CN112756269B - Assembly robot with sorting function - Google Patents
Assembly robot with sorting function Download PDFInfo
- Publication number
- CN112756269B CN112756269B CN202110084057.4A CN202110084057A CN112756269B CN 112756269 B CN112756269 B CN 112756269B CN 202110084057 A CN202110084057 A CN 202110084057A CN 112756269 B CN112756269 B CN 112756269B
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- Prior art keywords
- frame
- hollow
- rotating rod
- fixedly arranged
- pipeline
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- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 239000000428 dust Substances 0.000 abstract description 14
- 238000009825 accumulation Methods 0.000 abstract description 2
- 244000309464 bull Species 0.000 description 34
- 241000282414 Homo sapiens Species 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 241000883990 Flabellum Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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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
- B07C5/04—Sorting according to size
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/58—Belts or like endless load-carriers with means for holding or retaining the loads in fixed position, e.g. magnetic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/02—Belt- or chain-engaging elements
- B65G23/04—Drums, rollers, or wheels
- B65G23/06—Drums, rollers, or wheels with projections engaging abutments on belts or chains, e.g. sprocket wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sorting Of Articles (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an assembly robot with a sorting function, and particularly relates to the technical field of assembly robots. According to the invention, the conveying belt and the manipulators are driven by the chain wheels to synchronously rotate, so that the empty grabbing of the manipulators is prevented, the sorting work is performed by adopting a plurality of manipulators, the efficiency is high, the parts are adsorbed, fixed and limited, the parts are prevented from deviating, the grabbing accuracy of the manipulators is improved, the dust adhered on the conveying belt is vibrated down and collected by the vibrating mechanism, the influence on the sorting work of the parts due to excessive dust accumulation on the conveying belt is prevented, and in addition, the driving force of the whole system is provided by the stepping motor, so that the cost is lower.
Description
Technical Field
The embodiment of the invention relates to the technical field of assembly robots, in particular to an assembly robot with a sorting function.
Background
The robot is an intelligent machine capable of semi-autonomous or fully autonomous working, has basic characteristics of sensing, decision making, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves the life of the human beings, and expands or extends the activity and capacity range of the human beings. The manipulator is the earliest emerging industrial robot. A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance.
The industrial robot can finish automatic sorting of articles conveyed by the conveyor according to the size and the like, but the conveyor, the mechanical arm and the like of the whole sorting system in the prior art are driven by more electrical equipment, and the cost is high.
Disclosure of Invention
Therefore, the embodiment of the invention provides an assembly robot with a sorting function, the conveying belt and the manipulator are driven by the chain wheel to synchronously rotate, so that the empty grabbing of the manipulator is prevented, a plurality of manipulators are adopted for sorting work, the efficiency is high, the parts are adsorbed and fixed and limited, the parts are prevented from deviating, the grabbing accuracy of the manipulators is improved, dust adhered on the conveying belt is vibrated and collected by the vibrating mechanism, the dust on the conveying belt is prevented from accumulating too much to influence the sorting work of the parts, in addition, the driving force of the whole system is provided by the stepping motor, the cost is lower, and the problems that in the prior art, the conveyor, the manipulator and the like of the whole sorting system are all driven by more electrical equipment and the cost is higher are solved.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions: the utility model provides an assembly robot with select separately function, includes frame and a plurality of manipulator, the frame top is equipped with the roof, and is a plurality of the manipulator is evenly fixed to be established in the roof bottom outside, the fixed distance sensor that is equipped with in manipulator inner wall top, frame top both sides all are equipped with conveying mechanism, the frame top is equipped with two vibrating mechanism, the frame top is equipped with actuating mechanism, actuating mechanism and vibrating mechanism all establish between two conveying mechanism.
Further, actuating mechanism includes step motor, step motor is fixed to be established inside the frame, step motor's output is fixed to be equipped with first bull stick, first bull stick one side is equipped with the second bull stick, first bull stick and second bull stick all are established at the frame inner wall and are extended the frame top, the second bull stick passes through bearing swing joint with the frame, the fixed spliced pole that is equipped with in second bull stick top, the spliced pole is fixed to be established in the roof bottom and establish in a plurality of manipulators inboard, the spliced pole bottom is equipped with the cavity bull stick, the cavity bull stick is established in the second bull stick outside and is passed through bearing swing joint with the frame top, second bull stick outer end bottom and first bull stick outer end are all fixed and are equipped with the belt pulley, two the belt pulley passes through the belt interconnect, belt pulley and belt all are established inside the frame, first bull stick outer end top and cavity bull stick outer end bottom are all fixed and are equipped with the gear, two gear intermeshing and all are established at the frame top, the fixed first sprocket that is equipped with in the pivoted pole outer end, the cavity outer end is fixed and is established in the second sprocket top, the second sprocket is at the gear top.
