CN110479649A - A kind of sorting equipment of the double guide rails of the improvement type based on gantry manipulator - Google Patents
A kind of sorting equipment of the double guide rails of the improvement type based on gantry manipulator Download PDFInfo
- Publication number
- CN110479649A CN110479649A CN201910771462.6A CN201910771462A CN110479649A CN 110479649 A CN110479649 A CN 110479649A CN 201910771462 A CN201910771462 A CN 201910771462A CN 110479649 A CN110479649 A CN 110479649A
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- Prior art keywords
- group
- sucker
- disk seat
- sliding
- sorting
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000006872 improvement Effects 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 6
- 230000013011 mating Effects 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 abstract description 8
- 238000012857 repacking Methods 0.000 abstract description 3
- 238000001179 sorption measurement Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Landscapes
- Manipulator (AREA)
Abstract
The present invention provides a kind of sorting equipment of double guide rails of the improvement type based on gantry manipulator, comprising: sorting cantilever, support link and steering ball end；The lower circumference array hinge of the sorting cantilever is connected to four pairs of support links；The bottom common hinge of each pair of support link be connected to one group described in sucker disk seat；The bottom surface hinge of support link described in following set adjusts strut described in being connected to one group；The push rod of the clamping cylinder and the sliding gripping block hinge-connection；The bottom spherical surface of the sucker disk seat slidably connect one group described in sucker.The distance between adjustable sucker disk seat is set in repacking, absorption crawl can be carried out to different size of part, improve the adaptability of manipulator, and it adjusts simply, it is easy to operate, while sucker angle can be adjusted according to piece surface situation, increase the adsorption capacity of sucker, it adsorbs stronger, reduces due to uneven surface bring gas leak phenomenon, improve safety.
Description
Technical field
The invention belongs to industrial machinery technical fields, more specifically, in particular to a kind of changing based on gantry manipulator
Into the sorting equipment of the double guide rails of formula.
Background technique
It often uses the double guide mechanism hands of planer-type in the industrial production to sort part, manipulator is using one
As by clamp and absorption two kinds, generally use absorption type manipulator to be grabbed generally for plate class part.
Such as application number: the invention discloses a koji screen catching robots, including main shaft by CN201610741339.6, main
Axis is arranged on main frame, and the first main sucker mounting plate and the second main sucker installation are respectively arranged on the two sides of main shaft radially
Plate, the first main sucker mounting plate connects by the first master pendulum arm with main shaft, the second main sucker mounting plate pass through the second master pendulum arm and
Main shaft connection, the first master pendulum arm pass through bearing with the second master pendulum arm and connect with main shaft, and the first master pendulum arm and the second master pendulum arm are logical
It crosses main Synchronous pull rod component to connect with main weave control portion, main weave control portion is arranged on main frame, the first main sucker installation
Main Suction cup assembly is provided on plate and the second main sucker mounting plate.The present invention can be adjusted with the curvature of Qu Ping, stablize
Crawl Qu Ping, crawl effect it is good.
Based on above-mentioned, existing sorting grabbing device can only grab the relatively-stationary part of size in use, for zero
The bigger part of part difference in size is difficult to be grabbed, and needs replacing manipulator, while existing manipulator is right in use
Not can be carried out good angular adjustment in sucker, be easy to cause in use sucker cannot well contact and the case where gas leakage,
It causes crawl loosely, is easy to cause safety accident.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of sortings of the double guide rails of improvement type based on gantry manipulator
Device can only grab the relatively-stationary part of size to solve existing sorting grabbing device, for part dimension in use
The bigger part of difference is difficult to be grabbed, and needs replacing manipulator, while existing manipulator is in use for sucker
Not can be carried out good angular adjustment, be easy to cause sucker that cannot well contact the case where gas leakage in use, cause to grab
It takes loosely, is easy the problem of causing safety accident.
