CN112223260A - Flexible sliding sorting end actuator for thin straight pipe - Google Patents

Abstract

The invention discloses a thin straight pipe flexible sliding sorting end effector which comprises a positioning support assembly, a lifting sliding assembly and a swinging material taking assembly, wherein the positioning support assembly is arranged on the upper end of the thin straight pipe; the bottom supporting beam of the positioning supporting component is provided with an absorber hinge mounting hole and a stop pin I; the swing material taking assembly comprises an absorber and a torsional spring, the top end of the absorber is hermetically connected with a negative pressure air pipe through a negative pressure sensor, the absorber is hinged and installed on a hinge installation hole of the absorber, a stop pin II is further arranged on the absorber, a wave-shaped guide structure is arranged on the absorber, and two torsion pins of the torsional spring respectively abut against the stop pin I and the stop pin II; the lower touch plate of the lifting sliding assembly is provided with a limiting guide roll shaft or a limiting roller wheel in a positioning mode corresponding to the wavy guide structure. The invention can automatically pick up the small-diameter columnar or tubular flexible materials in bundle form produced by an automatic production line and conveyed by a conveying belt one by one so as to facilitate the subsequent packaging or assembling operation of the single flexible material.

Description

Flexible sliding sorting end actuator for thin straight pipe

Technical Field

The invention relates to a sorting actuator, in particular to a thin straight tube flexible sliding sorting end actuator which is suitable for carrying out single pick-up on small-diameter columnar or tubular flexible materials with large length-diameter ratio, such as a blood transfusion hose of a vein blood taking needle, a USB data wire, a wire harness and the like, and belongs to the technical field of automatic manufacture.

Background

With the continuous progress of science and technology, high-efficiency batch automatic production is realized for the production and manufacture of small-diameter cylindrical or tubular flexible materials with large length-diameter ratio, such as blood transfusion hoses, USB data lines, wire harnesses and electric wires of venous blood collection needles, and the batch small-diameter cylindrical or tubular flexible material finished products or products containing the small-diameter cylindrical or tubular flexible material finished products produced by an automatic production line are generally gathered into a bundle shape, that is, the small-diameter cylindrical or tubular flexible materials with the same length, the same direction and a large number are gathered into the bundle shape by a conveyer belt. The flexible material with the circular section and the small diameter in the shape of a column or a tube is close to a straight column or a straight hose in a natural state without the action of external force or restriction, and can be bent and deformed to a certain degree and present a non-linear state after being subjected to the external force or the restriction. Taking a blood transfusion tube of a venous blood taking needle as an example, when the blood transfusion tube is picked up from the middle position of the blood transfusion tube, two ends of the blood transfusion tube naturally sag under the action of gravity and present non-linear characters. Because the batch of small-diameter columnar or tubular flexible material finished products gathered into a bundle-shaped form or the products containing the small-diameter columnar or tubular flexible material finished products conveyed by the conveyor belt often need to be subjected to subsequent assembly procedures or packaging procedures, and the position and the posture of each small-diameter columnar or tubular flexible material are difficult to determine due to the characteristics of the small-diameter columnar or tubular flexible materials, meanwhile, when the small-diameter columnar or tubular flexible materials are taken and sorted, the stacking height of the flexible materials is difficult to accurately determine, so that the movement distance of the picking mechanism during downward moving for taking the materials is difficult to accurately determine for realizing accurate picking, therefore, the automatic material distribution treatment of the bundle-shaped batch of small-diameter columnar or tubular flexible materials is very difficult, and the automatic picking of single small-diameter columnar or tubular flexible material is difficult to realize, often still relies heavily on manual operations. Taking a blood transfusion hose of a vein blood taking needle as an example, the manual operation mode is still adopted in a large amount in the material distribution process before the vein blood taking needle is automatically sterilized and packaged one by one at home and abroad at present, namely, the vein blood taking needle is manually sorted and fed one by one, the manual operation mode has low production efficiency and high production cost, and the visual fatigue of operators is easy to generate by the monotonous sorting and feeding work, so that the labor intensity is higher, and further the human error is easy to cause.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides the thin straight tube flexible sliding sorting end effector which can automatically pick up single flexible materials one by one aiming at batch small-diameter columnar or tubular flexible materials which are produced by an automatic production line and are conveyed by a conveying belt and in a bundle shape, so that the single flexible materials can be conveniently packaged or assembled subsequently.