Further, conveying mechanism includes two fixed risers that establish on the frame top, two be equipped with two front and back distribution's commentaries on classics roller through the pivot between the riser, two commentaries on classics roller outer pot head is equipped with a conveyer belt, the fixed chain and two spacing rubber rings of being equipped with in a week of commentaries on classics roller inner, two spacing rubber rings are established respectively in commentaries on classics roller both sides and are contacted with the commentaries on classics roller, the chain is established in spacing rubber ring one side, be equipped with fixed subassembly on the conveyer belt, first sprocket 16 meshes with chain 21 one side top mutually, second sprocket 17 meshes with chain 21 one side bottom, is close to the riser of second sprocket is in first sprocket bottom, the second sprocket runs through this riser.
Further, fixed subassembly is including establishing the inboard box at the conveyer belt, box top and bottom all contact with the conveyer belt inner wall, the box is established between two commentaries on classics rollers, box one side is through branch and riser one side fixed connection that is close to the second sprocket, the box opposite side runs through and is equipped with first pipeline, keeps away from run through on the riser of second sprocket and be equipped with the second pipeline, second pipeline one end is linked together with first pipeline, the second pipeline other end runs through frame one side and the inside intercommunication of frame, keeps away from the riser top of second sprocket is fixed to be equipped with the cavity riser, cavity riser one side is fixed to be equipped with the rubber frame, rubber frame one side is equipped with a plurality of cavity baffles and contacts with the cavity baffle, a plurality of cavity baffle bottom all are fixed and are equipped with the rubber strip, a plurality of the rubber strip equidistance is fixed to be established at the conveyer belt outer end.
Further, first through-hole has been seted up to cavity riser one side, the rubber frame passes through first through-hole and the inside intercommunication of cavity riser, and a plurality of second through-holes have all been seted up at both ends around the cavity baffle, a plurality of third through-holes have been seted up to conveyer belt outer end, box top opening, the opening intercommunication of third through-hole and box, the third through-hole is established between a plurality of rubber strips, the fourth through-hole has been seted up to cavity baffle one side, the cavity baffle passes through fourth through-hole and the inside intercommunication of rubber frame, the cavity riser opposite side is equipped with the third pipeline, third pipeline one end and the inside intercommunication of cavity riser, the third pipeline other end intercommunication has the blast pipe, the blast pipe runs through frame both sides and the inside intercommunication of frame, the blast pipe is established in second pipeline bottom.
Further, the second pipeline and the exhaust pipe are fixedly provided with one-way valves, and the one-way valve on the exhaust pipe is arranged on the outer side of the third pipeline.
Further, the fan blade is fixedly arranged at the outer end of the first rotating rod, and the fan blade is arranged at the bottom of the belt pulley.
Further, the vibration mechanism comprises a third rotating rod, an eccentric wheel is fixedly arranged at one end of the third rotating rod, a first bevel gear is fixedly arranged at the other end of the third rotating rod, the third rotating rod penetrates through a vertical plate close to the second sprocket and is connected with a vertical plate bearing, the third rotating rod is arranged at the bottom of the second sprocket, and the eccentric wheel is arranged at the bottom of the hollow baffle.
Further, the outer end of the hollow rotating rod is fixedly provided with a second bevel gear, the second bevel gear is arranged between the second sprocket and the gear, and the two first bevel gears are respectively meshed with two sides of the second bevel gear.
Further, the through holes are formed in two sides of the top end of the frame, the through holes are formed in the bottom of the hollow baffle, the filter screen frames are arranged at the bottoms of the through holes, the two filter screen frames are fixedly arranged on the top end inside the frame, and the driving mechanism is arranged between the two filter screen frames.
The embodiment of the invention has the following advantages:
1. According to the invention, the first rotating rod is driven to rotate through the stepping motor, the second sprocket is driven to rotate through the gear structure, meanwhile, the first sprocket and the second sprocket are driven to reversely rotate through the belt pulley and the belt structure, so that the chain is driven to rotate, the two conveying belts are driven to reversely rotate and convey parts in opposite directions, meanwhile, the stepping motor drives the top plate to rotate so as to drive a plurality of manipulators to rotate, the parts to be conveyed are placed on the left conveying belt to be conveyed, and the manipulators grab the unqualified parts to the right conveying belt to be conveyed to a required station, so that a sorting function is realized.
