacuum cups in be located at outside two vacuum cups
Drive connection correspondingly.
Further, lower leaf is set on described two second actuators.
Further, second mounting bracket includes the 3rd installing plate, and position adjusting mechanism is arranged at described in the row
On 3rd installing plate, location structure is provided with the 3rd installing plate, drive mechanism passes through the location structure in the row
It is positioned on the 3rd installing plate.
Further, position adjusting mechanism includes the second guide rail and the second director element, second guide rail in the row
It is arranged on second mounting bracket, second director element is oriented to second guide rail and is ordinatedly arranged at described second
On guide rail, the vacuum cup is connected with second director element.
Further, position adjusting mechanism includes the second guide rail and the second director element, second guide rail in the row
It is arranged on second mounting bracket, second director element is oriented to second guide rail and is ordinatedly arranged at described second
On guide rail, the vacuum cup is connected with second director element, and position adjusting mechanism also includes the second joint in the row
Connecting plate and the second floating junction that sheet separation ordinatedly connects is connected with second joint, second actuator with it is described
Second floating junction is connected, and the second joint connecting plate is connected with second director element.
Further, the terminal-collecting machine also includes vacuum generator, and the vacuum generator is arranged at described first and installs
On frame or second mounting bracket.
Second aspect present invention provides a kind of robot transportation system, including robot and terminal-collecting machine, and the terminal-collecting machine is
Terminal-collecting machine any one of first aspect present invention, the first mounting bracket of the output end of the robot and the terminal-collecting machine
Connection.
The terminal-collecting machine and robot transportation system provided based on the present invention, the terminal-collecting machine can be by position adjusting mechanism between row
The distance between vacuum cup of different lines is adjusted, the adjacent true of same suction cup array is adjusted by position adjusting mechanism in row
The distance between suction disk, in terms of existing technologies, vacuum cup can change more positions, so that terminal-collecting machine can be
Worked under more different working conditions, improve adaptability of the terminal-collecting machine to Package size.The terminal-collecting machine is matched somebody with somebody with robot
Conjunction forms robot transportation system, robot in the case where terminal-collecting machine is changed without, the crawl of the packaging of applicable more sizes
Work, improves adaptability of the robot in logistics work, while also improving machine task efficiency.
By referring to the drawings to the detailed description of exemplary embodiment of the invention, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this hair
Bright schematic description and description does not constitute inappropriate limitation of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the structural representation of the terminal-collecting machine of prior art.
Fig. 2 is the structural representation of the six-joint robot used cooperatively with the terminal-collecting machine shown in Fig. 1.
Fig. 3 is schematic diagram when crawl surface on being distributed more dispersion of multiple vacuum cups in carton.
Fig. 4 is schematic diagram when crawl surface on being distributed more intensive of multiple vacuum cups in carton.
Fig. 5 is the dimensional structure diagram of the terminal-collecting machine of the embodiment of the present invention.
Fig. 6 is position adjusting mechanism and corresponding second mounting bracket and sucker in row in the terminal-collecting machine of embodiment illustrated in fig. 5
One attachment structure schematic diagram in direction of row.
Fig. 7 is position adjusting mechanism and corresponding second mounting bracket and sucker in row in the terminal-collecting machine of embodiment illustrated in fig. 5
The attachment structure schematic diagram in another direction of row.
Fig. 8 is the decomposition of position adjusting mechanism and corresponding second mounting bracket in row in the terminal-collecting machine of embodiment illustrated in fig. 5
Structural representation.
Fig. 9 be in row in position adjusting mechanism the second floating junction and the second joint connecting plate under unassembled state one
The structural representation in individual direction.
Figure 10 be in row in position adjusting mechanism the second floating junction and the second joint connecting plate under unassembled state
The structural representation in another direction.
Figure 11 be in row in position adjusting mechanism the second floating junction with the second joint connecting plate standing in the assembled state
Body structural representation.
Structural representations of the Figure 12 for the terminal-collecting machine shown in Fig. 5 in the first operative state.
