CN107322579B - Intelligent sorting machine - Google Patents
Intelligent sorting machine Download PDFInfo
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- CN107322579B CN107322579B CN201710681514.1A CN201710681514A CN107322579B CN 107322579 B CN107322579 B CN 107322579B CN 201710681514 A CN201710681514 A CN 201710681514A CN 107322579 B CN107322579 B CN 107322579B
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- Prior art keywords
- guide rail
- frame
- gear
- motor
- rack
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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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
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- 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
Abstract
The invention discloses an intelligent sorting machine, which structurally comprises an underframe, a conveying mechanism, a support frame, a first guide rail, a front walking frame, a rear walking frame, a second guide rail, a left walking frame, a right walking frame, a mechanical arm and an electrical control system, wherein the underframe is arranged at the bottom of the whole equipment; the left and right walking frames are erected on the second guide rail, and the manipulator is fixed below the left and right walking frames through bolts. After the technical scheme is adopted, the intelligent sorting machine provided by the invention realizes full automation and greatly improves the production efficiency.
Description
Technical Field
The invention relates to an intelligent sorting machine.
Background
In the existing processing production line of workpieces, when unqualified products appear, a manual on-site removing mode is usually adopted, the labor cost is high, and meanwhile, a worker can take out defective products from the conveyed workpieces, and great potential safety hazards also exist.
Disclosure of Invention
Aiming at the problems, the invention provides an intelligent sorting machine which realizes full automation and greatly improves the production efficiency.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an intelligent sorting machine structurally comprises a bottom frame, a conveying mechanism, a supporting frame, a first guide rail, a front walking frame, a rear walking frame, a second guide rail, a left walking frame, a right walking frame, a mechanical arm and an electrical control system; the bottom frame is arranged at the bottom of the whole equipment, a plurality of conveying mechanisms are uniformly arranged on the bottom frame, and each conveying mechanism is fixed on the bottom frame through four bearings with seats at the front and the back respectively; a support frame is arranged in each conveying mechanism in a penetrating mode and consists of a support plate and support rods uniformly distributed on the left side and the right side of the support plate, the support frame is fixed on the underframe through the support rods, and the support plate is arranged below the inner side face of the upper-section belt of the conveying mechanism; the first guide rail is fixedly arranged on the square steel on the two sides of the top of the underframe; the front and rear walking frames can move back and forth along the first guide rail; the second guide rail is fixedly arranged between the front walking frame and the rear walking frame and is vertical to the first guide rail; the left and right walking frames are erected on the second guide rail and can move left and right along the second guide rail; the manipulator is fixedly arranged below the left walking frame and the right walking frame through bolts; the electric control system is fixedly arranged on the top surfaces of the left walking frame and the right walking frame.
Furthermore, a front and rear walking speed reducing motor is fixedly mounted in the middle of the top surface of the front and rear walking frame, a driving shaft penetrates through the front and rear walking speed reducing motor, two ends of the driving shaft are supported by bearings with seats fixedly mounted on the front and rear walking frame, and two ends of the driving shaft are fixedly mounted with a driving bevel gear through keys; a driven shaft is longitudinally arranged on the left outer side surface and the right outer side surface of the front walking frame and the rear walking frame, two ends of the driven shaft are supported by bearings with seats fixedly arranged on the left outer side surface and the right outer side surface of the front walking frame and the rear walking frame, a driven bevel gear is fixedly arranged at the upper end of the driven shaft through a key, and the driven bevel gear is meshed with the driving bevel gear; the lower end of the driven shaft is fixedly provided with a first gear through a key; a first rack is transversely and fixedly arranged on the outer side surfaces of the square steel on the two sides of the top of the underframe, and the first gear is meshed with the first rack; the front and rear walking speed reducing motor drives the driving shaft to rotate, the driving bevel gears at the two ends of the driving shaft drive the driven bevel gears to rotate, and the driven bevel gears drive the first gear to synchronously rotate through the driven shaft, so that the front and rear walking frames are driven by the front and rear walking speed reducing motor to move back and forth along the first guide rail by the meshing of the first gear and the first rack.