The purpose and effect of a kind of sorting equipment of the double guide rails of improvement type based on gantry manipulator of the present invention, by following tool
Body technique means are reached:
A kind of sorting equipment of the double guide rails of the improvement type based on gantry manipulator, including sorting cantilever, support link, adjusting
Strut, sucker disk seat clamp sliding slot, rotation ball-and-socket, clamping cylinder, sliding gripping block, clamp ball-and-socket, sliding guide block, adjusting block, tune
Save screw rod, sucker and steering ball end；The lower circumference array hinge of the sorting cantilever is connected to four pairs of support links；It is each pair of
The bottom common hinge of the support link be connected to one group described in sucker disk seat；The bottom surface hinge-connection of support link described in following set
Strut is adjusted described in having one group；The adjusting strut common hinge be connected to one group described in adjusting block；The top of the sucker disk seat is solid
Surely clamping cylinder described in being connected with one group；Gripping block is slided described in slidably connecting one group in the middle part of the sucker disk seat；The folder
The push rod and the sliding gripping block hinge-connection of tight cylinder；The bottom spherical surface of the sucker disk seat slidably connect one group described in suction
Disk.
Further, be axially connected adjusting screw rod described in having one group in the middle part of the adjusting block, the top of the adjusting screw rod
Portion is threadedly coupled with the sorting cantilever；
Further, support link described in one group of lower section and the adjusting block, the adjusting strut, the sorting cantilever it
Between collectively form slider-crank mechanism；
Further, for the installation that is parallel to each other between support link described in pairs of two groups, support link described in two groups and
Double rocker mechanism is collectively formed between the sorting cantilever, the sucker disk seat；
Further, be provided with one group at left and right sides of the sliding gripping block described in slide guide block, the sucker disk seat
Inside at left and right sides of be provided with one group described in clamp sliding slot, the sliding guide block is slidably matched with the clamping sliding slot, institute
Sliding gripping block is stated to be slidably connected by the sliding guide block with the sucker disk seat；
Further, the bottom inside of the sucker disk seat be provided with one group described in rotate ball-and-socket, set at the top of the sucker
Steering ball end described in being equipped with one group, the steering ball end are slidably matched in the rotation ball-and-socket Internal Spherical Surface；
Further, it is described sliding gripping block bottom surface be provided with one group described in clamp ball-and-socket, the clamping ball-and-socket and institute
Steering ball end mating spherical surfaces are stated, pass through the spherical surface for clamping ball-and-socket and the steering ball end when sliding gripping block and sliding down
Cooperation clamps the steering ball end.
Compared with prior art, the invention has the following beneficial effects:
Repacking, which is set, realizes the swing of sucker disk seat by using slider-crank mechanism and double rocker mechanism, while guaranteeing sucker disk seat
Be able to maintain vertical state while swinging, to adjust the distance between sucker disk seat, can to different size of part into
Row absorption crawl, improves the adaptability of manipulator, and adjusts simply, easy to operate；It is turned to by being arranged at the top of sucker
Bulb can be adjusted sucker angle according to piece surface situation in use, and pass through the sliding pair of sliding gripping block
Sucker clamps, and keeps the angle of sucker, increases the adsorption capacity of sucker, and absorption is stronger, reduces due to uneven surface bring
Gas leak phenomenon improves safety；The distance between adjustable sucker disk seat is set in repacking, can be inhaled to different size of part
Attached crawl improves the adaptability of manipulator, and adjusts simply, easy to operate, while can be according to piece surface situation to suction
Disk angle is adjusted, and increases the adsorption capacity of sucker, and absorption is stronger, is reduced due to uneven surface bring gas leak phenomenon,
Improve safety.
Detailed description of the invention
Fig. 1 is axis side structure schematic diagram of the invention.
Fig. 2 is double rocker mechanism axis side structure schematic diagram of the invention.
Fig. 3 is slider-crank mechanism axis side structure schematic diagram of the invention.
Fig. 4 is sucker disk seat installation axle side structure schematic diagram of the invention.
Fig. 5 is that sucker disk seat of the invention installs isometric side schematic cross-sectional view.
Fig. 6 is sucker disk seat axis side structure schematic diagram of the invention.
Fig. 7 is sliding gripping block axis side structure schematic diagram of the invention.