2. According to the invention, the parts placed on the conveying belt are positioned between the two hollow baffles and at the top of the third through hole, the stepping motor drives the fan blade to rotate so that air in the frame circulates, the air flow in the box body adsorbs the bottoms of the parts through the third through hole, the air flow in the frame enters the hollow baffles and blows and limits the parts in the hollow baffles through the second through hole, compared with the prior art, the wind power generated by driving the fan blade to rotate is used for adsorbing, fixing and limiting the parts on the conveying belt, preventing the parts from deviating, and improving the grabbing accuracy of the manipulator.
3. According to the invention, the eccentric wheel is driven to rotate by the stepping motor, so that the knocking of the middle baffle plate is realized, dust adhered on the conveying belt is shaken off, meanwhile, the air flow in the frame circulates to enable the shaken off dust on the conveying belt to enter the through hole and then enter the filter screen frame to be collected.
4. The driving force of the rotation of the manipulator and the conveyor belt, the driving force for fixing parts on the conveyor belt, the driving force for cleaning the conveyor belt by vibration and the driving force for collecting cleaned dust are all provided by the stepping motor, so that the cost is low.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the ambit of the technical disclosure.
FIG. 1 is a front view in section of the whole body provided by the invention;
FIG. 2 is an overall top cross-sectional view provided by the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 1 provided by the present invention;
FIG. 4 is a bottom view of a plurality of robots provided by the present invention;
FIG. 5 is an enlarged view of portion B of FIG. 1 provided by the present invention;
FIG. 6 is a top view of a hollow turn bar provided by the present invention;
FIG. 7 is a front cross-sectional view of the conveyor mechanism provided by the present invention;
FIG. 8 is a side cross-sectional view of a conveyor mechanism provided by the present invention;
FIG. 9 is a side view of a roller, conveyor belt and box provided by the invention;
FIG. 10 is a top cross-sectional view of a hollow baffle provided by the present invention;
In the figure: 1 frame, 2 roof, 3 manipulators, 4 conveying mechanism, 5 vibration mechanism, 6 distance sensor, 7 actuating mechanism, 8 step motor, 9 first bull stick, 10 second bull stick, 11 rotation post, 12 hollow bull stick, 13 belt pulley, 14 belt, 15 gear, 16 first sprocket, 17 second sprocket, 18 riser, 19 roller, 20 conveyer belt, 21 chain, 22 spacing rubber circle, 23 fixed subassembly, 24 box, 25 branch, 26 first pipeline, 27 second pipeline, 28 hollow riser, 29 hollow baffle, 30 rubber frame, 31 first through hole, 32 second through hole, 33 third through hole, 34 rubber strip, 35 fourth through hole, 36 third pipeline, 37 blast pipe, 38 flabellum, 39 third bull stick, 40 eccentric wheel, 41 first bevel gear, 42 through hole, 43 filter screen frame, 44 second bevel gear.
Description of the embodiments
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-10 of the specification, an assembling robot with sorting function of this embodiment includes a frame 1 and a plurality of manipulators 3, the frame 1 top is equipped with roof 2, and a plurality of manipulators 3 are evenly fixed to be established in the roof 2 bottom outside, the fixed distance sensor 6 that is equipped with in manipulator 3 inner wall top, frame 1 top both sides all are equipped with conveying mechanism 4, frame 1 top is equipped with two vibrating mechanism 5, frame 1 top is equipped with actuating mechanism 7, actuating mechanism 7 and vibrating mechanism 5 all establish between two conveying mechanism 4.
Further, actuating mechanism includes step motor 8, step motor 8 is fixed to be established inside frame 1, step motor 8's output is fixed to be equipped with first bull stick 9, first bull stick 9 one side is equipped with second bull stick 10, first bull stick 9 and second bull stick 10 all set up at frame 1 inner wall and extend frame 1 top, second bull stick 10 passes through bearing swing joint with frame 1, second bull stick 10 top is fixed to be equipped with rotation post 11, rotation post 11 is fixed to be set up in roof 2 bottom and is set up in the inboard of a plurality of manipulators 3, rotation post 11 bottom is equipped with hollow bull stick 12, hollow bull stick 12 sets up in the second bull stick 10 outside and passes through bearing swing joint with frame 1 top, second bull stick 10 outer end bottom and first bull stick 9 outer end are all fixed and are equipped with belt pulley 13, two belt pulley 13 passes through belt 14 interconnect, belt pulley 13 and belt 14 all set up inside frame 1, first bull stick 9 outer end top and hollow bull stick 12 outer end bottom are all fixed and are equipped with gear 15, two gears 15 are fixed and are equipped with respectively at the second bull stick 1, and two hollow bull stick 12 are fixed with each other at the top sprocket 17, and are provided with the hollow sprocket 17, and the second sprocket is fixed at the top is provided with the second sprocket 17.