Furthermore, a left-right walking speed reducing motor is fixedly installed in the electric control system, and a second gear is fixedly installed on an output shaft of the left-right walking speed reducing motor through a key; a supporting beam is transversely erected at the lower end of the front and rear walking frames; a second rack is fixedly arranged on the side surface of the supporting beam; the second gear is meshed with the second rack, so that the left and right travelling frames are driven by the left and right travelling gear motors to drive the whole left and right travelling frames to move left and right on the second guide rail through the meshing of the second gear and the second rack.
Furthermore, the manipulator consists of a frame, a third guide rail, an auxiliary guide rail, a third rack and a manipulator unit, wherein the frame is provided with a plurality of clamping grooves matched with the third guide rail and the auxiliary guide rail, and the third guide rail and the auxiliary guide rail are uniformly erected on the frame in pairs; and each pair of the third guide rail and the auxiliary guide rail is provided with a plurality of manipulator units.
Further, the manipulator unit consists of a main frame body, a first motor, a third gear, an auxiliary frame body, a second motor, a fourth gear, a fourth guide rail, a third motor, a cavity, a cylinder, a suction nozzle and a fourth rack; notches matched with the third guide rail, the auxiliary guide rail and the fourth guide rail are formed in the main frame body respectively; the third guide rail and the auxiliary guide rail are arranged in pairs, and a third rack is fixedly arranged on the inner side surface of the third guide rail; the first motor is fixedly arranged on the top surface of the main frame body, and an output shaft of the first motor is provided with a third gear which is meshed with a third rack; the fourth guide rails are clamped in pairs in notches below the main frame body and are perpendicular to the third guide rails, a fourth rack is fixedly mounted on the inner side face of each fourth guide rail, the auxiliary frame body is mounted on the fourth guide rails, the second motor is fixedly mounted in the auxiliary frame body, a fourth gear is mounted on an output shaft of the second motor, and the fourth gear is meshed with the fourth rack; the third motor is fixedly arranged in the auxiliary frame body and is connected with the air cylinder rod; the cavity is fixedly arranged between the auxiliary frame body and the cylinder; the suction nozzle is arranged at the head of the telescopic rod of the air cylinder; therefore, the first motor can drive the main frame body to move along the third guide rail and the auxiliary guide rail, the second motor can drive the auxiliary frame body to move along the fourth guide rail, and the third motor can drive the suction nozzle to rotate.
Furthermore, a through hole convenient for connecting the upper part of the air cylinder rod with the third motor is formed in the cavity, a vacuum suction cavity is formed in the cavity, a suction hole communicated with the suction nozzle is formed in the air cylinder rod, and the length of the vacuum suction cavity is larger than the stroke of the air cylinder.
Further, the conveying mechanism is a belt conveyor.
Further, the number of the manipulator units is 64.
From the above description of the structure of the present invention, compared with the prior art, the present invention has the following advantages:
the intelligent sorting machine provided by the invention has the advantages of high extraction efficiency and labor saving due to the adoption of the manipulator, and overcomes the problems that in the existing workpiece processing production line, when unqualified products appear, a manual on-site removing mode is usually adopted, the labor cost is high, and meanwhile, great potential safety hazards exist when workers take defective products out of the conveyed workpieces.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an intelligent sorting machine according to the present invention;
FIG. 2 is a front view of an intelligent sorter of the present invention;
FIG. 3 is a cross-sectional view taken at A-A of FIG. 2;
FIG. 4 is a schematic structural diagram of a manipulator of the intelligent sorting machine according to the present invention;
FIG. 5 is a schematic structural diagram of a set of robot units of an intelligent sorting machine according to the present invention;
FIG. 6 is a front view of a set of robot units of an intelligent picker of the present invention;
fig. 7 is a cross-sectional view at B-B in fig. 6.