Fig. 8 is sucker axis side structure schematic diagram of the invention.
In figure, the corresponding relationship of component names and accompanying drawing number are as follows:
1, cantilever is sorted；2, support link；3, strut is adjusted；4, sucker disk seat；401, sliding slot is clamped；402, ball-and-socket is rotated；
5, clamping cylinder；6, gripping block is slided；601, ball-and-socket is clamped；602, guide block is slided；7, adjusting block；701, adjusting screw rod；8, it inhales
Disk；801, steering ball end.
Specific embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following embodiment is used for
Illustrate the present invention, but cannot be used to limit the scope of the invention.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Embodiment:
As shown in attached drawing 1 to attached drawing 8:
The present invention provides a kind of sorting equipment of double guide rails of the improvement type based on gantry manipulator, includes: sorting cantilever
1, support link 2, adjust strut 3, sucker disk seat 4, clamp sliding slot 401, rotation ball-and-socket 402, clamping cylinder 5, sliding gripping block 6,
Clamp ball-and-socket 601, sliding guide block 602, adjusting block 7, adjusting screw rod 701, sucker 8 and steering ball end 801；It sorts under cantilever 1
Portion's circumference array hinge is connected to four pairs of support links 2；The bottom common hinge of each pair of support link 2 is connected to one group of sucker disk seat 4；Under
The bottom surface hinge of one group of face support link 2 is connected to one group of adjusting strut 3；It adjusts 3 common hinge of strut and is connected to one group of adjusting block 7；
The top of sucker disk seat 4 is fixedly connected with one group of clamping cylinder 5；The middle part of sucker disk seat 4 slidably connects one group of sliding gripping block 6；
The push rod and sliding 6 hinge-connection of gripping block of clamping cylinder 5；The bottom spherical surface of sucker disk seat 4 slidably connects one group of sucker 8.
Wherein, the middle part of adjusting block 7, which is axially connected, one group of adjusting screw rod 701, and the top of adjusting screw rod 701 and sorting are outstanding
Arm 1 is threadedly coupled, and adjusts sorting the distance between cantilever 1 and adjusting block 7 by rotation adjusting screw rod 701 in use
Wherein, one group of lower section support link 2 and adjusting block 7, adjust and collectively form slide crank between strut 3, sorting cantilever 1
Block mechanism, in use when adjusting block 7 slides up and down, adjusting block 7 drives one group of support of bottom by slider-crank mechanism
Connecting rod 2 is swung, and realizes the purpose for adjusting the swing angle of support link 2.
Wherein, be the installation that is parallel to each other between two groups of pairs of support links 2, two groups of support links 2 with sort cantilever 1,
Double rocker mechanism is collectively formed between sucker disk seat 4, in use when one group of support link 2 of lower part is swung, passes through double rocking lever
Mechanism realizes that two groups of support links 2 are swung simultaneously, and guarantees that sucker disk seat 4 keeps vertical state while swinging.
Wherein, the left and right sides for sliding gripping block 6 is provided with one group of sliding guide block 602, inside of sucker disk seat 4 or so two
Side is provided with one group of clamping sliding slot 401, and sliding guide block 602 is slidably matched with sliding slot 401 is clamped, and sliding gripping block 6 passes through cunning
Dynamic guide block 602 is slidably connected with sucker disk seat 4.
Wherein, the bottom inside of sucker disk seat 4 is provided with one group of rotation ball-and-socket 402, and the top of sucker 8 is provided with one group of steering
Bulb 801, steering ball end 801 rotation 402 Internal Spherical Surface of ball-and-socket be slidably matched, in use can by steering ball end 801 with
The spherical surface of rotation ball-and-socket 402, which is slidably matched, adjusts the setting angle of sucker 8, convenient to carry out absorption crawl to object.
Wherein, the bottom surface for sliding gripping block 6 is provided with one group of clamping ball-and-socket 601, clamps ball-and-socket 601 and steering ball end 801
Mating spherical surfaces will be turned to when sliding gripping block 6 and sliding down by clamping the mating spherical surfaces of ball-and-socket 601 and steering ball end 801
Bulb 801 clamps, and prevents steering ball end 801 from rotating.