In order to achieve the purpose, the thin straight tube flexible sliding sorting end effector comprises a positioning support assembly, a lifting sliding assembly and a swinging material taking assembly;

the positioning support assembly comprises a top mounting plate, a connecting column and a bottom support beam, wherein the bottom support beam parallel to the top mounting plate is fixedly mounted below the top mounting plate through the connecting columns symmetrically arranged left and right, the bottom support beam and the connecting column form a U-shaped structure, and an adsorber hinge mounting hole with a central axis arranged along the front-back direction and a stop pin I extending out of the side of the adsorber hinge mounting hole are arranged on the bottom support beam;

the swinging material taking assembly is arranged on the bottom supporting beam and comprises an absorber and a torsion spring; the adsorber is a hollow tubular structure arranged in the vertical direction, the top end of the adsorber is hermetically connected with a negative pressure air pipe through a negative pressure sensor, the bottom end of the adsorber is provided with a U-shaped groove with a downward opening, the depth and width of the U-shaped groove are both in clearance fit with the outer diameter of a single small-diameter columnar or tubular flexible material, the U-shaped groove is arranged in the direction along the front-back radial direction of the adsorber, the outer surface of the upper part of the adsorber is provided with an adsorber hinged installation structure arranged in the front-back radial direction, the adsorber is hinged and installed on a hinged installation hole of the adsorber through the adsorber hinged installation structure, a stop pin II extending out in the front-back radial direction is further arranged on the outer surface of the upper part of the adsorber corresponding to the stop pin I, the outer surface of the lower part of the adsorber is provided with a wave-shaped guide structure arranged in the direction along the axial direction, the wave-shaped guide structure comprises a plurality of continuous wave crests and wave troughs which are in a uniform and smooth wave shape; the torsional center of the torsional spring is positioned on the articulated mounting structure of the absorber, and two torsional feet of the torsional spring respectively abut against the stop pin I and the stop pin II;

the lifting sliding assembly is arranged at the periphery of the U-shaped structure of the positioning support assembly and comprises a guiding and limiting support column, a pressure spring, an upper support plate and a lower contact plate; the guide limiting support column is matched with the top mounting plate in a sliding mode and vertically penetrates through the top mounting plate, a limiting boss is arranged at the top end of the guide limiting support column, and the bottom end of the guide limiting support column is fixedly connected with an upper support plate arranged in parallel with the top mounting plate; the pressure spring is sleeved on the guide limiting support column, and two ends of the pressure spring respectively abut against the top plane of the upper support plate and the bottom plane of the top mounting plate; the lower touch panel arranged parallel to the top mounting panel is fixedly mounted below the upper supporting plate, a limiting guide roller shaft or a roller wheel matched with a single wave trough of the wave-shaped guide structure is arranged on the lower touch panel in a position corresponding to the wave-shaped guide structure, the axis of the limiting guide roller shaft or the roller wheel is arranged in the front-back direction, and the limiting guide roller shaft or the roller wheel is clamped on the wave-shaped guide structure.

As a further improvement scheme of the invention, the notch position of the U-shaped groove is also provided with symmetrically arranged guide inclined plane structures, and the guide inclined plane structures and the U-shaped groove are integrally in a Y-shaped groove structure.

As a further improvement scheme of the invention, an adsorber mounting through groove which vertically penetrates through the bottom supporting beam is arranged on the bottom supporting beam corresponding to the geometric center of the U-shaped structure, the adsorber is arranged inside the adsorber mounting through groove, and the torsion spring is arranged outside the adsorber mounting through groove.

In one embodiment of the present invention, the wave-shaped guide structure is a flange structure protruding from the outer surface of the adsorber.

As another embodiment of the invention, the wave-shaped guide structure is a dimple structure recessed into the outer surface of the adsorber.

As a further improvement of the invention, the bottom end of the adsorber is arranged in a conical structure with a large top and a small bottom.

As a further improvement scheme of the invention, the lower touch plate is a poor arc flat plate structure positioned in front of or behind the absorber, and the poor arc flat plate structure is in a left-right symmetrical structure relative to the absorber.

An automatic small-diameter columnar or tubular flexible material distribution robot comprises a distribution and pickup mechanical arm and a sorting platform, wherein the sorting platform comprises a positioning and mounting tray; the flexible sliding sorting end effector of the thin straight pipe is arranged on a tail manipulator of the material distribution and pickup mechanical arm, and the material distribution and pickup mechanical arm at least comprises an X coordinate driving mechanism moving along the left-right direction coordinate and a Z coordinate driving mechanism moving along the vertical up-down direction coordinate, or the material distribution and pickup mechanical arm at least comprises a Y coordinate driving mechanism moving along the front-back direction coordinate and a Z coordinate driving mechanism moving along the vertical up-down direction coordinate.

