CN110479649B - Improved double-guide-rail sorting device based on gantry manipulator - Google Patents
Improved double-guide-rail sorting device based on gantry manipulator Download PDFInfo
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- CN110479649B CN110479649B CN201910771462.6A CN201910771462A CN110479649B CN 110479649 B CN110479649 B CN 110479649B CN 201910771462 A CN201910771462 A CN 201910771462A CN 110479649 B CN110479649 B CN 110479649B
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- group
- sucker
- sliding
- clamping
- adjusting
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- 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
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- 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
Abstract
The invention provides an improved double-guide-rail sorting device based on a gantry manipulator, which comprises a sorting cantilever, a support connecting rod and a steering ball head, wherein the sorting cantilever is arranged on the support connecting rod; the lower circumferential array of the sorting cantilever is hinged with four pairs of the supporting connecting rods; the bottom of each pair of the supporting connecting rods is hinged with a group of the sucker seats together; the bottom surface of the lower group of the supporting connecting rods is hinged with a group of the adjusting supporting rods; a push rod of the clamping cylinder is hinged with the sliding clamping block; the bottom spherical surface of the sucker seat is connected with a group of suckers in a sliding mode. The device is changed to adjust the distance between the sucker seat, can adsorb the part of equidimension not and snatch, improves the adaptability of manipulator to adjust simply, convenient operation can adjust the sucking disc angle according to the part surface condition simultaneously, increases the adsorption efficiency of sucking disc, adsorbs more firmly, reduces because the gas leakage phenomenon that the surface is uneven to be brought, improves the security.
Description
Technical Field
The invention belongs to the technical field of industrial machinery, and particularly relates to an improved double-guide-rail sorting device based on a gantry manipulator.
Background
The planer-type double guide rail manipulator can be used often in industrial production to sort the part, and the manipulator is generally through pressing from both sides and getting and adsorb two kinds in the use, generally adopts the absorption formula manipulator to snatch to panel class part.
For example, application No.: the invention discloses a curved screen grabbing manipulator which comprises a main shaft, wherein the main shaft is arranged on a main frame, a first main sucker mounting plate and a second main sucker mounting plate are respectively arranged on two sides of the main shaft in the radial direction, the first main sucker mounting plate is connected with the main shaft through a first main swing arm, the second main sucker mounting plate is connected with the main shaft through a second main swing arm, the first main swing arm and the second main swing arm are both connected with the main shaft through bearings, the first main swing arm and the second main swing arm are connected with a main swing control part through a main synchronous pull rod assembly, the main swing control part is arranged on the main frame, and the first main sucker mounting plate and the second main sucker mounting plate are both provided with main sucker assemblies. The curved screen grabbing device can be adjusted along with the curvature of the curved screen, stably grabs the curved screen, and has a good grabbing effect.
Based on the aforesaid, current letter sorting grabbing device in use can only snatch the part of size relatively fixed, is difficult to snatch to the part that the part size difference is great, needs to change the manipulator, and current manipulator in use can not carry out good angle modulation to the sucking disc simultaneously, and in use causes the sucking disc easily and can not well contact and the condition of gas leakage, causes to snatch infirm, causes the incident easily.
Disclosure of Invention
In order to solve the technical problems, the invention provides an improved double-guide-rail sorting device based on a gantry manipulator, which aims to solve the problems that the existing sorting and grabbing device can only grab parts with relatively fixed sizes in use, the parts with larger size difference are difficult to grab, the manipulator needs to be replaced, the existing manipulator cannot perform good angle adjustment on a sucker in use, the sucker cannot be well contacted and leaks air in use, the grabbing is not firm, and safety accidents are easily caused.
The invention relates to a purpose and an effect of an improved double-guide-rail sorting device based on a gantry manipulator, which are achieved by the following specific technical means:
an improved double-guide-rail sorting device based on a gantry manipulator comprises a sorting cantilever, a supporting connecting rod, an adjusting supporting rod, a sucker seat, a clamping chute, a rotating ball socket, a clamping cylinder, a sliding clamping block, a clamping ball socket, a sliding guide block, an adjusting screw, a sucker and a steering ball head; the lower circumferential array of the sorting cantilever is hinged with four pairs of the supporting connecting rods; the bottom of each pair of the supporting connecting rods is hinged with a group of the sucker seats together; the bottom surface of the lower group of the supporting connecting rods is hinged with a group of the adjusting supporting rods; the adjusting support rods are hinged with a group of adjusting blocks together; the top of the sucker seat is fixedly connected with a group of clamping cylinders; the middle part of the sucker seat is connected with a group of sliding clamping blocks in a sliding manner; a push rod of the clamping cylinder is hinged with the sliding clamping block; the bottom spherical surface of the sucker seat is connected with a group of suckers in a sliding mode.
