CN108438817A - A kind of arranging machine - Google Patents
A kind of arranging machine Download PDFInfo
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- CN108438817A CN108438817A CN201810253531.XA CN201810253531A CN108438817A CN 108438817 A CN108438817 A CN 108438817A CN 201810253531 A CN201810253531 A CN 201810253531A CN 108438817 A CN108438817 A CN 108438817A
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- 230000007246 mechanism Effects 0.000 claims abstract description 113
- 230000005540 biological transmission Effects 0.000 claims abstract description 75
- 239000000463 material Substances 0.000 claims abstract description 48
- 206010044565 Tremor Diseases 0.000 claims abstract description 20
- 238000009527 percussion Methods 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 230000035611 feeding Effects 0.000 description 35
- 238000010586 diagram Methods 0.000 description 22
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 230000005611 electricity Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
- B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
- B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
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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
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Articles To Conveyors (AREA)
- Meat, Egg Or Seafood Products (AREA)
Abstract
The present invention relates to mechanical equipment technical fields,More particularly to a kind of arranging machine,Feed device including rack and in rack,Shake material device,Camera sensing device,Feeding device and control mechanism,Rack includes horizonal base plate and horizontal platen,Feed device includes support base,The flat device that shakes,Feed table and feeding cylinder,Shake material device includes receiver,Location supporting rack,Vertical tremor mechanism,First level percussion mechanism,Second horizontal vibrating mechanism,Vertical tremor mechanism includes first motor,Second motor,First transmission mechanism and the second transmission mechanism,First level percussion mechanism includes third motor and third transmission mechanism,Second horizontal vibrating mechanism includes the 4th motor and the 4th transmission mechanism,Camera sensing device includes camera support,Camera and 2 light sources,Feeding device includes robot support base,Four axis robots,Cylinder connection piece and three-jaw cylinder；The configuration of the present invention is simple, stability is good, and reliability is high, can realize reason material function.
Description
Technical field
The present invention relates to mechanical equipment technical field more particularly to a kind of arranging machines.
Background technology
In industrial circle, mechanism feeding is needed in many occasions, common feed mechanism has vibrating disc, directly shake feed appliance
Deng, but in certain occasion feedings, if material is special-shaped tablet, material is divided into positive and negative, and to next process feeding
When, material must satisfy certain condition, such as：Need it is a certain up, need to discharge at a certain angle, common feeder
Structure and its included reason material function cannot be satisfied these special feeding requirements, can only generally use the artificial side for sorting feeding
Formula, it is therefore desirable to a kind of arranging machine is developed, to meet the needs of this specific occasion.
Invention content
For the problems of the prior art, the present invention provides a kind of arranging machine.
To realize the above technical purpose, the technical scheme is that：
A kind of arranging machine, including rack and the feed device in rack, shake material device, camera sensing device, feeding
Device and control mechanism；
The rack includes horizonal base plate and horizontal platen, and the bottom surface quadrangle of the horizonal base plate is equipped with idler wheel, top surface
Quadrangle is connect by fixed column 14 with horizontal platform board bottom face Corner Strapped, and the horizontal platen is equipped with horizontal mounting plate；
The feed device includes support base, flat shake device, feed table and feeding cylinder, and the support base is set to horizontal mounting plate
On, on support base, the feeding pan bottom connect with the flat device that shakes for the flat device bottom that shakes, it is described put down the device that shakes and be used to drive give
In charging tray vibrations and feeding to shake material device, the side that the feed table is located at exit side is in ramped shaped, and the feeding cylinder is in leakage
Bucket-shaped, towards the inner bottom surface of feed table, the flat device that shakes connect outlet at bottom with control mechanism；
The shake material device includes receiver, location supporting rack, vertical tremor mechanism, first level percussion mechanism, second
Horizontal vibrating mechanism, the receiver is set to the side of feed table discharging direction, and the feed side of receiver extends to feed table
Lower section, the vertical tremor mechanism include first motor, the second motor, the first transmission mechanism and the second transmission mechanism, and described
One transmission mechanism is set to the feed side of receiver, and second transmission mechanism is set to the exit side of receiver, the first motor
It is installed on horizontal mounting plate with the second motor, and receiver is driven by the first transmission mechanism and the second transmission mechanism respectively
Both ends synchronize vertical tremor, and the first level percussion mechanism includes third motor and third transmission mechanism, the third motor
It is installed on location supporting rack, and drives receiver along feed direction horizontal vibrating, second water by third transmission mechanism
Flat percussion mechanism includes the 4th motor and the 4th transmission mechanism, and the 4th motor is installed on location supporting rack, and passes through the
Four transmission mechanisms drive receiver along the direction horizontal vibrating perpendicular to feed direction, and the location supporting rack is for limiting splicing
Disk shakes the vibrations track in direction at three, and the bottom of the location supporting rack is fixed on horizontal mounting plate, first electricity
Machine, the second motor, third motor and the 4th motor are connect with control mechanism；
The camera sensing device includes that camera support, camera and 2 light sources, the camera support are fixed on horizontal platen
Above and positioned at receiver along the side of feed direction, top extends to above receiver, and the camera is set at the top of camera support
And above receiver, camera lens are set at the top of camera support towards receiver, 2 light sources and are located at camera
Both sides, and it is right against 2 sides of the receiver along feed direction；
The feeding device includes robot support base, four axis robots, cylinder connection piece and three-jaw cylinder, the machine
People's support base is fixed on horizontal platen and positioned at receiver along the other side of feed direction, and four axis robot is set to machine
On people's support base, the three-jaw cylinder passes through the execution axis connection of cylinder connection piece and four axis robots, four axis robot
Three-jaw cylinder is driven to be moved in the horizontal plane with vertical direction, the clamping jaw of the three-jaw cylinder is used to capture the object in receiver
Material, four axis robot and three-jaw cylinder are connect with control mechanism.