Structural representations of the Figure 13 for the terminal-collecting machine shown in Fig. 5 in a second operative state.
Structural representations of the Figure 14 for the terminal-collecting machine shown in Fig. 5 under the 3rd working condition.
Structural representations of the Figure 15 for the terminal-collecting machine shown in Fig. 5 under the 4th working condition.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, and never conduct is to the present invention and its application or makes
Any limitation.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
Unless specifically stated otherwise, the part and positioned opposite, the digital table of step for otherwise illustrating in these embodiments
Do not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for the ease of description, each portion shown in accompanying drawing
The size divided not is to be drawn according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as authorizing explanation
A part for book.In all examples shown here and discussion, any occurrence should be construed as merely exemplary, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：Similar label
Similar terms is represented in following accompanying drawing with letter, therefore, once be defined in a certain Xiang Yi accompanying drawing, then subsequent attached
It need not be further discussed in figure.
For the ease of description, space relative terms can be used herein, such as " ... on ", " ... top ",
" in ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation levied.It should be appreciated that space relative terms are intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.If for example, the device in accompanying drawing is squeezed, be described as " in other devices
To be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the relative description in space used herein above.
Fig. 5 to Figure 15 shows the structure of the terminal-collecting machine of the embodiment of the present invention.
As shown in Fig. 1 to Figure 15, the terminal-collecting machine of the embodiment include 100, two the second mounting brackets 200 of the first mounting bracket,
Position adjusting mechanism 400 and Lie Nei position adjusting mechanisms 500 between multiple vacuum cups 300, row.Two the second mounting brackets 200 can
Movably it is arranged on the first mounting bracket 100.Multiple vacuum cups 300 are formed and are respectively arranged on two the second mounting brackets 200
Two suction cup arrays.Between row position adjusting mechanism 400 adjust two distances of the second mounting bracket 200 with adjust two suction cup arrays it
Between distance.Position adjusting mechanism 500 is set correspondingly with two suction cup arrays in two row.Position adjusting mechanism in row
500 are used to adjust the distance between adjacent vacuum cup 300 in corresponding suction cup array.
The terminal-collecting machine can adjust the distance between vacuum cup 300 of different lines by position adjusting mechanism between row, pass through
Position adjusting mechanism adjusts the distance between adjacent vacuum cup 300 of same suction cup array in row, relative to prior art
For, vacuum cup 300 can change more positions, so that terminal-collecting machine can work under multiple different working conditions, carry
Adaptability of the terminal-collecting machine to Package size high.The terminal-collecting machine cooperatively forms robot transportation system with robot, and robot exists
In the case of being changed without terminal-collecting machine, the crawl work of the packaging of applicable more sizes, improve robot logistics work in
Adaptability, while also improving machine task efficiency.
As shown in figure 5, drive mechanism 410, drive mechanism 410 and two between row between position adjusting mechanism 400 includes row between row
Individual second mounting bracket 200 distinguishes drive connection.
In the present embodiment, drive mechanism 410 includes and two the second mounting brackets 200 drive connection correspondingly between row
Two the first actuators.
Position adjusting mechanism 400 includes the first guide rail and the first director element 430 between row.First guide rail is arranged at the first peace
Shelve on 100.First director element 430 and the first guide rail are oriented to and are ordinatedly arranged on the first guide rail.Second mounting bracket 200 with
First director element 430 is connected.
First guide rail and the first director element 430 are set, on the one hand the second mounting bracket 200 the first installation can be installed on
On frame 100, the on the other hand motion to corresponding second mounting bracket 200 provides guide effect, makes the motion of the second mounting bracket 200
Controlled process.
In the present embodiment, the first guide rail is specially first straight line slide rail, and the first director element 430 is specially and first straight line
The first sliding block that slide rail is slidably matched.Line slide rail accurate positioning, the ability for bearing load is stronger.
In other embodiments (not shown), the first guide rail and the first director element can roll the first track for coordinating
With the first roller etc..