As a further improvement of the invention, the tray is provided with a flexible guardrail.

A micro-motion material distributing and picking method for small-diameter columnar or tubular flexible materials adopts a small-diameter columnar or tubular flexible material automatic distributing robot, a negative pressure air pipe is connected with a negative pressure air source, and a controller of a centralized electric control device of the small-diameter columnar or tubular flexible material automatic distributing robot is electrically connected with a negative pressure sensor of the negative pressure air pipe;

in an initial state, the lower touch plate and the upper supporting plate are in a natural suspension state under the limiting action of a limiting boss of the guiding and limiting supporting column, the absorber is in a vertical state under the clamping and limiting action of a limiting guiding roller shaft or a limiting roller, and the U-shaped groove is positioned below the lower touch plate; the specific micro-motion distribution material picking method comprises the following steps:

after a batch of small-diameter columnar or tubular flexible materials which are piled up in a bundle shape are placed into a flexible guardrail of a tray, a picking mechanical arm is controlled to move to enable a thin straight tube flexible sliding sorting end effector to be positioned right above the tray, then the picking mechanical arm is controlled to move to enable the thin straight tube flexible sliding sorting end effector to move downwards along the vertical direction to be close to the tray, after a bottom plane of a lower touch plate contacts with a small-diameter columnar or tubular flexible material pile, the lower touch plate stops moving downwards, the bottom end of an absorber is immersed into the small-diameter columnar or tubular flexible material pile, the flexible guardrail is extruded to bend outwards to yield, the absorber continues to move downwards, the lower touch plate drives a limiting guide roll shaft or a roller to roll along the wavy shape of a wavy guide structure, and swing adsorption while moving downwards is realized;

in the process of moving the absorber downwards and swinging the absorber, when the vacuum degree fed back to the controller by a negative pressure sensor of a negative pressure air pipe is smaller than a set range, the controller controls the picking mechanical arm to enable the thin straight pipe to flexibly slide and sort the end effector to continuously move downwards; when the vacuum degree fed back to the controller by the negative pressure sensor of the negative pressure air pipe is within a set range, the controller firstly controls the picking mechanical arm to enable the thin straight pipe flexible sliding sorting end effector to stop moving downwards and then lift to perform translation, and separation and picking of single small-diameter columnar or tubular flexible materials are achieved.

Compared with the prior art, aiming at batch small-diameter columnar or tubular flexible materials in a bundle-shaped form produced by an automatic production line, the thin straight tube flexible sliding sorting end effector is provided with the wave-shaped guide structure on the absorber, and the position, corresponding to the wave-shaped guide structure, of the lower touch plate is provided with the limiting guide roller shaft or the roller wheel which is clamped and arranged, so that after the bottom plane of the lower touch plate contacts with a small-diameter columnar or tubular flexible material pile, the upper support plate and the lower touch plate integrally move upwards, the lower touch plate can drive the limiting guide roller shaft or the roller wheel to roll along the wave-shaped appearance of the wave-shaped guide structure, the absorber moves downwards and swings to adsorb, the success rate of picking up single pieces is ensured, and the subsequent packaging or assembling operation of the single flexible material is facilitated; because the negative pressure sensor is arranged, when the absorber moves downwards along the vertical direction and is immersed into the small-diameter columnar or tubular flexible material pile, whether single picking is successful or not can be judged according to whether the vacuum degree value fed back by the negative pressure sensor is within a set range, and meanwhile, the downward movement of the fine straight tube flexible sliding sorting end effector can be controlled according to the feedback of the negative pressure sensor, so that the device is particularly suitable for the batch one-by-one separation of small-diameter columnar or tubular flexible materials.