Preferably, the support base includes horizontal supporting plate and 2 vertical gripper shoes being oppositely arranged, the vertical branch
Fagging setting direction is consistent with feed table feed direction, the top margins of 2 vertical gripper shoes, 2 with horizontal supporting plate respectively
Side is connected, and bottom edge is connected with 2 sides for being horizontally mounted plate top surface respectively, and the flat device that shakes is on horizontal supporting plate.
As an improvement, 1 inverted L-shaped coaming plate is respectively equipped on the outside of 2 vertical gripper shoes, 2 inverted L-shaped coaming plates
The bottom edge of vertical plate be fixed on horizontal mounting plate, the free margins of the level board of 2 inverted L-shaped coaming plates is located towards flat shakes
The side of device, top surface, which is higher than to put down, to shake device top surface and is located at feed table lower section, and the free margins is the flanging being turned over downwards, described
The flat device that shakes is respectively equipped with 1 vertical connecting plates on the outside of 2 sides of feed direction, and the bottom of 2 vertical connecting plates is fixed
In on horizontal supporting plate, top connects with the bottom surface of the level board of 2 inverted L-shaped coaming plates respectively.
As an improvement, the longitudinal profile of the feeding cylinder first half is rectangle, the longitudinal profile of lower half is inverted trapezoidal, also
Including 2 L-shaped connecting plates, the top of the vertical plate of 2 L-shaped connecting plates is respectively with the feeding cylinder first half along feed direction
2 side connections, the free end end face of level board are connect with the lateral surface of the vertical plate of 2 inverted L-shaped coaming plates respectively, 2 L
The plate body of the vertical plate of shape connecting plate is fastened on the side of feed table.
As an improvement, the feeding pan bottom is connect by concave shape connecting plate 28 with the flat device that shakes, the concave shape connection
The vertical plate length direction of plate is consistent with feed direction, and the bottom of the concave shape connecting plate is connect with the flat device that shakes, 2 vertical plates
Top margin outward fold after connect with the bottom of feed table.
Preferably, the location supporting rack includes level board, 2 vertical plates and limit assembly being oppositely arranged, described 2
The bottom of a vertical plate is fixed on horizontal mounting plate, and is mutually perpendicular to vertical gripper shoe, the both ends difference of the level board
It is fixed on the side wall of 2 vertical plates, the limit assembly includes 2 vertical guide posts, 2 axle sleeves, horizontal connecting plate, first
Horizontal guide rail, link block and the second horizontal guide rail are arranged with 2 through-holes, 2 vertical guide posts on the horizontal connecting plate
One end be all connected to splicing pan bottom, the other end is inserted into 2 axle sleeves after being each passed through 2 through-holes, and the axle sleeve is fixed on water
On the bottom surface of flushconnection plate, the first level guide rail is fixed in the middle part of horizontal connecting plate bottom surface, and second horizontal guide rail is solid
Due on the top surface of level board and setting direction is consistent with feed direction, the first level guide rail is set with the second horizontal guide rail
It sets direction to be mutually perpendicular to, the link block is set between first level guide rail and the second horizontal guide rail, and top surface is equipped with and first
The first sliding groove of horizontal guide rail cooperation, bottom surface are equipped with the second sliding slot coordinated with the second horizontal guide rail, 2 vertical plate phases
It is connected with vertical coaming plate between adjacent side.
Preferably, first transmission mechanism is vertically directed column, waling stripe, 2 door shape connections including 2 first
Part, vertical connecting rod and 2 oscillating bearings, 2 first tops for the being vertically directed column bottom surface with receiver feed side respectively
Connection, bottom end are connect with the top of 2 door shape connectors respectively after passing through level board, and the both ends of the waling stripe are respectively with 2
A shape connector is connected, and 2 ends of the vertical connecting rod are connected with the screw hole end of 2 oscillating bearings respectively, one of joint
The bearing end of bearing and the output eccentric shaft of first motor connect, and the bearing end of another oscillating bearing is socketed in waling stripe
Middle part；The door shape connector includes horizontal connection piece and 2 vertical connection sheets being oppositely arranged, the phase on vertical connection sheet surface
It is equipped with first through hole with position, the both sides of horizontal connection piece connect with the top margin of 2 vertical connection sheets respectively, and surface is equipped with the
Two through-holes, the both ends of waling stripe are connect after being each passed through 2 first through hole with 2 vertical connection sheets, and 2 first are vertically directed
The bottom end of column respectively penetrates 2 the second through-holes and is fixedly connected with horizontal connection piece；Second transmission mechanism and the first driver
Structure structure is identical, is symmetrically set in the other side of receiver, the bearing end of an oscillating bearing of the second transmission mechanism and the second electricity
The output eccentric shaft of machine connects.
Preferably, the fuselage of the third motor is installed on level board bottom surface, output shaft is pierced by horizontal plate top surface, institute
It includes the first guide pad, the first transmission shaft and first axle connector sleeve to state third transmission mechanism, and the top surface of first guide pad is solid
In the middle part of the bottom surface of receiver, bottom surface is equipped with the first guide groove, and first transmission shaft is vertically arranged, and described first is oriented to
The length direction of slot is consistent with feed direction, and the bottom surface of the first axle connector sleeve is connect with the positive heart of the output shaft of third motor,
Top surface is connect with the bottom end bias of the first transmission shaft, and the top of first transmission shaft is embedded in the first guide groove；Described 4th
The fuselage of motor is installed on level board bottom surface, and output shaft is pierced by horizontal plate top surface, and the 4th transmission mechanism is led including second
To block, second driving shaft and the second axis connection set, the top surface of second guide pad is fixed in the middle part of the bottom surface of receiver, bottom surface
It is equipped with the second guide groove, the second driving shaft is vertically arranged, and length direction and the feed direction of second guide groove hang down
Directly, the bottom surface of the second axis connection set is connect with the positive heart of output shaft of the 4th motor, and the bottom end of top surface and second driving shaft is inclined
The heart connects, and the top of the second driving shaft is embedded in the second guide groove.