As shown in figure 5, the first mounting bracket 100 includes the first installing plate 110, is set in parallel in first installing plate 110
Second installing plate 120 and multiple connecting poles 130 of the first installing plate 110 of connection and the second installing plate 120 of lower section.Driven between row
Mechanism 410 is arranged between the first installing plate 110 and the second installing plate 120.First installing plate 110 includes the output with robot
Hold the robot connecting portion 111 of connection.Second mounting bracket 200 is installed on the second installing plate 120.As it was previously stated, second installs
Frame 200 is installed on the lower section of the second installing plate 120 of the first mounting bracket 100 by first straight line slide rail and the first sliding block.
In the present embodiment, the first mounting bracket 100 is divided into the first installing plate 110 and the upper and lower two-layer of the second installing plate 120 sets
Put, the first installing plate 110 positioned at upper strata is connected with the output end of robot, drive mechanism between row is set between upper and lower two-layer
410, position adjusting mechanism 500 and vacuum in the second mounting bracket 200 and row are installed positioned at the lower section of the second installing plate 110 of lower floor and are inhaled
Disk 300, layering is arranged in order between making each part of terminal-collecting machine, and each motion parts are non-interference each other, is easy to use and is tieed up
Shield.The setting form of the installing plate of two-layer up and down of the first mounting bracket 100 is relative to using the section bar making for being provided with T-slot
Speech, can avoid the first mounting bracket 100 from occurring to damage or mitigate the degree damaged when by larger external force.
As shown in figure 5, the second installing plate 120 includes hollow bulb 121, hollow bulb 121 prolongs along the direction perpendicular to suction cup array
Stretch row between drive mechanism 410 also include be arranged in hollow bulb 121 the first joint connecting plate 440 and with the first joint connecting plate
The first floating junction 450 that 440 gaps ordinatedly connect.Drive mechanism 410 is connected with the first floating junction 450 between row, and first
Joint connecting plate 440 is connected with second mounting bracket 200.
The setting drive mechanism between row can be made without hindrance and clamping stagnation drive the second mounting bracket 200 to be moved on demand
It is dynamic.
In the present embodiment, the first joint connecting plate 440 is fixedly connected with the second mounting bracket 200.First floating junction 450 with
Corresponding first actuator is fixedly connected.There is the first socket 541, the edge of the first floating junction 450 on first joint connecting plate 440
Axially there is middle necking section, during assembling, the middle necking section is inserted in the first socket 541, such that it is able to make first to float
Dynamic joint 450 drives the first joint connecting plate 440 to move back and forth in its axial direction, and the two will not occur during movement
Depart from.Therefore, it can drive the second mounting bracket 200 to move back and forth by the first actuator.
In the present embodiment, the first actuator is in particular the first cylinder.Cylinder performs speed soon, can make corresponding second peace
Shelve 200 and quickly realize position adjustments.Corresponding second mounting bracket 200 can also preferably be controlled in two determinations using cylinder
Position between move, and without specially set control the second mounting bracket 200 extreme position position limiting structure.For example, this reality
Applying it is corresponding with the extreme extended position of corresponding first cylinder when can make in example the second mounting bracket 200 in outermost locations,
Limit retracted position during in most inner side with corresponding first cylinder is corresponding, then for the second mounting bracket 200 only two
The situation of individual operating position, controls the position of the second mounting bracket 200 very simple using the first cylinder.
In other embodiments (not shown), the first actuator can also be the actuating of other species such as hydraulic cylinder, motor
Device.Certainly, no matter using cylinder or other actuators, can the extreme position for controlling the second mounting bracket 200 be set with profit
Position limiting structure.
In the present embodiment, coordinated using gap between the first joint connecting plate 440 and the first floating junction 450, for disappearing
Except manufacturing and positioning errors, operating steadily for the associated components such as the first cylinder and first straight line slide rail can be protected, extended end is picked up
Device service life.
As shown in Fig. 5 to Fig. 8, position adjusting mechanism 500 includes being driven in the row being arranged on the second mounting bracket 200 in row
Mechanism 510, arranges the drive connection of at least part of vacuum cup 300 of interior drive mechanism 510 and corresponding suction cup array.