In the figure: 1. the robot comprises a base frame 11, square steel 2, a conveying mechanism 3, a support frame 31, a support plate 32, a support rod 4, a first guide rail 5, a front and back walking frame 51, a speed reducing motor 52, a driving shaft 53, a driving bevel gear 54, a driven shaft 55, a driven bevel gear 56, a first gear 57, a first rack 58, a support beam 6, a second guide rail 7, a left and right walking frame 8, a manipulator 81, a frame 82, a third guide rail 83, an auxiliary guide rail 84, a third rack 851, a main frame body 852, a first motor 853, a third gear 854, an auxiliary frame body 855, a second motor 856, a fourth gear 857, a fourth guide rail 858, a third motor 859, a cavity 860, a cylinder 861, a suction nozzle 862, a fourth rack 871, a vacuum suction cavity 872, a suction hole 9, an electrical control system 81, a left and right walking speed reducing motor 92, a second gear 93 and a second rack.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
Referring to fig. 1 to 7, an intelligent sorting machine structurally comprises a base frame 1, a conveying mechanism 2, a support frame 3, a first guide rail 4, a front and rear traveling frame 5, a second guide rail 6, a left and right traveling frame 7, a manipulator 8 and an electric control system 9; the bottom frame 1 is arranged at the bottom of the whole equipment, a plurality of conveying mechanisms 2 are uniformly arranged on the bottom frame 1, and each conveying mechanism 2 is fixed on the bottom frame 1 through four bearings with seats at the front and the back respectively; each conveying mechanism 2 is internally provided with a support frame 3 in a penetrating way, each support frame 3 consists of a support plate 31 and support rods 32 uniformly distributed on the left side and the right side of the support plate 31, the support frame 3 is fixed on the underframe 1 through the support rods 32, and the support plate 31 is arranged below the inner side surface of the upper belt section of the conveying mechanism 2; the first guide rail 4 is fixedly arranged on the square steel 11 at the two sides of the top of the underframe 1; the front and rear traveling frames 5 can move back and forth along the first guide rail 4; the second guide rail 6 is fixedly arranged in the middle of the front and rear walking frames 5 and is vertical to the first guide rail 4; the left and right walking frames 7 are erected on the second guide rail 6 and can move left and right along the second guide rail 6; the manipulator 8 is fixedly arranged below the left walking frame and the right walking frame 7 through bolts; the electric control system 9 is fixedly arranged on the top surfaces of the left and right walking frames 7, the middle parts of the top surfaces of the front and rear walking frames 5 are fixedly provided with a front and rear walking speed reducing motor 51, a driving shaft 52 passes through the front and rear walking speed reducing motor 51, two ends of the driving shaft 52 are supported by bearings with seats fixedly arranged on the front and rear walking frames 5, and two ends of the driving shaft 52 are fixedly provided with a driving bevel gear 53 through keys; a driven shaft 54 is longitudinally arranged on the left outer side surface and the right outer side surface of the front walking frame and the rear walking frame 5, two ends of the driven shaft 54 are supported by bearings with seats fixedly arranged on the left outer side surface and the right outer side surface of the front walking frame and the rear walking frame 5, a driven bevel gear 55 is fixedly arranged at the upper end of the driven shaft 54 through a key, and the driven bevel gear 55 is meshed with the driving bevel gear 53; a first gear 56 is fixedly mounted at the lower end of the driven shaft 54 through a key; a first rack 57 is transversely and fixedly arranged on the outer side surfaces of the square steel 11 on the two sides of the top of the underframe 1, and the first gear 56 is meshed with the first rack 57; the front and rear walking speed reducing motor 51 drives the driving shaft 52 to rotate, the driving bevel gears 53 at the two ends of the driving shaft 52 drive the driven bevel gears 55 to rotate, the driven bevel gears 55 drive the first gear 56 to synchronously rotate through the driven shaft 54, so that the front and rear walking frame 5 drives the whole front and rear walking frame 5 to move back and forth along the first guide rail 4 through the meshing of the first gear 56 and the first rack 