Preferably, the camera support includes vertical supporting rod and horizontal support bar, the bottom of the vertical supporting rod
It is fixed on horizontal platen and positioned at receiver along the side of feed direction, one end of the horizontal support bar and vertical supporting rod
Top connection, the other end extends to above receiver exit side, and the horizontal support bar setting direction is vertical with feed direction,
The camera is set on horizontal support bar, and camera lens are towards receiver, and 2 light sources are set on horizontal support bar and difference
Positioned at camera both sides, and 2 sides of the receiver along feed direction are right against, the camera is connect with control mechanism.
Preferably, the first half of the cylinder connection piece is hollow circuit cylinder, lower half is rectangular frame, the hollow circle
The hollow hole of column and the execution axis of four axis robots match, and rectangular frame is vertically arranged and bottom plate is equipped with connecting hole, described
Three-jaw cylinder is fixed on the bottom surface of bottom plate, and the air source through-hole connecting hole of the three-jaw cylinder accesses three-jaw cylinder.
From the above, it can be seen that the present invention has following advantages：Structure of the invention is exquisite, reliable and stable, Neng Goushi
Show vibrations of the material in three directions, so that material generates displacement, overturning and deflection, to meet wanting for subsequent processing operations
It asks, the feeding of whole equipment, shake material, feeding process advantages of simple execute reliably, and whole process is all automatically performed, and is not necessarily to people
Work intervention can realize the full-automatic material management to material.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram of the present invention；
Fig. 3 is the structural schematic diagram of feed device of the present invention；
Fig. 4 is the structural schematic diagram of feed device of the present invention；
Fig. 5 is the structural schematic diagram of feed device of the present invention；
Fig. 6 is the structural schematic diagram of feed device of the present invention；
Fig. 7 is the structural schematic diagram of present invention shake material device；
Fig. 8 is the internal structure schematic diagram of feed device of the present invention and shake material device；
Fig. 9 is the internal structure schematic diagram of present invention shake material device；
Figure 10 is the internal structure schematic diagram of present invention shake material device；
Figure 11 is the internal structure schematic diagram of present invention shake material device；
Figure 12 is the internal structure schematic diagram of present invention shake material device；
Figure 13 is the internal structure schematic diagram of present invention shake material device；
Figure 14 is the internal structure schematic diagram of present invention shake material device；
Figure 15 is the internal structure schematic diagram of present invention shake material device；
Figure 16 is the structural schematic diagram of camera sensing device and feeding device of the present invention；
Figure 17 is the structural schematic diagram of camera sensing device and feeding device of the present invention；
Figure 18 is the structural schematic diagram of camera sensing device and feeding device of the present invention；
Figure 19 is the structural schematic diagram of camera sensing device and feeding device of the present invention.
Specific implementation mode
In conjunction with Fig. 1 to Figure 19, the specific embodiment that the present invention will be described in detail, but the claim of the present invention is not done
Any restriction.
As shown in Figure 1, a kind of arranging machine, including rack 1 and feed device 2, shake material device 3, camera in rack
Sensing device 4, feeding device 5 and control mechanism；
As shown in Fig. 2, rack 1 includes horizonal base plate 12 and horizontal platen 11, the bottom surface quadrangle of horizonal base plate 12 is equipped with
Idler wheel 13, top surface quadrangle are connect by fixed column 14 with 11 bottom surface Corner Strapped of horizontal platen, and horizontal platen 11 is equipped with level
Mounting plate 15；The preferably idler wheel with stabilizer blade of idler wheel 13, in order to the movement and fixation of whole equipment.
It is the structural schematic diagram of feed device as shown in Fig. 3 to 6.
Feed device 2 includes support base 21, flat shake device 22, feed table 23 and feeding cylinder 24, and support base 21 is set to horizontal pacify
In loading board 15, on support base 21,23 bottom of the feed table is connect with the flat device 22 that shakes for flat 22 bottom of device that shakes, the flat use of device 22 of shaking
In in the vibrations of driving feed table 23 and feeding to shake material device 3, the side that feed table 23 is located at exit side is in ramped shaped, feeding cylinder
24 be in funnel-form, and outlet at bottom is put down the device 22 that shakes and connect with control mechanism, specifically towards the inner bottom surface of feed table 23：
(1) support base 21 includes horizontal supporting plate 211 and 2 vertical gripper shoes 212 being oppositely arranged, the vertical support
212 setting direction of plate is consistent with 23 feed direction of feed table, the top margins of 2 vertical gripper shoes 212 respectively with horizontal supporting plate 211
2 sides be connected, bottom edge is connected with 2 sides of 15 top surface of horizontal mounting plate respectively, and the flat device 22 that shakes is set to horizontal branch
On fagging 211, and it is connect with control mechanism；
The outside of (2) 2 vertical gripper shoes 212 is respectively equipped with the vertical of 1 inverted L-shaped coaming plate, 25,2 inverted L-shaped coaming plates 25
The bottom edge of plate 251 is fixed on horizontal mounting plate 15, and the free margins of the level board 252 of 2 inverted L-shaped coaming plates 25 is located towards flat shake
The side of device 22, top surface, which is higher than to put down, to shake 22 top surface of device and is located at 23 lower section of feed table, and free margins is the flanging being turned over downwards；Profit
With inverted L-shaped coaming plate protective device, avoids the while of accidentally touching, reduces noise.