Furthermore, the middle part of the adjusting block is axially connected with a group of adjusting screws, and the tops of the adjusting screws are in threaded connection with the sorting cantilever;
furthermore, a crank-slider mechanism is formed by the lower group of support connecting rods, the adjusting block, the adjusting support rod and the sorting cantilever;
furthermore, two groups of the supporting connecting rods which are paired are arranged in parallel, and a double-rocker mechanism is formed by the two groups of the supporting connecting rods, the sorting cantilever and the sucker seat;
furthermore, a group of sliding guide blocks is arranged on the left side and the right side of each sliding clamping block, a group of clamping chutes is arranged on the left side and the right side of the inner side of the sucker seat, the sliding guide blocks are in sliding fit with the clamping chutes, and the sliding clamping blocks are in sliding connection with the sucker seat through the sliding guide blocks;
furthermore, a group of rotating ball sockets is arranged on the inner side of the bottom of the sucker seat, a group of steering ball heads is arranged on the top of the sucker, and the steering ball heads are in spherical surface sliding fit in the rotating ball sockets;
furthermore, a group of clamping ball sockets are arranged on the bottom surface of the sliding clamping block, the clamping ball sockets are matched with the spherical surface of the steering ball head, and when the sliding clamping block slides downwards, the steering ball head is clamped through the matching of the clamping ball sockets and the spherical surface of the steering ball head.
Compared with the prior art, the invention has the following beneficial effects:
the swing of the sucker seat is realized by adopting a crank slider mechanism and a double-rocker mechanism, and the sucker seat can be kept in a vertical state while swinging, so that the distance between the sucker seats is adjusted, parts with different sizes can be adsorbed and grabbed, the adaptability of the manipulator is improved, and the swing type manipulator is simple to adjust and convenient to operate; the steering ball head is arranged at the top of the sucker, so that the angle of the sucker can be adjusted according to the surface condition of a part in use, the sucker is clamped through the sliding of the sliding clamping block, the angle of the sucker is maintained, the adsorption capacity of the sucker is improved, the adsorption is firmer, the air leakage phenomenon caused by uneven surface is reduced, and the safety is improved; the device is changed to adjust the distance between the sucker seat, can adsorb the part of equidimension not and snatch, improves the adaptability of manipulator to adjust simply, convenient operation can adjust the sucking disc angle according to the part surface condition simultaneously, increases the adsorption efficiency of sucking disc, adsorbs more firmly, reduces because the gas leakage phenomenon that the surface is uneven to be brought, improves the security.
Drawings
FIG. 1 is a schematic axial side view of the present invention.
Fig. 2 is a schematic diagram of the shaft side structure of the double-rocker mechanism of the invention.
Fig. 3 is a schematic view of the crank-slider mechanism of the present invention in a shaft side configuration.
FIG. 4 is a schematic side view of the suction cup holder mounting shaft of the present invention.
Figure 5 is an isometric cross-sectional view of the suction cup mount of the present invention.
FIG. 6 is a schematic side view of the suction cup holder of the present invention.
Fig. 7 is a schematic view of the sliding clamping block of the present invention in an axial configuration.
Fig. 8 is a schematic view of the side structure of the suction cup of the present invention.