When use: when needing the part dimension sorted change to be, by rotation adjusting screw rod 701, adjusting screw rod 701 passes through
Adjusting block 7 is driven to slide up and down, adjusting block 7 is swung by four groups of support links 2 of crank and rocker mechanism drive side, is driven simultaneously
Sucker disk seat 4 is swung, while 4 vertical state of sucker disk seat is kept under the action of double rocker mechanism, is realized by the swing of sucker disk seat 4
Change the distance between four groups of suckers 8, different size of part is sorted in adaptation；In use, by sucker 8 and parts list
Face contact, sucker 8 are rotated with piece surface around steering ball end 801, and 8 face part of sucker, clamping cylinder 5 drives sliding gripping block
6 slide down, and sliding gripping block 6 clamps steering ball end 801, and fixing sucking disk 8 is flapped toward, and carries out absorption crawl to part.
The embodiment of the present invention is given for the purpose of illustration and description, and is not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
Selecting and describe embodiment is and to make those skilled in the art to more preferably illustrate the principle of the present invention and practical application
It will be appreciated that the present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (7)
1. a kind of sorting equipment of the double guide rails of improvement type based on gantry manipulator, it is characterised in that: the one kind is based on gantry plane
The sorting equipment of the double guide rails of the improvement type of tool hand includes: sorting cantilever (1), support link (2), adjusts strut (3), sucker disk seat
(4), sliding slot (401) are clamped, rotation ball-and-socket (402), clamping cylinder (5), sliding gripping block (6), clamp ball-and-socket (601), sliding
Guide block (602), adjusting block (7), adjusting screw rod (701), sucker (8) and steering ball end (801)；Under the sorting cantilever (1)
Portion's circumference array hinge is connected to four pairs of support links (2)；The bottom common hinge of each pair of support link (2) is connected to one
The group sucker disk seat (4)；The bottom surface hinge of support link described in following set (2) adjusts strut (3) described in being connected to one group；It is described
Adjust strut (3) common hinge be connected to one group described in adjusting block (7)；One group of institute is fixedly connected at the top of the sucker disk seat (4)
State clamping cylinder (5)；Gripping block (6) are slided described in slidably connecting one group in the middle part of the sucker disk seat (4)；The clamping cylinder
(5) push rod and sliding gripping block (6) hinge-connection；The bottom spherical surface of the sucker disk seat (4) slidably connects described in one group
Sucker (8).
2. the sorting equipment of the double guide rails of a kind of improvement type based on gantry manipulator as described in claim 1, it is characterised in that: institute
State be axially connected in the middle part of adjusting block (7) have one group described in adjusting screw rod (701), the top of the adjusting screw rod (701) and institute
Sorting cantilever (1) is stated to be threadedly coupled.
3. the sorting equipment of the double guide rails of a kind of improvement type based on gantry manipulator as described in claim 1, it is characterised in that: under
Support link (2) and the adjusting block (7) described in one group of side, the adjusting strut (3), between the sorting cantilever (1) jointly
Constitute slider-crank mechanism.
4. the sorting equipment of the double guide rails of a kind of improvement type based on gantry manipulator as described in claim 1, it is characterised in that: at
Two groups described in be the installation that is parallel to each other, support link described in two groups (2) and the sorting cantilever between support link (2)
(1), double rocker mechanism is collectively formed between the sucker disk seat (4).
5. the sorting equipment of the double guide rails of a kind of improvement type based on gantry manipulator as described in claim 1, it is characterised in that: institute
Sliding guide block (602) described in being provided with one group at left and right sides of sliding gripping block (6) is stated, the inside of the sucker disk seat (4) is left
Right two sides clamp sliding slot (401) described in being provided with one group, and the sliding guide block (602) and the clamping sliding slot (401) are slided
Cooperation, the sliding gripping block (6) are slidably connected by the sliding guide block (602) with the sucker disk seat (4).