57 under the driving of the front and rear walking speed reducing motor 51, a left and right walking speed reducing motor 91 is fixedly installed in the electrical control system 9, and the output shaft of the left and right walking speed reducing motor 91 is fixedly provided with a second gear 92 through a key; a supporting beam 58 is transversely erected at the lower end of the front and rear walking frames 5; a second rack 93 is fixedly arranged on the side surface of the support beam 58; the second gear 92 is meshed with the second rack 93, so that the left and right traveling frames 7 are driven by the left and right traveling gear motor 91 to drive the whole left and right traveling frames 7 to move left and right on the second guide rail 6 through the meshing of the second gear 92 and the second rack 93, the manipulator 8 consists of a frame 81, a third guide rail 82, an auxiliary guide rail 83, a third rack 84 and a manipulator unit, the frame 81 is provided with a plurality of clamping grooves matched with the third guide rail 82 and the auxiliary guide rail 83, and the third guide rail 82 and the auxiliary guide rail 83 are uniformly erected on the frame 81 in pairs; each pair of the third guide rails 82 and the auxiliary guide rails 83 are provided with a plurality of manipulator units, and each manipulator unit consists of a main frame 851, a first motor 852, a third gear 853, an auxiliary frame 854, a second motor 855, a fourth gear 856, a fourth guide rail 857, a third motor 858, a cavity 859, an air cylinder 860, a suction nozzle 861 and a fourth rack 862; the main frame 851 is provided with notches for matching with the third guide rail 82, the auxiliary guide rail 83 and the fourth guide rail 857; the third guide rail 82 and the auxiliary guide rail 83 are arranged in pairs, and a third rack 84 is fixedly installed on the inner side surface of the third guide rail 82; the first motor 852 is fixedly arranged on the top surface of the main frame 851, a third gear 853 is arranged on an output shaft of the first motor 852, and the third gear 853 is meshed with the third rack 84; the fourth guide rails 857 are clamped in pairs in notches below the main frame 851, the fourth guide rails 857 are perpendicular to the third guide rails 82, a fourth rack 862 is fixedly mounted on the inner side surface of the fourth guide rails 857, the auxiliary frame 854 is mounted on the fourth guide rails 857, the second motor 858 is fixedly mounted in the auxiliary frame 854, a fourth gear 856 is mounted on an output shaft of the second motor 858, and the fourth gear 856 is meshed with the fourth rack 862; a third motor 858 is fixedly installed in the subframe body 854 and connected with the cylinder rod; the cavity 859 is fixedly installed between the subframe body 854 and the cylinder 860; the suction nozzle 861 is arranged at the head of the telescopic rod of the air cylinder; so first motor 852 can drive the body frame 851 and remove along third guide rail 82 and vice guide rail 8, second motor 855 can drive vice support body 854 and remove along fourth guide rail 857, third motor 858 can drive suction nozzle 861 and rotate, the through-hole that is convenient for cylinder pole upper portion and third motor 858 to connect has been seted up in the cavity 859, and cavity 859 seted up vacuum suction chamber 871, the suction opening 872 of having linked together with suction nozzle 861 is seted up in the cylinder pole, the length of vacuum suction chamber 871 is greater than the cylinder stroke, conveying mechanism 2 is the belt feeder, the quantity of manipulator unit is 64. The intelligent sorting machine provided by the invention has the advantages of high extraction efficiency and labor saving due to the adoption of the manipulator, and overcomes the problems that in the existing workpiece processing production line, when unqualified products appear, a manual on-site removing mode is usually adopted, the labor cost is high, and meanwhile, great potential safety hazards exist when workers take defective products out of the conveyed workpieces.