Drawings

FIG. 1 is a schematic three-dimensional structure diagram of a thin straight tube flexible sliding sorting end effector of the present invention;

FIG. 2 is a schematic three-dimensional view of the positioning support assembly of the present invention;

FIG. 3 is a schematic three-dimensional view of the oscillating take off assembly of the present invention;

FIG. 4 is a schematic three-dimensional view of a lift glide assembly of the present invention;

FIG. 5 is a schematic three-dimensional structure diagram of the automatic material distributing robot for small-diameter cylindrical or tubular flexible materials according to the invention;

FIG. 6 is a diagram of the picking process of the end effector for flexible sliding sorting of thin straight tubes, wherein a is a schematic structural diagram of the bottom plane of the lower touch plate contacting the material pile, b is a schematic structural diagram of the absorber during swinging, and c is a schematic structural diagram of the absorber during resetting;

FIG. 7 is a process diagram for a single adsorber pickup, where a is a schematic configuration for an adsorber that is not oscillating, b is a schematic configuration for an adsorber that is oscillating, and c is a schematic configuration for a single adsorber pickup.

In the figure: 1. the device comprises a positioning support assembly, 1-1 parts of a top mounting plate, 1-2 parts of a connecting column, 1-3 parts of a bottom support beam, 1-4 parts of a stop pin I, 1-5 parts of an absorber hinge mounting hole, 2 parts of a lifting sliding assembly, 2-1 parts of a guide limiting support column, 2-2 parts of a pressure spring, 2-3 parts of an upper support plate, 2-4 parts of a lower touch plate, 2-5 parts of a limiting guide roller shaft or a roller, 3 parts of a swinging material taking assembly, 3-1 parts of an absorber, 3-2 parts of a torsion spring, 3-3 parts of a stop pin II, 3-4 parts of a U-shaped groove, 3-5 parts of a wave-shaped guide structure, 3-6 parts of a negative pressure air pipe, 4 parts of a sorting platform, 4-1 parts of a tray, 4-2 parts of a.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1, the flexible sliding sorting end effector of the thin straight pipe comprises a positioning support assembly 1, a lifting sliding assembly 2 and a swinging material taking assembly 3.

As shown in figure 2, the positioning support assembly 1 comprises a top mounting plate 1-1, a connecting column 1-2 and a bottom support beam 1-3, wherein the bottom support beam 1-3 arranged in parallel to the top mounting plate 1-1 is fixedly arranged below the top mounting plate 1-1 through the connecting columns 1-2 arranged in bilateral symmetry, the bottom support beam 1-3 and the connecting column 1-2 form a U-shaped structure, and the bottom support beam 1-3 is provided with an adsorber hinge mounting hole 1-5 with a central axis arranged along the front-back direction and a stop pin I1-4 extending out of the side of the adsorber hinge mounting hole 1-5.

As shown in fig. 3, the swing material taking assembly 3 is arranged on a bottom supporting beam 1-3 and comprises an absorber 3-1 and a torsion spring 3-2; the adsorber 3-1 is a hollow tubular structure arranged in the vertical direction, the top end of the adsorber 3-1 is hermetically connected with a negative pressure air pipe 3-6 through a negative pressure sensor, the bottom end of the adsorber 3-1 is provided with a U-shaped groove 3-4 with a downward opening, the depth and the width of the U-shaped groove 3-4 are in clearance fit with the outer diameter of a single small-diameter columnar or tubular flexible material, the U-shaped groove 3-4 is arranged along the front-back radial direction of the adsorber 3-1 in the moving direction, the outer surface of the upper part of the adsorber 3-1 is provided with an adsorber hinge mounting structure arranged along the front-back radial direction, the adsorber hinge mounting structure can be a convex pin shaft structure or a concave pin hole structure, the adsorber 3-1 is hinged on the adsorber hinge mounting hole 1-5 through the adsorber hinge mounting structure, the outer surface of the upper part of the adsorber 3-1, which corresponds to the stop pin I1-4, is also provided with a stop pin II 3-3 which extends out along the front-back radial direction, the outer surface of the lower part of the adsorber 3-1 is provided with a wave-shaped guide structure 3-5 which is arranged along the axial direction, the position of the wave-shaped guide structure 3-5, which corresponds to the stop pin I1-4, is arranged along the left-right radial direction of the adsorber 3-1, the wave-shaped guide structure 3-5 comprises a plurality of continuous wave crests and wave troughs which are in a uniform and smooth wave shape, and the wave-shaped guide structure 3-5 can be a flange structure which protrudes out of the outer surface of the adsorber 3-1 or a pit structure which is recessed into the outer surface; the torsion center of the torsion spring 3-2 is positioned and arranged on the adsorber hinged mounting structure of the adsorber 3-1, two torsion feet of the torsion spring 3-2 are respectively abutted against the stop pin I1-4 and the stop pin II 3-3, and the whole adsorber 3-1 can swing along the hinge center thereof in a single direction and reset through the torsion spring 3-2.