(3) it puts down the device 22 that shakes and is respectively equipped with 1 vertical connecting plates 26,2 on the outside of 2 sides of feed direction vertically
The bottom of connecting plate 26 is fixed on horizontal supporting plate 211, the top bottom surface with the level board of 2 inverted L-shaped coaming plates 25 252 respectively
Connect；Using vertical connecting plates, the clamping support below the flat device that shakes is reinforced, while playing buffer action, reduce noise；
(4) longitudinal profile of 24 first half of feeding cylinder is rectangle, and the longitudinal profile of lower half is inverted trapezoidal；
(5) further include 2 L-shaped connecting plates, 27,2 L-shaped connecting plates 27 vertical plate 271 top respectively with feeding cylinder 24
The first half is connected along 2 sides of feed direction, and the free end end face of level board 272 is vertical with 2 inverted L-shaped coaming plates 25 respectively
The lateral surface of plate 251 connects, and the plate body of the vertical plate 271 of 2 L-shaped connecting plates 27 is fastened on the side of feed table；Pass through L-shaped
Connecting plate so that feeding process feeding cylinder is not influenced by the flat device that shakes；
(6) 23 bottom of feed table is connect by concave shape connecting plate 28 with the flat device 22 that shakes, concave shape connecting plate 28 it is vertical
281 length direction of plate is consistent with feed direction, and the bottom of concave shape connecting plate 28 is connect with the flat device 22 that shakes, 2 vertical plates 281
Top margin 2811 outward fold after connect with the bottom of feed table 23；It is connected by concave shape connecting plate so that feed table is being sent
The impact that material process is subject to is buffered, and extends the service life of feed table.
Feed device overall structure is simple, reliable and stable, is sent the material on feed table to receiver using the flat device that shakes,
Feeding process is stable, reliable.
As shown in Fig. 7 to Figure 15, it is the structural schematic diagram of shaking device, shows the internal junction of shaking device for convenience
First level percussion mechanism 34 and the second horizontal vibrating mechanism 35 are not shown in structure, Fig. 9 and Figure 12, in Figure 10, Figure 13 and Figure 15
Vertical tremor mechanism 33 is not shown.
Shake material device 3 include receiver 31, location supporting rack 32, vertical tremor mechanism 33, first level percussion mechanism 34,
Second horizontal vibrating mechanism 35, receiver 31 is set to the side of 23 discharging direction of feed table, and the feed side of receiver 31 extends
To the lower section of feed table 23, vertical tremor mechanism 33 includes first motor 331, the second motor 332, the first transmission mechanism 333 and the
Two transmission mechanisms 334, the first transmission mechanism 333 are set to the feed side of receiver 31, and the second transmission mechanism 334 is set to receiver 31
Exit side, first motor 331 and the second motor 332 are installed on horizontal mounting plate 15, and pass through the first transmission mechanism respectively
333 vertical tremors synchronous with the second transmission mechanism 334 driving both ends of receiver 31, first level percussion mechanism 34 include third
Motor 341 and third transmission mechanism 342, third motor 341 are installed on location supporting rack, and pass through third transmission mechanism 342
Drive receiver 31 along feed direction horizontal vibrating, the second horizontal vibrating mechanism 35 includes the 4th motor 351 and the 4th driver
Structure 352, the 4th motor 351 are installed on location supporting rack 32, and drive receiver 31 along vertical by the 4th transmission mechanism 352
In the direction horizontal vibrating of feed direction, location supporting rack 32 is for limiting the vibrations rail that receiver 31 shakes direction at three
The bottom of mark, location supporting rack 32 is fixed on horizontal mounting plate 15, first motor 331, the second motor 332, third motor 341
It is connect with control mechanism with the 4th motor 351, specifically：
(1) location supporting rack 32 includes 321,2 vertical plates being oppositely arranged 322 of level board and limit assembly 323,2
The bottom of vertical plate 322 is fixed on horizontal mounting plate 15, and is mutually perpendicular to vertical gripper shoe 212, the two of level board 321
End be individually fixed on the side wall of 2 vertical plates 322, limit assembly 323 include 2 vertical guide posts, 3231,2 axle sleeves 3232,
Horizontal connecting plate 3233, first level guide rail 3234, link block 3235 and the second horizontal guide rail 3236, horizontal connecting plate 3233
On be arranged with 2 through-holes, one end of 2 vertical guide posts 3231 is all connected to 31 bottom of receiver, and the other end is each passed through 2
2 axle sleeves 3232 are inserted into after through-hole, axle sleeve 3232 is fixed on the bottom surface of horizontal connecting plate 3233, and first level guide rail 3234 is solid
In the middle part of 3233 bottom surface of horizontal connecting plate, the second horizontal guide rail 3236 is fixed on the top surface of level board 321, and setting direction
Consistent with feed direction, first level guide rail 3234 and the setting direction of the second horizontal guide rail 3236 are mutually perpendicular to, link block
3235 are set between first level guide rail 3234 and the second horizontal guide rail 3236, and top surface is equipped with and coordinates with first level guide rail
The first sliding groove, bottom surface are equipped with the second sliding slot that coordinates with the second horizontal guide rail 3236, between the adjacent side of 2 vertical plates 322
It is connected with vertical coaming plate 324；
(2) first transmission mechanisms 333 are vertically directed 3332,2 column 3331, waling stripe door shape connections including 2 first
3335,2 first part 3333, vertical connecting rod 3334 and 2 oscillating bearings tops for being vertically directed column 3331 respectively with receiver
The bottom surface of 31 feed sides connects, and bottom end is connect with the top of 2 door shape connectors 3333 respectively after passing through level board 321, horizontal
The both ends of connecting rod 3332 are connected with 2 door shape connectors 3333 respectively, 2 ends of vertical connecting rod 3334 respectively with 2 oscillating bearings
3335 screw hole end is connected, and the bearing end of one of oscillating bearing 3335 is connect with the output eccentric shaft of first motor 331, separately