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. The utility model provides an intelligence sorting machine which characterized in that: the structure of the robot comprises an underframe (1), a conveying mechanism (2), a support frame (3), a first guide rail (4), a front and rear walking frame (5), a second guide rail (6), a left and right walking frame (7), a manipulator (8) and an electric control system (9); the bottom frame (1) is arranged at the bottom of the whole equipment, a plurality of conveying mechanisms (2) are uniformly arranged on the bottom frame (1), and each conveying mechanism (2) is fixed on the bottom frame (1) through four bearings with seats at the front and the back respectively; each conveying mechanism (2) is internally provided with a support frame (3) in a penetrating way, each support frame (3) consists of a support plate (31) and support rods (32) uniformly distributed on the left side and the right side of the support plate (31), the support frames (3) are fixed on the underframe (1) through the support rods (32), and the support plates (31) are arranged below the inner side surface of the upper belt section of the conveying mechanism (2); the first guide rail (4) is fixedly arranged on square steel (11) on two sides of the top of the underframe (1); the front and rear walking frames (5) can move back and forth along the first guide rail (4); the second guide rail (6) is fixedly arranged between the front walking frame and the rear walking frame (5) and is vertical to the first guide rail (4); the left and right walking frames (7) are erected on the second guide rail (6) and can move left and right along the second guide rail (6); the manipulator (8) is fixedly arranged below the left walking frame and the right walking frame (7) through bolts; the electric control system (9) is fixedly installed on the top surfaces of the left and right walking frames (7), the manipulator (8) is composed of a frame (81), a third guide rail (82), an auxiliary guide rail (83), a third rack (84) and a manipulator unit, a plurality of clamping grooves matched with the third guide rail (82) and the auxiliary guide rail (83) are formed in the frame (81), and the third guide rail (82) and the auxiliary guide rail (83) are uniformly erected on the frame (81) in pairs; each pair of third guide rails (82) and auxiliary guide rails (83) is provided with a plurality of manipulator units, and each manipulator unit consists of a main frame body (851), a first motor (852), a third gear (853), an auxiliary frame body (854), a second motor (855), a fourth gear (856), a fourth guide rail (857), a third motor (858), a cavity (859), a cylinder (860), a suction nozzle (861) and a fourth rack (862); the main frame body (851) is respectively provided with notches which are used for being matched with the third guide rail (82), the auxiliary guide rail (83) and the fourth guide rail (857); the third guide rail (82) and the auxiliary guide rail (83) are arranged in pairs, and a third rack (84) is fixedly mounted on the inner side surface of the third guide rail (82); the first motor (852) is fixedly arranged on the top surface of the main frame body (851), a third gear (853) is arranged on an output shaft of the first motor (852), and the third gear (853) is meshed with the third rack (84); the fourth guide rails (857) are arranged in a notch below the main frame body (851) in a pair in a clamping manner, the fourth guide rails (857) are perpendicular to the third guide rails (82), a fourth rack (862) is fixedly installed on the inner side surfaces of the fourth guide rails (857), the auxiliary frame body (854) is installed on the fourth guide rails (857), the second motor (858) is fixedly installed in the auxiliary frame body (854), a fourth gear (856) is installed on an output shaft of the second motor (858), and the fourth gear (856) is meshed with the fourth rack (862); the third motor (858) is fixedly arranged in the auxiliary frame body (854) and is connected with the air cylinder rod; the cavity (859) is fixedly arranged between the subframe body (854) and the air cylinder (860); the suction nozzle (861) is arranged at the head of a telescopic rod of the air cylinder; therefore, the main frame body (851) can be driven by the first motor (852) to move along the third guide rail (82) and the auxiliary guide rail (83), the auxiliary frame body (854) can be driven by the second motor (855) to move along the fourth guide rail (857), the suction nozzle (861) can be driven by the third motor (858) to rotate, a through hole convenient for the connection of the upper part of the air cylinder rod and the third motor (858) is formed in the cavity (859), a vacuum suction cavity (871) is formed in the cavity (859), a suction hole (872) communicated with the suction nozzle (861) is formed in the air cylinder rod, and the length of the vacuum suction cavity (871) is larger than the stroke of the air cylinder.