Drive mechanism 510 is located between two suction cup arrays in row.The setting can prevent the foreign object when terminal-collecting machine is moved from touching
Drive mechanism 510 in row is hit, such that it is able to protect drive mechanism 510 in row.
As shown in Fig. 5 to Fig. 8, drive mechanism 510 includes two the second actuators in row, and suction cup array includes what is be sequentially arranged
Three vacuum cups 300, two the second actuators are located at two vacuum cups in outside with three vacuum cups 300 respectively
300 drive connections correspondingly.
As shown in fig. 7, lower leaf is set on two the second actuators.The setting can prevent two fortune of the second actuator
It is dynamic to interfere.
As shown in Fig. 5 to Fig. 8, the second mounting bracket 200 includes the 3rd installing plate, and position adjusting mechanism 500 is arranged in row
On 3rd installing plate.Location structure is provided with 3rd installing plate, drive mechanism 510 is positioned at the 3rd by location structure in row
On installing plate.
Second mounting bracket 200 is set to the 3rd installing plate, position adjusting mechanism 500 and vacuum cup 500 are pacified in row
Loaded on the 3rd installing plate, the second mounting bracket 200 can be avoided to damage when the second mounting bracket 200 is subject to larger external force
Or mitigate the degree damaged.
Position adjusting mechanism 500 also includes the second guide rail 520 being arranged on the second mounting bracket 200 and is led with second in row
Rail 520 is oriented to the second director element 530 being ordinatedly arranged on the second guide rail 520.Vacuum cup 300 is arranged at the second guiding
On element 530.
In the present embodiment, the second guide rail 520 is specially second straight line slide rail, and the second director element 530 is specially and second
The second sliding block that line slide rail is slidably matched.
In other embodiments (not shown), the second guide rail and the second director element can roll the second track for coordinating
With the second roller etc..
As shown in Fig. 5 to Figure 11, position adjusting mechanism 500 includes the second guide rail 520 and the second director element 530 in row,
Second guide rail 520 is arranged on the second mounting bracket 200, and the second director element 530 is oriented to the second guide rail 520 and is ordinatedly arranged at
On second guide rail 520, vacuum cup 300 is connected with the second director element 530.
Position adjusting mechanism 500 also includes the second joint connecting plate 540 and matches somebody with somebody with the gap of the second joint connecting plate 540 in row
Close the second floating junction 550 of ground connection, the second actuator is connected with the second floating junction 550, the second joint connecting plate 540 and
Second director element 530 is connected.
In the present embodiment, the second actuator is in particular the second cylinder.Cylinder performs speed soon, can inhale corresponding vacuum
Disk 300 quickly realizes position adjustments.And can preferably control corresponding vacuum cup 300 true at two using the second cylinder
Moved between fixed position, and without specially setting the position limiting structure of the extreme position of control vacuum cup 300.For example, this reality
Apply can make in example vacuum cup 300 be in it is corresponding with the extreme extended position of the second cylinder during outermost locations, in most interior
Limit retracted position during side position with the second cylinder is corresponding, when then there was only two operating positions for vacuum cup 300,
Control the position of vacuum cup 300 very simple.
In other embodiments (not shown), the second actuator can also be the actuating of other species such as hydraulic cylinder, motor
Device.Certainly, no matter using cylinder or other actuators, the limit of the extreme position for controlling vacuum cup 300 can be set with profit
Bit architecture.
In the present embodiment, coordinated using gap between the second joint connecting plate 540 and the second floating junction 550, for disappearing
Except manufacturing and positioning errors, operating steadily for the associated components such as the second cylinder and second straight line slide rail, extension device can be protected
Service life.Second cylinder is arranged on the second mobile mounting bracket 200, may be produced eccentric or degree of balance precision bad
Etc. phenomenon, situations such as piston rods bend, bar branch bearing and shaft seal occur wearing and tearing, the second cylinder performance is reduced, shorten second
Cylinder service life, and the second floating junction 550 can eliminate error equivalent to shaft coupling, solve eccentricity issues, such that it is able to
Protection associated components, make terminal-collecting machine operate steadily, and increase the service life.