Further, the conveying mechanism 4 includes two vertical plates 18 fixedly arranged at the top end of the frame 1, two rotating rollers 19 distributed front and back are arranged between the two vertical plates 18 through a rotating shaft, two outer ends of the rotating rollers 19 are sleeved with a conveying belt 20, a chain 21 and two limit rubber rings 22 are fixedly arranged at the periphery of the inner end of each rotating roller 19, the two limit rubber rings 22 are respectively arranged at two sides of each rotating roller 19 and are in contact with the rotating rollers 19, the chain 21 is arranged at one side of each limit rubber ring 22, a fixing assembly 23 is arranged on the conveying belt 20, the first chain wheel 16 is meshed with the top of one side of the chain 21, the second chain wheel 17 is meshed with the bottom of one side of the chain 21, the vertical plate 18 close to the second chain wheel 17 is positioned at the bottom of the first chain wheel 16, and the second chain wheel 17 penetrates through the vertical plate 18 to convey parts.
The implementation scene is specifically as follows: the electric elements in the invention are controlled by a control system in the prior art, a stepping motor 8 is started, the stepping motor 8 drives a first rotating rod 9 to rotate, thereby driving a hollow rotating rod 12 to rotate through a gear 15 structure, further driving a second sprocket wheel 17 to rotate, simultaneously driving a second rotating rod 10 to rotate in the opposite direction with the hollow rotating rod 12 through a belt pulley 13 and a belt 14 structure, further driving a rotating column 11 and a first sprocket wheel 16 and a second sprocket wheel 17 on the rotating column 11 to reversely rotate, and as the first sprocket wheel 16 and the second sprocket wheel 17 are meshed with a chain 21, the first sprocket wheel 16 and the second sprocket wheel 17 rotate to drive the chain 21 to drive two conveying belts 20 to reversely rotate, further enabling the two conveying belts 20 to reversely rotate, simultaneously driving a top plate 2 to rotate, further driving a plurality of manipulators 3 to rotate, placing the parts to be conveyed on the conveying belts 20 on the left side, when one manipulator 3 rotates above the conveying belts 20, then controlling the manipulator 3 to grasp the parts, and as a distance sensor 6 on the manipulator 3 is not in a size, when the mechanical hand 3 is in a size, the mechanical hand 3 is stopped from being out of the size, and the mechanical hand 3 is stopped when the mechanical hand 3 is stopped, and the mechanical hand is stopped from rotating by the mechanical hand 3, and the mechanical hand is required to be stopped, and the mechanical hand is stopped from rotating by the mechanical hand 3 when the mechanical hand is required to be rotated by the mechanical hand 3, and the mechanical hand is required to be conveyed by the mechanical hand 3, and the mechanical hand is stopped by the mechanical hand 3.
Referring to fig. 1,2 and 7-10 of the specification, an assembling robot with sorting function in this embodiment, the fixing component 23 includes a box 24 disposed inside the conveying belt 20, the top end and the bottom end of the box 24 are all in contact with the inner wall of the conveying belt 20, the box 24 is disposed between two rotating rollers 19, one side of the box 24 is fixedly connected with one side of a vertical plate 18 close to a second sprocket 17 through a supporting rod 25, a first pipeline 26 is disposed on the other side of the box 24 in a penetrating manner, a second pipeline 27 is disposed on the vertical plate 18 far from the second sprocket 17 in a penetrating manner, one end of the second pipeline 27 is communicated with the first pipeline 26, the other end of the second pipeline 27 is disposed inside the machine frame 1 in a penetrating manner, the top end of the vertical plate 18 far from the second sprocket 17 is fixedly provided with a hollow vertical plate 28, one side of the hollow vertical plate 28 is fixedly provided with a rubber frame 30, one side of the rubber frame 30 is provided with a plurality of hollow baffles 29 and is in contact with the hollow baffles 29, the bottom ends of the hollow baffles 29 are all fixedly provided with rubber strips 34, and the plurality of rubber strips 34 are disposed at the same distance from the outer end of the conveying belt 20.