The bearing end of one oscillating bearing 3335 is socketed in the middle part of waling stripe 3332；Door shape connector 3333 includes horizontal connection piece
3336 and 2 vertical connection sheets 3337 being oppositely arranged, the same position on 3337 surface of vertical connection sheet is equipped with first through hole, water
The both sides of flushconnection piece 3336 are connect with the top margin of 2 vertical connection sheets 3337 respectively, and surface is equipped with the second through-hole, and level is even
The both ends of bar 3332 are connect after being each passed through 2 first through hole with 2 vertical connection sheets 3337, and 2 first are vertically directed column
3331 bottom end respectively penetrates 2 the second through-holes and is fixedly connected with horizontal connection piece 3336；
(3) second transmission mechanisms 334 are identical as 333 structure of the first transmission mechanism, are symmetrically set in the another of receiver 31
Side, the bearing end of an oscillating bearing 3345 of the second transmission mechanism 334 are connect with the output eccentric shaft of the second motor 332；
(4) fuselage of third motor 341 is installed on 321 bottom surface of level board, and output shaft is pierced by 321 top surface of level board, the
Three transmission mechanisms 342 include the first guide pad 3421, the first transmission shaft 3422 and first axle connector sleeve 3423, the first guide pad
3421 top surface is fixed in the middle part of the bottom surface of receiver 31, and bottom surface is equipped with the first guide groove 3424, and the first transmission shaft 3422 is perpendicular
Straight setting, the length direction of the first guide groove 3424 is consistent with feed direction, bottom surface and the third electricity of first axle connector sleeve 3423
The positive heart connection of output shaft of machine 341, top surface are connect with the bottom end bias of the first transmission shaft 3422, the top of the first transmission shaft 3422
In embedded first guide groove 3424；
The fuselage of (5) the 4th motors 351 is installed on 321 bottom surface of level board, and output shaft is pierced by 321 top surface of level board, the
Four transmission mechanisms 352 include the second guide pad 3521, second driving shaft 3522 and the second axis connection set 3523, the second guide pad
3521 top surface is fixed in the middle part of the bottom surface of receiver 31, and bottom surface is equipped with the second guide groove 3524, and second driving shaft 3522 is perpendicular
Straight setting, the length direction of the second guide groove 3524 is vertical with feed direction, the bottom surface of the second axis connection set 3523 and the 4th electricity
The positive heart connection of 351 output shafts of machine, top surface are connect with the bottom end bias of second driving shaft 3522, the top of second driving shaft 3522
In embedded second guide groove 3524.
The operation principle of shaking device is：
The operation principle of (1) first transmission mechanism is：First motor output shaft drives vertical connecting rod to put by oscillating bearing
It is dynamic, and then waling stripe is driven to move up and down, so that being vertically directed column drives receiver vertical tremor, vertical tremor process
In, receiver drives the vertical guide post in limit assembly to be moved up and down along axle sleeve, and receiver vertical tremor track is limited to reach
Purpose；
The operation principle of (2) second transmission mechanisms is identical；
(3) operation principle of third transmission mechanism is：Third motor output shaft drives the first transmission shaft eccentric rotary, the
Under the limitation of one guide pad, the first transmission shaft moves back and forth in the first guide groove, and then drives receiver along feed direction water
Horizontal tremble is dynamic, and during horizontal vibrating, receiver drives the vertical guide post of limit assembly to move horizontally, and then drives horizontal connecting plate
It is mobile, since first level guide rail is connect with horizontal connecting plate, and then the movement of first level guide rail is driven, to drive link block
It is moved along the second horizontal guide rail, to achieve the purpose that limit receiver horizontal vibrating track；
The operation principle of (4) the 4th transmission mechanisms is：4th motor output shaft drives second driving shaft eccentric rotary, the
Under the limitation of two guide pads, second driving shaft moves back and forth in the second guide groove, and then drives receiver edge and feed direction
Vertical direction horizontal vibrating, during horizontal vibrating, receiver drives the vertical guide post of limit assembly to move horizontally, and then band
Dynamic horizontal connecting plate moves horizontally, and since first level guide rail is connect with horizontal connecting plate, and then drives first level guide rail edge
The first sliding groove moves, to achieve the purpose that limit receiver horizontal vibrating track.
It can be seen from the above description that in shaking device：
(1) first motor and the second motor drive the two of receiver by the first transmission mechanism and the second transmission mechanism respectively
Side synchronizes vertical tremor, to realize the vertical tremor of material in receiver；First transmission mechanism and the second transmission mechanism structure
Identical and drive mechanism is stablized, and ensure that the reliability of receiver vibrations, and the setting for being vertically directed column due to first and limit
The setting of vertical guide post, further defines the vertical tremor track of receiver in hyte part；Simultaneously because in limit assembly
One horizontal guide rail and the second horizontal guide rail can only be moved along the sliding slot on link block, and then ensure that receiver in vertical tremor mistake
It does not deflect in journey；
(2) third motor and the 4th motor drive receiver two by third transmission mechanism and the 4th transmission mechanism respectively
A horizontal direction vibrations, to realize the horizontal vibrating of material in receiver；Third transmission mechanism and the 4th transmission mechanism structure
Identical and drive mechanism is stablized, and ensure that the reliability of receiver vibrations, and due to first level guide rail in limit assembly and
Second horizontal guide rail can only be moved along the sliding slot on link block, and then define the horizontal vibrating track of receiver.