As shown in fig. 4, the lifting sliding component 2 is arranged at the periphery of the U-shaped structure of the positioning support component 1, and comprises a guiding and limiting support column 2-1, a pressure spring 2-2, an upper support plate 2-3 and a lower contact plate 2-4; the guide limiting support column 2-1 is arranged to vertically penetrate through the top mounting plate 1-1 in a sliding fit manner, a limiting boss is arranged at the top end of the guide limiting support column 2-1, and the bottom end of the guide limiting support column 2-1 is fixedly connected with an upper support plate 2-3 arranged in parallel with the top mounting plate 1-1; the pressure spring 2-2 is sleeved on the guide limiting support column 2-1, two ends of the pressure spring 2-2 respectively abut against the top plane of the upper support plate 2-3 and the bottom plane of the top mounting plate 1-1, and the pressure spring 2-2 can be compressed when the upper support plate 2-3 moves upwards; the lower touch plate 2-4 arranged in parallel to the top mounting plate 1-1 is fixedly arranged below the upper supporting plate 2-3, a limiting guide roll shaft or roller 2-5 matched with a single wave trough of the wave-shaped guide structure 3-5 is positioned on the lower touch plate 2-4 corresponding to the wave-shaped guide structure 3-5, the axis of the limiting guide roll shaft or roller 2-5 is arranged in the front-back direction, and the limiting guide roll shaft or roller 2-5 is clamped on the wave-shaped guide structure 3-5.

The operation of the present invention is described below by taking the blood tube 5 of the venous blood collection needle as an example:

when the thin straight tube flexible sliding sorting end effector is arranged on a tail manipulator of a picking mechanical arm to pick up batch blood transfusion hoses 5 piled in a bundle shape one by one, firstly connecting negative pressure air pipes 3-6 with a negative pressure air source, and electrically connecting a negative pressure sensor with a controller of a picking mechanical arm centralized electric control device, so that the picking mechanical arm can be controlled to act to pick up the blood transfusion hoses one by one through the thin straight tube flexible sliding sorting end effector; the picking mechanical arm at least comprises an X coordinate driving mechanism moving along a horizontal coordinate in the left-right direction and a Z coordinate driving mechanism moving along a coordinate in the vertical up-down direction, or the distributing picking mechanical arm at least comprises a Y coordinate driving mechanism moving along a horizontal coordinate in the front-back direction and a Z coordinate driving mechanism moving along a coordinate in the vertical up-down direction;

as shown in fig. 5, the sorting platform 4 comprises a tray 4-1 which is positioned and installed, a flexible guardrail 4-2 is arranged on the tray 4-1, the batch transfusion hoses 5 which are piled up and bundled together are placed in the flexible guardrail 4-2 of the tray 4-1 along the front and back direction by a batch transfusion hose stacking manipulator, and the transfusion hoses 5 are piled up and gathered on the tray 4-1 in a stacked manner;

in an initial state, the lower contact plate 2-4 and the upper support plate 2-3 are in a natural suspension state integrally under the limiting action of a limiting boss of the guiding limiting support column 2-1, the absorber 3-1 is in a vertical state under the clamping limiting action of a limiting guide roll shaft or a roller 2-5, and the U-shaped groove 3-4 is positioned below the lower contact plate 2-4;

swing adsorption: firstly controlling the action of a picking mechanical arm to enable the thin straight tube flexible sliding sorting end effector to be positioned right above a tray 4-1, then controlling the action of the picking mechanical arm to enable the thin straight tube flexible sliding sorting end effector to move downwards along the vertical direction to be close to the tray 4-1 as shown in figure 6, as shown in figure 6a, after the bottom plane of a lower touch plate 2-4 contacts a transfusion hose 5 stack, the stack reaction force forces the lower touch plate 2-4 to stop moving downwards, the bottom end of an absorber 3-1 is immersed in the transfusion hose 5 stack, and a flexible guardrail 4-2 is extruded to bend outwards to deform for abdicating, the absorber 3-1 continuously moves downwards, the lower touch plate 2-4 drives an upper support plate 2-3 to move upwards to compress a pressure spring 1-2, the upper support plate 2-3 and the lower touch plate 2-4 to move upwards relative to the absorber 3-1 under the guiding action of a guiding limiting support column 2-1, the lower touch plate 2-4 drives the limiting guide roll shaft or roller 2-5 to roll along the wavy shape of the wavy guide structure 3-5, as shown in fig. 6b, each time the limiting guide roll shaft or roller 2-5 passes through one wave crest, the limiting guide roll shaft or roller 2-5 pushes the absorber 3-1 to overcome the elasticity of the torsion spring 3-2 to swing around the hinge center, as shown in fig. 6c, each time the limiting guide roll shaft or roller 2-5 passes through one wave trough, the absorber 3-1 is reset to be in a vertical state under the elastic reset action of the torsion spring 3-2, and further the absorber 3-1 moves downwards and swings and absorbs at the same time;