2. The intelligent sorting machine of claim 1, wherein: a front and rear traveling gear motor (51) is fixedly installed in the middle of the top surface of the front and rear traveling frame (5), a driving shaft (52) penetrates through the front and rear traveling gear motor (51), two ends of the driving shaft are supported by bearings with seats fixedly installed on the front and rear traveling frame (5), and two ends of the driving shaft (52) are fixedly installed with a driving bevel gear (53) through keys; a driven shaft (54) is longitudinally arranged on the left outer side surface and the right outer side surface of the front walking frame and the rear walking frame (5), two ends of the driven shaft (54) are supported by bearings with seats fixedly arranged on the left outer side surface and the right outer side surface of the front walking frame and the rear walking frame (5), a driven bevel gear (55) is fixedly arranged at the upper end of the driven shaft (54) through a key, and the driven bevel gear (55) is meshed with the driving bevel gear (53); a first gear (56) is fixedly arranged at the lower end of the driven shaft (54) through a key; the outer side surfaces of the square steel (11) on the two sides of the top of the underframe (1) are transversely and fixedly provided with a first rack (57), and the first gear (56) is meshed with the first rack (57); the front and rear traveling gear motor (51) drives the driving shaft (52) to rotate, the driving bevel gears (53) at the two ends of the driving shaft (52) drive the driven bevel gears (55) to rotate, and the driven bevel gears (55) drive the first gear (56) to synchronously rotate through the driven shaft (54), so that the whole front and rear traveling frame (5) is driven by the front and rear traveling gear motor (51) to move back and forth along the first guide rail (4) through the meshing of the first gear (56) and the first rack (57).
3. The intelligent sorting machine of claim 1, wherein: a left-right walking speed reducing motor (91) is fixedly arranged in the electric control system (9), and a second gear (92) is fixedly arranged on an output shaft of the left-right walking speed reducing motor (91) through a key; a support beam (58) is transversely erected at the lower end of the front and rear walking frames (5); a second rack (93) is fixedly arranged on the side surface of the support beam (58); the second gear (92) is meshed with the second rack (93), so that the left and right travelling frames (7) are driven by the left and right travelling speed reducing motors (91) to drive the whole left and right travelling frames (7) to move left and right on the second guide rail (6) through the meshing of the second gear (92) and the second rack (93).
4. The intelligent sorting machine of claim 1, wherein: the conveying mechanism (2) is a belt conveyor.
5. The intelligent sorting machine of claim 1, wherein: the number of the manipulator units is 64.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710681514.1A CN107322579B (en) | 2017-08-10 | 2017-08-10 | Intelligent sorting machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710681514.1A CN107322579B (en) | 2017-08-10 | 2017-08-10 | Intelligent sorting machine |
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| CN107322579A CN107322579A (en) | 2017-11-07 |
| CN107322579B true CN107322579B (en) | 2020-05-05 |
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| CN201710681514.1A Active CN107322579B (en) | 2017-08-10 | 2017-08-10 | Intelligent sorting machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107934543B (en) * | 2017-12-19 | 2023-07-21 | 安徽省华夏机床制造有限公司 | Frame type plate conveying equipment |
| CN112722817A (en) * | 2020-12-02 | 2021-04-30 | 北京新毅东科技有限公司 | Photoetching plate taking device of photoetching machine |
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| EP2500152A1 (en) * | 2011-03-15 | 2012-09-19 | Ovoconcept | Method for gripping objects, placing same in a box and gripping said box |
| KR101194314B1 (en) * | 2012-01-17 | 2012-10-24 | 한국뉴매틱(주) | Gripper device having holding points |
| CN104249372A (en) * | 2013-06-26 | 2014-12-31 | 鸿富锦精密工业（深圳）有限公司 | Clamping device |
| CN106238338A (en) * | 2016-08-30 | 2016-12-21 | 晋江金煌机电设备有限公司 | A kind of automatic letter sorting machine |
| CN206009253U (en) * | 2016-08-30 | 2017-03-15 | 晋江金煌机电设备有限公司 | A kind of automatic letter sorting machine |
| CN106426256A (en) * | 2016-11-24 | 2017-02-22 | 珠海城市职业技术学院 | Automatic loading-unloading clamping device |
Also Published As
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|---|---|
| CN107322579A (en) | 2017-11-07 |
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