As illustrated in figs. 16-19, it is the structural schematic diagram of camera sensing device 4 and feeding device 5.
Camera sensing device 4 includes that camera support 41, camera 42 and 2 light sources 43, camera support 41 are fixed on horizontal platform
Along the side of feed direction on plate 11 and positioned at receiver 31, top extends to 31 top of receiver, and camera 42 is set to camera branch
The top of frame 41 and positioned at 31 top of receiver, 42 camera lens of camera be set at the top of camera support towards 31,2 light sources 43 of receiver and
42 both sides of camera are located at, and are right against 2 sides of the receiver 31 along feed direction, specifically：
Camera support 41 includes vertical supporting rod 411 and horizontal support bar 412, and the bottom of vertical supporting rod 411 is fixed on
Along the side of feed direction, one end of horizontal support bar 412 and vertical supporting rod 411 on horizontal platen 11 and positioned at receiver
Top connects, and the other end extends to above 31 exit side of receiver, and 412 setting direction of horizontal support bar is vertical with feed direction,
Camera 42 be set to horizontal support bar 412 on, camera lens towards 31,2 light sources 42 of receiver be set to horizontal support bar 412 on and
42 both sides of camera are located at, and are right against 2 sides of the receiver 31 along feed direction, camera 42 is connect with control mechanism.
For the ease of adjusting the position of camera and light source, L-shaped connection sheet 413 is added, by the one side and camera of L-shaped connection sheet
Or light source connects, and opens up mounting hole 4131 on another side, horizontal card slot 4121 is correspondingly set on horizontal support bar 412, leads to
It crosses bolt, mounting hole and horizontal card slot 4121 to coordinate, camera or light source is fixed on horizontal support bar.It needs to adjust camera
Or when light source position, as long as loosering a bolt, locked again behind position of the adjustment bolt in horizontal card slot.
Feeding device 5 includes robot support base 51, four axis robots 52, cylinder connection piece 53 and three-jaw cylinder 54, machine
Device people support base 51 is fixed on horizontal platen 11 and positioned at receiver 31 along the other side of feed direction, four axis robot
52 are set on robot support base 51, three-jaw cylinder 54 by the execution axis connection of cylinder connection piece 53 and four axis robots 52,
Four axis robots 52 drive three-jaw cylinder 54 to be moved in the horizontal plane with vertical direction, and the clamping jaw of three-jaw cylinder 54 connects for capturing
31 material in charging tray, four axis robots 52 and three-jaw cylinder 54 are connect with control mechanism, specifically：
The first half of cylinder connection piece 53 is hollow circuit cylinder 531, and lower half is rectangular frame 532, hollow circuit cylinder 531
The execution axis 521 of hollow hole and four axis robots 52 matches, and rectangular frame 532 is vertically arranged and bottom plate is equipped with connecting hole
5321, three-jaw cylinder 54 is fixed on the bottom surface of bottom plate, and the air source through-hole connecting hole 5321 of three-jaw cylinder accesses three-jaw cylinder 54.
In order to improve the applicability of cylinder connection piece, opened from top to bottom on the side of cylinder connection piece hollow circuit cylinder 531
If an open slot 5311, and it is equipped with symmetrical bolt hole 5312 positioned at the hollow circuit cylinder wall of 5311 both sides of open slot, it utilizes
Bolt is matched with bolt hole 5312, realizes that the groove width of open slot is adjustable, and then realizes that the size of hollow circuit cylinder hollow hole is adjustable,
The four axis robots to match different model execute axis.
The operation principle of the present invention is that：
Material is added to feed table by feeding cylinder, under the driving of the flat device that shakes, feed table feeding to receiver, first
Motor, the second motor, third motor and the 4th motor driving under, in three directions intermittent shake occurs for the material on receiver
Dynamic, three directions are respectively upper and lower directions, the horizontal direction along feed direction, the horizontal direction vertical with feed direction, are being shaken
During dynamic, overturning, deflection and displacement occur for the material of receiver, and the position of material, state is made to change, it is adjacent twice
These information using the position of material, state on camera sensing device monitoring receiver, and are transmitted to control machine by the gap of vibrations
Structure, control mechanism control the action of the action and three-jaw cylinder of four axis robots according to the information received, pass through four axis machines
Each shaft rotation of people is dynamic, controls crawl position and the crawl angle of three-jaw cylinder, then by the clamping jaw of three-jaw cylinder by needs certain
The selection of one material takes out and is sent to subsequent process station, and common Industry Control mechanism may be used in wherein control mechanism, such as：
PLC controller, microcontroller, MCU controllers and computer etc..
In conclusion the present invention has the following advantages：
The configuration of the present invention is simple is exquisite, reliable and stable, vibrations of the material in three directions can be realized, so that material
Displacement, overturning and deflection are generated, to meet the requirement of subsequent processing operations, the feeding of whole equipment, shake material, feeding process are simple
Rationally, it executes reliably, whole process is all automatically performed, and is not necessarily to manual intervention, can be realized the full-automatic material management to material.