6. the sorting equipment of the double guide rails of a kind of improvement type based on gantry manipulator as described in claim 1, it is characterised in that: institute
State sucker disk seat (4) bottom inside be provided with one group described in rotation ball-and-socket (402), be provided with one group at the top of the sucker (8)
The steering ball end (801), the steering ball end (801) are slidably matched in rotation ball-and-socket (402) Internal Spherical Surface.
7. the sorting equipment of the double guide rails of a kind of improvement type based on gantry manipulator as described in claim 1, it is characterised in that: institute
State sliding gripping block (6) bottom surface be provided with one group described in clamping ball-and-socket (601), the clampings ball-and-socket (601) and the steering
Bulb (801) mating spherical surfaces, when sliding gripping block (6) and sliding down by the clamping ball-and-socket (601) and the steering ball
The mating spherical surfaces of head (801) clamp the steering ball end (801).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910771462.6A CN110479649B (en) | 2019-08-21 | 2019-08-21 | Improved double-guide-rail sorting device based on gantry manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910771462.6A CN110479649B (en) | 2019-08-21 | 2019-08-21 | Improved double-guide-rail sorting device based on gantry manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110479649A true CN110479649A (en) | 2019-11-22 |
| CN110479649B CN110479649B (en) | 2021-09-14 |
Family
ID=68552444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910771462.6A Active CN110479649B (en) | 2019-08-21 | 2019-08-21 | Improved double-guide-rail sorting device based on gantry manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110479649B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114311008A (en) * | 2022-01-26 | 2022-04-12 | 上海电机学院 | Angle self-interacting sucking disc manipulator actuating mechanism |
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| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | トヨタ自動車株式会社 | Robot hand |
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| CN106514690A (en) * | 2016-11-18 | 2017-03-22 | 中国电器科学研究院有限公司 | Robot tooling |
| CN107756430A (en) * | 2017-11-09 | 2018-03-06 | 重庆市臻憬科技开发有限公司 | Three claw robot with pressure sensor |
| CN207172105U (en) * | 2017-09-30 | 2018-04-03 | 武汉库柏特科技有限公司 | A kind of pneumatic more finger tip Acetabula devices |
| WO2018073336A1 (en) * | 2016-10-20 | 2018-04-26 | Kuka Systems Gmbh | Robot gripper having movable auxiliary suction elements |
-
2019
- 2019-08-21 CN CN201910771462.6A patent/CN110479649B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214662A (en) * | 2008-01-09 | 2008-07-09 | 北京航空航天大学 | Spherical hinge type joint electric locking device |
| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | トヨタ自動車株式会社 | Robot hand |
| CN104723352A (en) * | 2015-03-16 | 2015-06-24 | 河南摩西机械制造有限公司 | General-purpose manipulator |
| CN105563514A (en) * | 2016-03-21 | 2016-05-11 | 珠海市磐石电子科技有限公司 | Manipulator device |
| WO2018073336A1 (en) * | 2016-10-20 | 2018-04-26 | Kuka Systems Gmbh | Robot gripper having movable auxiliary suction elements |
| CN106514690A (en) * | 2016-11-18 | 2017-03-22 | 中国电器科学研究院有限公司 | Robot tooling |
| CN207172105U (en) * | 2017-09-30 | 2018-04-03 | 武汉库柏特科技有限公司 | A kind of pneumatic more finger tip Acetabula devices |
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| CN114311008A (en) * | 2022-01-26 | 2022-04-12 | 上海电机学院 | Angle self-interacting sucking disc manipulator actuating mechanism |
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| Publication number | Publication date |
|---|---|
| CN110479649B (en) | 2021-09-14 |
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Effective date of registration: 20210820 Address after: 2 / F, building 2, No.109, Nanri North Street, nanriji Town, Gaoqiao street, Tongxiang City, Jiaxing City, Zhejiang Province, 314500 Applicant after: Jiaxing jiuer Technology Co.,Ltd. Address before: 310018 China Metrology University, Xiasha Higher Education Park, Jianggan District, Hangzhou, Zhejiang Applicant before: Pang Yinggang |
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