judging the adsorption state and separating and picking up: as shown in fig. 7a to 7c, during the process of moving down and swinging the adsorber 3-1, a single blood transfusion hose 5 is easily clamped into the U-shaped groove 3-4 at the bottom end of the adsorber 3-1 under the action of negative pressure adsorption to form a higher vacuum degree, when the vacuum degree fed back by the negative pressure sensor is higher, the controller firstly controls the pickup mechanical arm to stop the downward movement of the thin straight tube flexible sliding sorting end effector and then lift the end effector to perform a translational motion, so as to realize the separation and pickup of the single blood transfusion hose 5.

As a further improvement of the invention, when the adsorber 3-1 is submerged in the stack of the blood transfusion hoses 5, in order to facilitate the single blood transfusion hose 5 to smoothly enter the U-shaped groove 3-4, as shown in FIG. 7, a symmetrically arranged guide slope structure is further arranged at the notch position of the U-shaped groove 3-4, and the guide slope structure and the U-shaped groove 3-4 are integrally in a Y-shaped groove structure.

In order to increase the installation and swing stability of the absorber 3-1, as a further improvement scheme of the invention, as shown in fig. 1, an absorber installation through groove which vertically penetrates through the bottom supporting beam 1-3 is arranged at the geometric center position of the bottom supporting beam 1-3 corresponding to the U-shaped structure, the absorber 3-1 is arranged in the absorber installation through groove, and in order to facilitate installation of the torsion spring 3-2, the torsion spring 3-2 is arranged outside the absorber installation through groove.

In order to facilitate the bottom end of the adsorber 3-1 to sink into the stack of transfusion hoses 5, as a further development of the invention, the bottom end of the adsorber 3-1 is provided with a tapered configuration with a large top and a small bottom, as shown in fig. 3.

As a further improvement of the invention, after the bottom plane of the lower touch plate 2-4 contacts the material pile of the transfusion hose 5, in order to realize the tilting and loosening phenomenon of the transfusion hose 5 caused by local stress of the material pile of the transfusion hose 5 and facilitate the negative pressure adsorption of a single transfusion hose 5, as shown in figure 1, the shape structure of the lower touch plate 2-4 is a minor arc flat plate structure positioned in front of or behind the adsorber 3-1, and the minor arc flat plate structure is in a left-right symmetrical structure relative to the adsorber 3-1. Taking the inferior arc-shaped flat plate structure with the lower touch plate 2-4 positioned in front of the adsorber 3-1 as an example, after the bottom plane of the inferior arc-shaped flat plate structure with the lower touch plate 2-4 is contacted with the transfusion hose 5 stack, the front part of the transfusion hose 5 stack is stressed, so that the transfusion hose 5 positioned behind the adsorber 3-1 is tilted and loosened under the elastic action, and the negative pressure adsorption of a single transfusion hose 5 is realized.

Aiming at other columnar flexible materials with large length-diameter ratio, such as USB data lines, wire harnesses and electric wires, which are produced in batches in a bundle-shaped form by an automatic production line and have round sections and length sizes far larger than the diameter of the sections, the thin straight pipe flexible sliding sorting end effector can realize downward movement and swinging adsorption of the adsorber 3-1, so that the success rate of picking up single flexible materials is guaranteed, and the subsequent packaging or assembling operation of the single flexible materials is facilitated; whether single picking is successful or not can be judged according to whether the vacuum degree value fed back by the negative pressure sensor is within a set range or not, and meanwhile the downward movement action of the fine straight tube flexible sliding sorting end effector can be controlled according to the feedback of the negative pressure sensor, so that the device is particularly suitable for the batch one-by-one separation of small-diameter columnar or tubular flexible materials.