In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:
1. sorting the cantilever; 2. a support link; 3. adjusting the stay bar; 4. a sucker seat; 401. clamping the chute; 402. rotating the ball socket; 5. a clamping cylinder; 6. a sliding clamping block; 601. clamping the ball socket; 602. a sliding guide block; 7. an adjusting block; 701. adjusting the screw rod; 8. a suction cup; 801. a steering ball head.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
as shown in figures 1 to 8:
the invention provides an improved double-guide-rail sorting device based on a gantry manipulator, which comprises: the automatic sorting device comprises a sorting cantilever 1, a support connecting rod 2, an adjusting stay bar 3, a sucker seat 4, a clamping chute 401, a rotating ball socket 402, a clamping cylinder 5, a sliding clamping block 6, a clamping ball socket 601, a sliding guide block 602, an adjusting block 7, an adjusting screw 701, a sucker 8 and a steering ball head 801; the lower part of the sorting cantilever 1 is hinged with four pairs of supporting connecting rods 2 in a circumferential array manner; the bottom of each pair of supporting connecting rods 2 is hinged with a group of sucker seats 4 together; the bottom surface of the lower group of support connecting rods 2 is hinged with a group of adjusting support rods 3; the adjusting support rods 3 are hinged with a group of adjusting blocks 7 together; the top of the sucker seat 4 is fixedly connected with a group of clamping cylinders 5; the middle part of the sucker seat 4 is connected with a group of sliding clamping blocks 6 in a sliding way; a push rod of the clamping cylinder 5 is hinged with the sliding clamping block 6; the bottom spherical surface of the sucker seat 4 is connected with a group of suckers 8 in a sliding way.
Wherein, the middle part of the adjusting block 7 is axially connected with a group of adjusting screws 701, the top of the adjusting screws 701 is in threaded connection with the sorting cantilever 1, and in use, the adjusting screws 701 are rotated to adjust the distance between the sorting cantilever 1 and the adjusting block 7
When the adjusting block 7 slides up and down in use, the adjusting block 7 drives the group of supporting connecting rods 2 at the bottom to swing through the slider-crank mechanism, so that the purpose of adjusting the swing angle of the supporting connecting rods 2 is achieved.
Wherein, for mutual parallel mount between two sets of support connecting rods 2 in pairs, constitute two rocker mechanisms together between two sets of support connecting rods 2 and letter sorting cantilever 1, the sucking disc seat 4, when in use when a set of support connecting rod 2 of lower part swings, realize two sets of support connecting rods 2 and swing simultaneously through two rocker mechanisms to guarantee sucking disc seat 4 keeps vertical state in the wobbling.
Wherein, the left and right sides of the sliding clamping block 6 is provided with a set of sliding guide block 602, the left and right sides of the inner side of the sucker seat 4 is provided with a set of clamping sliding slot 401, the sliding guide block 602 is in sliding fit with the clamping sliding slot 401, and the sliding clamping block 6 is in sliding connection with the sucker seat 4 through the sliding guide block 602.
Wherein, the bottom inboard of sucking disc seat 4 is provided with a set of ball socket 402 that rotates, and the top of sucking disc 8 is provided with a set of bulb 801 that turns to, turns to bulb 801 and rotates ball socket 402 internal sphere sliding fit, and in use can be through turning to the bulb 801 and rotating ball socket 402's sphere sliding fit adjustment sucking disc 8's installation angle, conveniently adsorbs the object and snatchs.
The bottom surface of the sliding clamping block 6 is provided with a group of clamping ball sockets 601, the clamping ball sockets 601 are matched with the spherical surface of the steering ball head 801, when the sliding clamping block 6 slides downwards, the steering ball head 801 is clamped through the matching of the clamping ball sockets 601 and the spherical surface of the steering ball head 801, and the steering ball head 801 is prevented from rotating.