As shown in Fig. 5 to Fig. 8, two the second cylinders are fixedly mounted on the 3rd by respective cylinder fixed seat 560 respectively
On installing plate.In the present embodiment, by lower leaf on two the second cylinders of real co-occurrence of cylinder fixed seat 560 for setting different size
Set.As shown in figure 8, two cylinder fixed seats 560 have different height.
In addition, in the present embodiment, foregoing location structure is in particular the locating slot being arranged on the 3rd installing plate.Locating slot
Can for example be formed by machining mode.When the installing plate of cylinder fixed seat 560 and the 3rd is assembled, by cylinder fixed seat 560
Top is stuck in locating slot the positioning for being capable of achieving corresponding cylinder.It is the positioning method accurate positioning, convenient.
In embodiment (not shown), location structure other can also be determined for positioning convex, shop bolt or location hole etc.
Bit architecture.
In the present embodiment, the first installing plate 110, the second installing plate 120 and the 3rd installing plate can use aluminium alloy plate
Material makes.Aluminium alloy is lightweight, intensity is high, is suitable as the making of first mounting bracket 100 and the second mounting bracket 200 of terminal-collecting machine
Material.
In addition, as shown in figure 5, terminal-collecting machine also includes vacuum generator 600.Vacuum generator 600 is arranged at the first installation
On frame 100.The setting can make each vacuum cup 300 each position between vacuum generator 600 have less distance,
Shorter connecting tube is used between vacuum generator 600 and vacuum cup 300, it is possible to reduce negative pressure is lost, energy-conservation drop
Consumption.
Specifically, four vacuum generators are arranged at four corners of the second installing plate 120 of the first mounting bracket 100.From
And, each vacuum cup 300 is closer to the distance with vacuum generator under each working condition.For example, in the present embodiment, can make each
Vacuum cup 300 is less than 200mm with the minimum range of nearest vacuum generator 600.
In embodiment (not shown), vacuum generator 600 can also be arranged on the second mounting bracket 200, for example, can be with
Portion between the end face in the outside positioned at the first mounting bracket 100 of each the second mounting bracket 200 to the second mounting bracket 200
Point.
The terminal-collecting machine of the present embodiment can switch under four kinds of working conditions.Terminal-collecting machine relative to prior art to be picked up
The kind of packing for taking and carrying increases, and adaptability is stronger.Figure 12 to Figure 15 shows each group of terminal-collecting machine under four kinds of working conditions
Into the position of part, wherein, structural representations of the Figure 12 for the terminal-collecting machine shown in Fig. 5 in the first operative state；Figure 13 is Fig. 5
Shown terminal-collecting machine structural representation in a second operative state；Figure 14 is the terminal-collecting machine shown in Fig. 5 in the 3rd working condition
Under structural representation；Structural representations of the Figure 15 for the terminal-collecting machine shown in Fig. 5 under the 4th working condition.
When using, by the working condition for changing terminal-collecting machine, each vacuum cup can be made to accomplish the absorption in packaging all the time
Surface location disperses, and will not excessively concentrate, and prevents when the commodity carried are heavier, and being concentrated due to the position of each vacuum cup is caused
Packaging deformed damaged.
The terminal-collecting machine of the present embodiment can be made and be suitable for Package size less than 600mm, and more than 300mm, packed weight is small
In the pickup and carrying work of the commodity of 15Kg.The terminal-collecting machine under four kinds of working conditions each vacuum cup overall dimensions be applicable
The corresponding relation of carton example is as shown in Table 1.
Table one：Sucker working condition and applicable carton
The carton of part specification is only listed in table one, 600mm is less than for size, all size more than 300mm
Carton, can find suitable working condition corresponding with carton specification more than in four kinds of working conditions.