It is understood that above with respect to the specific descriptions of the present invention, it is merely to illustrate the present invention and is not limited to this
Technical solution described in inventive embodiments.It will be understood by those of ordinary skill in the art that still can be carried out to the present invention
Modification or equivalent replacement, to reach identical technique effect；As long as meet use needs, all protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of arranging machine, it is characterised in that：Feed device, shake material device including rack and in rack, camera sensing
Device, feeding device and control mechanism；
The rack includes horizonal base plate and horizontal platen, and the bottom surface quadrangle of the horizonal base plate is equipped with idler wheel, top surface quadrangle
It is connect with horizontal platform board bottom face Corner Strapped by fixed column 14, the horizontal platen is equipped with horizontal mounting plate；
The feed device includes support base, flat shake device, feed table and feeding cylinder, and the support base is set on horizontal mounting plate,
On support base, the feeding pan bottom is connect with the flat device that shakes for the flat device bottom that shakes, and the flat device that shakes is for driving feeding
In disk vibrations and feeding to shake material device, the side that the feed table is located at exit side is in ramped shaped, and the feeding cylinder is in funnel
Shape, towards the inner bottom surface of feed table, the flat device that shakes connect outlet at bottom with control mechanism；
The shake material device includes receiver, location supporting rack, vertical tremor mechanism, first level percussion mechanism, the second level
Percussion mechanism, the receiver is set to the side of feed table discharging direction, and the feed side of receiver extends to below feed table,
The vertical tremor mechanism includes first motor, the second motor, the first transmission mechanism and the second transmission mechanism, first transmission
Mechanism is set to the feed side of receiver, and second transmission mechanism is set to the exit side of receiver, the first motor and second
Motor is installed on horizontal mounting plate, and drives the both ends of receiver same by the first transmission mechanism and the second transmission mechanism respectively
Vertical tremor is walked, the first level percussion mechanism includes third motor and third transmission mechanism, and the third motor is installed on
On location supporting rack, and drive receiver along feed direction horizontal vibrating, second horizontal vibrating by third transmission mechanism
Mechanism includes the 4th motor and the 4th transmission mechanism, and the 4th motor is installed on location supporting rack, and passes through the 4th transmission
Mechanism drives receiver along the direction horizontal vibrating perpendicular to feed direction, and the location supporting rack is for limiting receiver three
The vibrations track in a vibrations direction, the bottom of the location supporting rack are fixed on horizontal mounting plate, the first motor, second
Motor, third motor and the 4th motor are connect with control mechanism；
The camera sensing device includes camera support, camera and 2 light sources, the camera support be fixed on horizontal platen and
Positioned at receiver along the side of feed direction, top extends to above receiver, and the camera is set at the top of camera support and position
Above receiver, camera lens are set at the top of camera support towards receiver, 2 light sources and are located at camera two
Side, and it is right against 2 sides of the receiver along feed direction；
The feeding device includes robot support base, four axis robots, cylinder connection piece and three-jaw cylinder, the robot branch
Support seat is fixed on horizontal platen and positioned at receiver along the other side of feed direction, and four axis robot is set to robot branch
It supports on seat, for the three-jaw cylinder by the execution axis connection of cylinder connection piece and four axis robots, four axis is robotically-driven
Three-jaw cylinder is moved with vertical direction in the horizontal plane, and the clamping jaw of the three-jaw cylinder is used to capture the material in receiver, institute
It states four axis robots and three-jaw cylinder is connect with control mechanism.
2. arranging machine according to claim 1, it is characterised in that：The support base includes horizontal supporting plate and is oppositely arranged
2 vertical gripper shoes, the vertical gripper shoe setting direction is consistent with feed table feed direction, 2 vertical gripper shoes
Top margin be connected respectively with 2 sides of horizontal supporting plate, bottom edge is connected with 2 sides for being horizontally mounted plate top surface respectively, institute
The flat device that shakes is stated on horizontal supporting plate.
3. arranging machine according to claim 2, it is characterised in that：It is respectively equipped with 1 on the outside of 2 vertical gripper shoes
The bottom edge of inverted L-shaped coaming plate, the vertical plate of 2 inverted L-shaped coaming plates is fixed on horizontal mounting plate, 2 inverted L-shaped coaming plates
The free margins of level board is located towards the side of the flat device that shakes, top surface higher than the flat device top surface and below feed table of shaking, it is described from
It is the flanging being turned over downwards by side, the flat device that shakes is respectively equipped with 1 vertical connection on the outside of 2 sides of feed direction
The bottom of plate, 2 vertical connecting plates is fixed on horizontal supporting plate, the top bottom surface with the level board of 2 inverted L-shaped coaming plates respectively
Connect.
4. arranging machine according to claim 3, it is characterised in that：The longitudinal profile of the feeding cylinder first half is rectangle,
The longitudinal profile of lower half is inverted trapezoidal, further includes 2 L-shaped connecting plates, the top point of the vertical plate of 2 L-shaped connecting plates
Do not connect along 2 sides of feed direction with the feeding cylinder first half, the free end end face of level board respectively with 2 inverted L-shaped coaming plates
Vertical plate lateral surface connection, the plate body of the vertical plate of 2 L-shaped connecting plates is fastened on the side of feed table.
5. arranging machine according to claim 4, it is characterised in that：The feeding pan bottom by concave shape connecting plate 28 with
Flat device connection of shaking, the vertical plate length direction of the concave shape connecting plate is consistent with feed direction, the concave shape connecting plate
Bottom is connect with the flat device that shakes, and is connect with the bottom of feed table after the outside fold of top margin of 2 vertical plates.