Claims (10)

1. A thin straight tube flexible sliding sorting end effector is characterized by comprising a positioning support assembly (1), a lifting sliding assembly (2) and a swinging material taking assembly (3);

the positioning support assembly (1) comprises a top mounting plate (1-1), connecting columns (1-2) and bottom support beams (1-3), the bottom support beams (1-3) arranged in parallel to the top mounting plate (1-1) are fixedly mounted below the top mounting plate (1-1) through the connecting columns (1-2) symmetrically arranged left and right, the bottom support beams (1-3) and the connecting columns (1-2) form a U-shaped structure, and the bottom support beams (1-3) are provided with adsorber hinge mounting holes (1-5) with central axes arranged along the front and back directions and stop pins I (1-4) extending from the side of the adsorber hinge mounting holes (1-5);

the swinging material taking assembly (3) is arranged on the bottom supporting beam (1-3) and comprises an absorber (3-1) and a torsion spring (3-2); the adsorber (3-1) is a hollow tubular structure arranged in the vertical direction, the top end of the adsorber (3-1) is hermetically connected with a negative pressure air pipe (3-6) through a negative pressure sensor, the bottom end of the adsorber (3-1) is provided with a U-shaped groove (3-4) with a downward opening, the depth and the width of the U-shaped groove (3-4) are in clearance fit with the outer diameter of a single small-diameter columnar or tubular flexible material, the U-shaped groove (3-4) is arranged along the front-back radial direction of the adsorber (3-1) in the moving direction, an adsorber hinge mounting structure arranged along the front-back radial direction is arranged on the outer surface of the upper part of the adsorber (3-1), the adsorber (3-1) is hinged and mounted on the adsorber hinge mounting hole (1-5) through the adsorber hinge mounting structure, the outer surface of the upper part of the absorber (3-1) corresponding to the stop pin I (1-4) is also provided with a stop pin II (3-3) extending along the front-back radial direction, the outer surface of the lower part of the absorber (3-1) is provided with a wave-shaped guide structure (3-5) arranged along the axial direction, the position of the wave-shaped guide structure (3-5) corresponding to the stop pin I (1-4) is arranged along the left-right radial direction of the absorber (3-1), and the wave-shaped guide structure (3-5) comprises a plurality of continuous uniform smooth wave-shaped wave crests and wave troughs; the torsion center of the torsion spring (3-2) is positioned and arranged on the adsorber hinged mounting structure of the adsorber (3-1), and two torsion feet of the torsion spring (3-2) are respectively abutted against the stop pin I (1-4) and the stop pin II (3-3);

the lifting sliding component (2) is arranged at the periphery of the U-shaped structure of the positioning support component (1) and comprises a guiding and limiting support column (2-1), a pressure spring (2-2), an upper support plate (2-3) and a lower contact plate (2-4); the guide limit supporting column (2-1) is arranged to vertically penetrate through the top mounting plate (1-1) in a sliding fit manner, a limit boss is arranged at the top end of the guide limit supporting column (2-1), and the bottom end of the guide limit supporting column (2-1) is fixedly connected with an upper supporting plate (2-3) arranged in parallel with the top mounting plate (1-1); the pressure spring (2-2) is sleeved on the guide limit support column (2-1), and two ends of the pressure spring (2-2) are respectively abutted against the top plane of the upper support plate (2-3) and the bottom plane of the top mounting plate (1-1); the lower touch panel (2-4) arranged in parallel to the top mounting panel (1-1) is fixedly mounted below the upper supporting plate (2-3), a limiting guide roll shaft or roller (2-5) matched with a single wave trough of the wave-shaped guide structure (3-5) is positioned on the lower touch panel (2-4) corresponding to the wave-shaped guide structure (3-5), the axis of the limiting guide roll shaft or roller (2-5) is arranged in the front-back direction, and the limiting guide roll shaft or roller (2-5) is clamped on the wave-shaped guide structure (3-5).

2. The flexible sliding sorting end effector for the thin straight tubes according to claim 1, wherein the notch positions of the U-shaped grooves (3-4) are further provided with symmetrically arranged guide slope structures, and the guide slope structures and the U-shaped grooves (3-4) are integrally in a Y-shaped groove structure.

3. The thin straight pipe flexible sliding sorting end effector as claimed in claim 1, wherein the bottom supporting beam (1-3) is provided with an adsorber mounting through slot vertically penetrating through the bottom supporting beam (1-3) corresponding to the geometric center of the U-shaped structure, the adsorber (3-1) is arranged inside the adsorber mounting through slot, and the torsion spring (3-2) is arranged outside the adsorber mounting through slot.