Above example only illustrates the terminal-collecting machine switched between four kinds of working conditions, and this terminal-collecting machine can meet one
The pickup demand of the packaging of the various sizes in the range of being sized.But in other embodiments (not shown), it is also possible to pass through
Drive mechanism and Lie Nei drive mechanisms control the distance between two second mounting brackets and same sucker respectively between control row
The distance between different vacuum cups of row, so that terminal-collecting machine has the working condition of more kinds of changes, for example, making two second
Mounting bracket has three change locations and two vacuum cups positioned at outside of each vacuum train is had two change locations,
Or two vacuum cups positioned at outside of each vacuum train is there are three change locations and is had two the second mounting brackets
There are two change locations, then terminal-collecting machine can be made to produce six working conditions to change；And if having two the second mounting brackets
Three change locations, two vacuum cups positioned at outside of each vacuum train also have three change locations, then can make end
Pick up device and produce nine kinds of working condition changes.
The present embodiment also provides a kind of robot transportation system, including robot and foregoing terminal-collecting machine, robot it is defeated
Go out end to be connected with the first mounting bracket 100 of terminal-collecting machine.
From the above description, it can be seen that above example of the present invention can at least realize one of following technique effect：
1st, terminal-collecting machine can in the two directions change the distance between each vacuum cup, with multiple different work shapes
Worked under state, for a robot, in the case where terminal-collecting machine is changed without, the crawl work of the packaging of applicable more sizes
Make, adaptability of the robot in logistics work is improve, while also improving machine task efficiency.
2nd, terminal-collecting machine uses the mounting bracket of board making first and the second mounting bracket, and bulk strength is high.
3rd, each composition subassembly skill is simple, and accurate positioning is suitable to small lot batch manufacture.
3rd, vacuum generator is arranged on terminal-collecting machine, reduces negative pressure loss.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to preferred embodiment to the present invention, and those of ordinary skill in the art should be understood：Still
Specific embodiment of the invention can be modified or equivalent is carried out to some technical characteristics；Without deviating from this hair
The spirit of bright technical scheme, it all should cover in the middle of claimed technical scheme scope of the invention.
Claims (15)
1. a kind of terminal-collecting machine, it is characterised in that including the first mounting bracket (100), two the second mounting brackets (200), multiple vacuum
Position adjusting mechanism (400) and the interior position adjusting mechanism (500) of row, described two second mounting brackets between sucker (300), row
(200) it is movably arranged on first mounting bracket (100), the multiple vacuum cup (300) forms and is respectively arranged in
Position adjusting mechanism (400) regulation described two the between two suction cup arrays on two second mounting brackets (200), the row
The distance of two mounting brackets (200) is adjusting the distance between described two suction cup arrays, position adjusting mechanism in two row
(500) set correspondingly with described two suction cup arrays, position adjusting mechanism (500) is for adjusting corresponding suction in the row
The distance between adjacent vacuum cup (300) in disk row.
2. terminal-collecting machine according to claim 1, it is characterised in that position adjusting mechanism (400) is including between row between the row
Drive mechanism (410) and described two second mounting brackets (200) difference drive connection between drive mechanism (410), the row.
3. terminal-collecting machine according to claim 2, it is characterised in that drive mechanism (410) is including with described two between the row
Two the first actuators of individual second mounting bracket (200) drive connection correspondingly.
4. terminal-collecting machine according to claim 1, it is characterised in that position adjusting mechanism (400) is including first between the row
Guide rail and the first director element (430), first guide rail are arranged on first mounting bracket (100), and described first is oriented to
Element (430) and first guide rail are oriented to and are ordinatedly arranged on first guide rail, second mounting bracket (200) and institute
State the first director element (430) connection.
5. terminal-collecting machine according to claim 2, it is characterised in that first mounting bracket (100) includes the first installing plate
(110) the second installing plate (120) and connection first installing plate, being set in parallel in below first installing plate (110)
(110) with multiple connecting poles (130) of second installing plate (120), drive mechanism (410) is arranged at described between the row
Between one installing plate (110) and second installing plate (120), first installing plate (110) includes the output with robot
The robot connecting portion (111) of connection is held, second mounting bracket (200) is installed on second installing plate (120).