When in use: when the size of the part to be sorted is changed, the adjusting screw 701 is rotated, the adjusting screw 701 drives the adjusting block 7 to slide up and down, the adjusting block 7 drives the four groups of supporting connecting rods 2 on the square to swing through the crank rocker mechanism, meanwhile, the sucker seat 4 is driven to swing, meanwhile, the sucker seat 4 is kept in a vertical state under the action of the double rocker mechanism, the distance between the four groups of suckers 8 is changed through the swing of the sucker seat 4, and the part sorting device is suitable for sorting parts with different sizes; in use, the sucker 8 is in contact with the surface of a part, the sucker 8 rotates around the steering ball head 801 along with the surface of the part, the sucker 8 is right opposite to the part, the clamping cylinder 5 drives the sliding clamping block 6 to slide downwards, the sliding clamping block 6 clamps the steering ball head 801, the swing direction of the sucker 8 is fixed, and the part is adsorbed and grabbed.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (1)
1. The utility model provides a sorting device of improved generation double guide rail based on portal manipulator which characterized in that: this a sorting device of improved generation double guide rail based on portal manipulator includes: the automatic sorting device comprises a sorting cantilever (1), a supporting connecting rod (2), an adjusting support rod (3), a sucker seat (4), a clamping chute (401), a rotating ball socket (402), a clamping cylinder (5), a sliding clamping block (6), a clamping ball socket (601), a sliding guide block (602), an adjusting block (7), an adjusting screw rod (701), a sucker (8) and a steering ball head (801); the lower circumferential array of the sorting cantilever (1) is hinged with four pairs of supporting connecting rods (2); the bottom of each pair of the supporting connecting rods (2) is hinged with a group of the sucker seats (4); the bottom surface of the lower group of the supporting connecting rods (2) is hinged with a group of the adjusting support rods (3); the adjusting support rods (3) are hinged with a group of adjusting blocks (7) together; the top of the sucker seat (4) is fixedly connected with a group of clamping cylinders (5); the middle part of the sucker seat (4) is connected with a group of sliding clamping blocks (6) in a sliding manner; a push rod of the clamping cylinder (5) is hinged with the sliding clamping block (6); the spherical surface of the bottom of the sucker seat (4) is connected with a group of suckers (8) in a sliding manner;
the middle part of the adjusting block (7) is axially connected with a group of adjusting screws (701), and the tops of the adjusting screws (701) are in threaded connection with the sorting cantilever (1);
a crank-slider mechanism is formed by the supporting connecting rods (2) in the lower group, the adjusting blocks (7), the adjusting support rods (3) and the sorting cantilever (1);
the two groups of support connecting rods (2) in pairs are arranged in parallel, and a double-rocker mechanism is formed by the two groups of support connecting rods (2), the sorting cantilever (1) and the sucker seat (4) together;
the left side and the right side of the sliding clamping block (6) are respectively provided with a group of sliding guide blocks (602), the left side and the right side of the inner side of the sucker seat (4) are respectively provided with a group of clamping chutes (401), the sliding guide blocks (602) are in sliding fit with the clamping chutes (401), and the sliding clamping block (6) is in sliding connection with the sucker seat (4) through the sliding guide blocks (602);
a group of rotating ball sockets (402) is arranged on the inner side of the bottom of the sucker seat (4), a group of steering ball heads (801) is arranged on the top of the sucker (8), and the steering ball heads (801) are in spherical surface sliding fit in the rotating ball sockets (402);
a group of clamping ball sockets (601) are arranged on the bottom surface of the sliding clamping block (6), the clamping ball sockets (601) are in spherical fit with the steering ball head (801), and when the sliding clamping block (6) slides downwards, the steering ball head (801) is clamped through the spherical fit of the clamping ball sockets (601) and the steering ball head (801);
when the size of a part to be sorted is changed, the adjusting screw (701) is rotated, the adjusting screw (701) drives the adjusting block (7) to slide up and down, the adjusting block (7) drives the four groups of supporting connecting rods (2) below to swing through the slider-crank mechanism, meanwhile, the sucker seat (4) is driven to swing, meanwhile, the sucker seat (4) is kept in a vertical state under the action of the double-rocker mechanism, the distance between the four groups of suckers (8) is changed through the swinging of the sucker seat (4), and the part sorting device is suitable for sorting parts of different sizes; in use, the sucker (8) is in contact with the surface of a part, the sucker (8) rotates around the steering ball head (801) along with the surface of the part, the sucker (8) is opposite to the part, the clamping cylinder (5) drives the sliding clamping block (6) to slide downwards, the sliding clamping block (6) clamps the steering ball head (801), the swing direction of the sucker (8) is fixed, and the part is sucked and grabbed.
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| 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 |
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| 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 |
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| CN110479649A CN110479649A (en) | 2019-11-22 |
| CN110479649B true CN110479649B (en) | 2021-09-14 |
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| CN201910771462.6A Active CN110479649B (en) | 2019-08-21 | 2019-08-21 | Improved double-guide-rail sorting device based on gantry manipulator |
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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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| 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 | Mechanical hand device |
| 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 |
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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 | Mechanical hand 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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