4. The thin straight tube flexible sliding sorting end effector according to claim 1, 2 or 3, characterized in that the wave-shaped guide structure (3-5) is a flange structure protruding from the outer surface of the absorber (3-1).

5. The thin straight tube flexible sliding sorting end effector according to claim 1, 2 or 3, characterized in that the wave-shaped guide structure (3-5) is a dimple structure recessed on the outer surface of the adsorber (3-1).

6. The thin straight tube flexible sliding sorting end effector according to the claim 1, 2 or 3, characterized in that the bottom end of the absorber (3-1) is arranged in a cone structure with big top and small bottom.

7. The thin straight tube flexible sliding sorting end effector according to the claim 1, 2 or 3, characterized in that the lower touch plate (2-4) is a inferior arc flat plate structure located in front of or behind the adsorber (3-1), and the inferior arc flat plate structure is left-right symmetrical structure relative to the adsorber (3-1).

8. An automatic small-diameter columnar or tubular flexible material distribution robot comprises a distribution and pickup mechanical arm and a sorting platform (4), wherein the sorting platform (4) comprises a positioning and mounting tray (4-1); the flexible sliding sorting end effector of the thin straight tube according to claim 1 is mounted on a final manipulator of a material-separating and picking mechanical arm, and the material-separating and picking mechanical arm at least comprises an X coordinate driving mechanism moving along a left-right direction coordinate and a Z coordinate driving mechanism moving along a vertical up-down direction coordinate, or the material-separating and picking mechanical arm at least comprises a Y coordinate driving mechanism moving along a front-back direction coordinate and a Z coordinate driving mechanism moving along a vertical up-down direction coordinate.

9. The automatic small-diameter cylindrical or tubular flexible material distributing robot according to claim 8, characterized in that the flexible guard rails (4-2) are arranged on the tray (4-1).

10. A micro-motion material distributing and picking method for small-diameter columnar or tubular flexible materials is characterized in that the small-diameter columnar or tubular flexible material automatic distributing robot as claimed in claim 9 is adopted, a negative pressure air pipe (3-6) is connected with a negative pressure air source, and a controller of a centralized electric control device of the small-diameter columnar or tubular flexible material automatic distributing robot is electrically connected with a negative pressure sensor of the negative pressure air pipe (3-6);

in an initial state, the lower contact plate (2-4) and the upper support plate (2-3) are integrally in a natural suspension state under the limiting action of a limiting boss of the guiding limiting support column (2-1), the absorber (3-1) is in a vertical state under the clamping limiting action of a limiting guide roll shaft or a roller (2-5), and the U-shaped groove (3-4) is positioned below the lower contact plate (2-4); the specific micro-motion distribution material picking method comprises the following steps:

after a batch of small-diameter columnar or tubular flexible materials which are piled and gathered in a bundle shape are placed into a flexible guardrail (4-2) of a tray (4-1), a picking mechanical arm is controlled to act to enable a thin straight tube flexible sliding sorting end effector to be positioned right above the tray (4-1), then the picking mechanical arm is controlled to act to enable the thin straight tube flexible sliding sorting end effector to move downwards to be close to the tray (4-1) along the vertical direction, after a bottom plane of a lower touch plate (2-4) contacts a small-diameter columnar or tubular flexible material pile, the lower touch plate (2-4) stops moving downwards, the bottom end of an absorber (3-1) is immersed into the small-diameter columnar or tubular flexible material pile, the flexible guardrail (4-2) is extruded to bend outwards to deform to yield, the absorber (3-1) continues to move downwards, and the lower touch plate (2-4) drives a limiting guide roll shaft or a roller (2-5) to drive the limiting guide roll shaft or the roller (2-5) to move -5) rolling in a wavy shape to realize downward moving and swinging adsorption of the adsorber (3-1);

in the adsorption process of moving the adsorber (3-1) downwards and swinging the adsorber, when the vacuum degree fed back to the controller by a negative pressure sensor of the negative pressure air pipe (3-6) is smaller than a set range, the controller controls the picking mechanical arm to enable the thin straight pipe to flexibly slide and sort the end effector to continuously move downwards; when the vacuum degree fed back to the controller by the negative pressure sensor of the negative pressure air pipe (3-6) is within a set range, the controller firstly controls the picking mechanical arm to enable the thin straight pipe flexible sliding sorting end effector to stop moving downwards and then lift to perform translation, and separation and picking of single small-diameter columnar or tubular flexible materials are achieved.

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