6. terminal-collecting machine according to claim 5, it is characterised in that second installing plate (120) is including hollow bulb
(121), the hollow bulb (121) extends along perpendicular to the direction of the suction cup array, and drive mechanism (410) also includes between the row
It is arranged in the first joint connecting plate (440) of the hollow bulb (121) and coordinates with the first joint connecting plate (440) gap
Drive mechanism (410) is connected with first floating junction (450) between first floating junction (450) of ground connection, the row, institute
The first joint connecting plate (440) is stated to be connected with second mounting bracket (200).
7. terminal-collecting machine according to claim 1, it is characterised in that position adjusting mechanism (500) includes setting in the row
In drive mechanism (510) in the row on second mounting bracket (200), drive mechanism (510) and corresponding sucker in the row
At least part of vacuum cup (300) drive connection of row.
8. terminal-collecting machine according to claim 7, it is characterised in that drive mechanism (510) is positioned at described two in the row
Between suction cup array.
9. terminal-collecting machine according to claim 7, it is characterised in that drive mechanism (510) includes two second in the row
Actuator, the suction cup array includes three vacuum cups (300) being sequentially arranged, described two second actuators respectively with it is described
Positioned at two vacuum cups (300) drive connection correspondingly in outside in three vacuum cups (300).
10. terminal-collecting machine according to claim 9, it is characterised in that lower leaf is set on described two second actuators.
11. terminal-collecting machines according to claim 7, it is characterised in that second mounting bracket (200) is installed including the 3rd
Plate, position adjusting mechanism (500) is arranged on the 3rd installing plate in the row, and positioning is provided with the 3rd installing plate
Structure, drive mechanism (510) is positioned on the 3rd installing plate by the location structure in the row.
12. terminal-collecting machines according to claim 1, it is characterised in that position adjusting mechanism (500) is including second in the row
Guide rail (520) and the second director element (530), second guide rail (520) are arranged on second mounting bracket (200), institute
State the second director element (530) to be ordinatedly arranged on second guide rail (520) with second guide rail (520) guiding, institute
Vacuum cup (300) is stated to be connected with second director element (530).
13. terminal-collecting machines according to claim 9, it is characterised in that position adjusting mechanism (500) is including second in the row
Guide rail (520) and the second director element (530), second guide rail (520) are arranged on second mounting bracket (200), institute
State the second director element (530) to be ordinatedly arranged on second guide rail (520) with second guide rail (520) guiding, institute
State vacuum cup (300) to be connected with second director element (530), position adjusting mechanism (500) also includes the in the row
Two joint connecting plates (540) and the second floating junction being ordinatedly connected with the second joint connecting plate (540) gap
(550), second actuator is connected with second floating junction (550), the second joint connecting plate (540) with it is described
Second director element (530) is connected.
14. terminal-collecting machines according to claim 1, it is characterised in that the terminal-collecting machine also includes vacuum generator (600),
The vacuum generator (600) is arranged on first mounting bracket (100) or second mounting bracket (200).
A kind of 15. robot transportation systems, including robot and terminal-collecting machine, it is characterised in that the terminal-collecting machine is according to right
It is required that the terminal-collecting machine any one of 1 to 14, first mounting bracket (100) of the output end of the robot and the terminal-collecting machine
Connection.
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| CN201611166310.6A CN106826893A (en) | 2016-12-16 | 2016-12-16 | Terminal-collecting machine and robot transportation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611166310.6A CN106826893A (en) | 2016-12-16 | 2016-12-16 | Terminal-collecting machine and robot transportation system |
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| CN106826893A true CN106826893A (en) | 2017-06-13 |
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| CN201611166310.6A Pending CN106826893A (en) | 2016-12-16 | 2016-12-16 | Terminal-collecting machine and robot transportation system |
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| CN113200174A (en) * | 2021-06-18 | 2021-08-03 | 上海松川远亿机械设备有限公司 | Automatic bagging method for bagged materials |
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| CN114986552A (en) * | 2022-06-30 | 2022-09-02 | 江苏亚威机床股份有限公司 | Automatic end effector device |
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