6. arranging machine according to claim 2, it is characterised in that：The location supporting rack include level board, 2 set in opposite directions
The bottom of the vertical plate and limit assembly set, 2 vertical plates is fixed on horizontal mounting plate, and mutual with vertical gripper shoe
Vertically, the both ends of the level board are individually fixed on the side wall of 2 vertical plates, the limit assembly include 2 vertical guide posts,
2 axle sleeves, horizontal connecting plate, first level guide rail, link block and the second horizontal guide rail are arranged on the horizontal connecting plate
One end of 2 through-holes, described 2 vertical guide posts is all connected to splicing pan bottom, and the other end is inserted into 2 after being each passed through 2 through-holes
A axle sleeve, the axle sleeve are fixed on the bottom surface of horizontal connecting plate, and the first level guide rail is fixed on horizontal connecting plate bottom surface
Middle part, second horizontal guide rail is fixed on the top surface of level board and setting direction is consistent with feed direction, first water
The setting direction of level gauge and the second horizontal guide rail is mutually perpendicular to, and the link block is led set on first level guide rail with the second level
Between rail, and top surface is equipped with the first sliding groove that coordinate with first level guide rail, and bottom surface is equipped with the coordinated with the second horizontal guide rail
Two sliding slots, 2 vertical plates are connected with vertical coaming plate between adjacent side.
7. arranging machine according to claim 6, it is characterised in that：First transmission mechanism is led vertically including 2 first
Xiang Zhu, waling stripe, 2 door shape connectors, vertical connecting rod and 2 oscillating bearings, 2 first tops for being vertically directed column
It is connect respectively with the bottom surface of receiver feed side, bottom end is connect with the top of 2 door shape connectors respectively after passing through level board, institute
The both ends for stating waling stripe are connected with 2 door shape connectors respectively, 2 ends of the vertical connecting rod respectively with 2 oscillating bearings
Screw hole end is connected, and the bearing end of one of oscillating bearing and the output eccentric shaft of first motor connect, another oscillating bearing
Bearing end be socketed in the middle part of waling stripe；The door shape connector includes that horizontal connection piece and be oppositely arranged 2 are vertical
The same position of connection sheet, vertical connection sheet surface is equipped with first through hole, and the both sides of horizontal connection piece are connect with 2 vertically respectively
The top margin of piece connects, and surface is equipped with the second through-hole, and the both ends of waling stripe are each passed through after 2 first through hole with 2 vertically
Connection sheet connects, and 2 the first bottom ends for being vertically directed column respectively penetrate 2 the second through-holes and are fixedly connected with horizontal connection piece；Institute
It is identical as the first transmission mechanism structure to state the second transmission mechanism, is symmetrically set in the other side of receiver, the one of the second transmission mechanism
The bearing end of a oscillating bearing is connect with the output eccentric shaft of the second motor.
8. arranging machine according to claim 6, it is characterised in that：The fuselage of the third motor is installed on level board bottom surface
On, output shaft is pierced by horizontal plate top surface, and the third transmission mechanism includes the first guide pad, the first transmission shaft and the first axis connection
The top surface of set, first guide pad is fixed in the middle part of the bottom surface of receiver, and bottom surface is equipped with the first guide groove, and described first passes
Moving axis is vertically arranged, and the length direction of first guide groove is consistent with feed direction, the bottom surface of the first axle connector sleeve with
The positive heart connection of output shaft of third motor, top surface are connect with the bottom end bias of the first transmission shaft, the top of first transmission shaft
In embedded first guide groove；The fuselage of 4th motor is installed on level board bottom surface, and output shaft is pierced by horizontal plate top surface, institute
It includes the second guide pad, second driving shaft and the second axis connection set to state the 4th transmission mechanism, and the top surface of second guide pad is solid
In the middle part of the bottom surface of receiver, bottom surface is equipped with the second guide groove, and the second driving shaft is vertically arranged, and described second is oriented to
The length direction of slot is vertical with feed direction, and the bottom surface of the second axis connection set is connect with the positive heart of output shaft of the 4th motor,
The bottom end bias of top surface and second driving shaft connects, and the top of the second driving shaft is embedded in the second guide groove.
9. arranging machine according to claim 1, it is characterised in that：The camera support includes vertical supporting rod and horizontal branch
The bottom of strut, the vertical supporting rod is fixed on horizontal platen and positioned at receiver along the side of feed direction, the water
One end of flat supporting rod is connect with the top of vertical supporting rod, and the other end extends to above receiver exit side, the horizontal branch
Strut setting direction is vertical with feed direction, and the camera is set on horizontal support bar, and camera lens are towards receiver, and described 2
A light source is set on horizontal support bar and is located at camera both sides, and is right against 2 sides of the receiver along feed direction, institute
Camera is stated to connect with control mechanism.
10. arranging machine according to claim 1, it is characterised in that：The first half of the cylinder connection piece is hollow circuit cylinder,
Lower half is rectangular frame, and the hollow hole of the hollow circuit cylinder and the execution axis of four axis robots match, and rectangular frame is vertical
It is arranged and bottom plate is equipped with connecting hole, the three-jaw cylinder is fixed on the bottom surface of bottom plate, the air source through-hole of the three-jaw cylinder
Connecting hole accesses three-jaw cylinder.
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| CN201810253531.XA CN108438817B (en) | 2018-03-26 | 2018-03-26 | Material arranging machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810253531.XA CN108438817B (en) | 2018-03-26 | 2018-03-26 | Material arranging machine |
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| CN108438817B CN108438817B (en) | 2024-03-29 |
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| CN109911573A (en) * | 2019-04-10 | 2019-06-21 | 东莞松山智能机器人有限公司 | Feeding tipping arrangement |
| CN113998398A (en) * | 2021-09-30 | 2022-02-01 | 温州市日康机械科技厂 | Vibration mechanism and feeding device |
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| CN108438817B (en) | 2024-03-29 |
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