Further, a first through hole 31 is formed in one side of the hollow vertical plate 28, the rubber frame 30 is communicated with the inside of the hollow vertical plate 28 through the first through hole 31, a plurality of second through holes 32 are formed in the front end and the rear end of the hollow baffle 29, a plurality of third through holes 33 are formed in the outer end of the conveying belt 20, the top end of the box 24 is opened, the third through holes 33 are communicated with the opening of the box 24, the third through holes 33 are formed among a plurality of rubber strips 34, a fourth through hole 35 is formed in one side of the hollow baffle 29, the hollow baffle 29 is communicated with the inside of the rubber frame 30 through the fourth through hole 35, a third pipeline 36 is arranged on the other side of the hollow vertical plate 28, one end of the third pipeline 36 is communicated with the inside of the hollow vertical plate 28, an exhaust pipe 37 is communicated with the other end of the third pipeline 36, the exhaust pipe 37 penetrates through two sides of the rack 1 and is communicated with the inside of the rack 1, and the exhaust pipe 37 is formed in the bottom of the second pipeline 27.
Further, the second pipe 27 and the exhaust pipe 37 are both fixedly provided with check valves, and the check valve on the exhaust pipe 37 is arranged outside the third pipe 36, so that the air flow can flow unidirectionally.
Further, a fan blade 38 is fixedly arranged at the outer end of the first rotating rod 9, the fan blade 38 is arranged at the bottom of the belt pulley 13, and the fan blade 38 is driven to rotate by the stepping motor 8 to generate wind power.
The implementation scene is specifically as follows: the parts placed on the conveying belt 20 are positioned between the two hollow baffles 29 and at the top of the third through hole 33, the fan blades 38 are driven to rotate when the first rotating rod 9 rotates, so that air in the machine frame 1 circulates, air in the box 24 can only enter the machine frame 1 through the first pipeline 26 and the second pipeline 27 through the one-way valve arranged on the second pipeline 27, so that the air in the box 24 can adsorb the bottoms of the parts through the third through hole 33, meanwhile, the air in the machine frame 1 can only be discharged outwards through the exhaust pipe 37 due to the one-way valve arranged on the exhaust pipe 37, so that the air in the exhaust pipe 37 enters the hollow vertical plate 28 through the third pipeline 36, then enters the hollow baffles 29 through the first through hole 31, the rubber frame 30 and the fourth through hole 35, then blows and limits the parts in the hollow vertical plate through the second through hole 32, the air in the parts on the conveying belt 20 is adsorbed and fixed and limited through wind power generated by driving the fan blades 38 through the stepping motor 8, the parts are prevented from deviating, and the grabbing accuracy of the manipulator 3 is improved.
Referring to fig. 1,3, 7 and 8 of the specification, an assembling robot with sorting function in this embodiment, the vibration mechanism 5 includes a third rotating rod 39, one end of the third rotating rod 39 is fixedly provided with an eccentric wheel 40, the other end of the third rotating rod 39 is fixedly provided with a first bevel gear 41, the third rotating rod 39 penetrates through a vertical plate 18 close to the second sprocket 17 and is in bearing connection with the vertical plate 18, the third rotating rod 39 is arranged at the bottom of the second sprocket 17, the eccentric wheel 40 is arranged at the bottom of the hollow baffle 29, and the hollow baffle 29 is knocked through the rotation of the eccentric wheel 40, so that dust adhered on the conveying belt 20 is vibrated down.
Further, a second bevel gear 44 is fixedly arranged at the outer end of the hollow rotating rod 12, the second bevel gear 44 is arranged between the second sprocket 17 and the gear 15, two first bevel gears 41 are respectively meshed with two sides of the second bevel gear 44, and the third rotating rod 39 is driven to rotate through a bevel gear structure.
Further, through openings 42 are formed in two sides of the top end of the frame 1, the through openings 42 are formed in the bottom of the hollow baffle 29, filter screen frames 43 are arranged at the bottoms of the through openings 42, two filter screen frames 43 are fixedly arranged on the top end inside the frame 1, the driving mechanism 7 is arranged between the two filter screen frames 43, and air flow inside the frame 1 circulates so that dust vibrated off on the conveying belt 20 enters the filter screen frames 43 to be collected.
The implementation scene is specifically as follows: the hollow rotating rod 12 rotates and drives the second bevel gear 44 to rotate, so that the first bevel gear 41 is started to rotate, the third rotating rod 39 is driven to drive the eccentric wheel 40 to rotate, the eccentric wheel 40 rotates to be in contact with the hollow baffle 29 above the eccentric wheel 40 to drive the hollow baffle 29 to move upwards and extrude the rubber strip 34, when the eccentric wheel 40 is separated from the hollow baffle 29, the hollow baffle 29 is restored to the original state under the elasticity of the rubber strip 34, so that the eccentric wheel 40 rotates to knock the hollow baffle 29, dust adhered on the conveyor belt 20 shakes off, meanwhile, the air flow in the frame 1 circulates to enable the shaked dust on the conveyor belt 20 to enter the through hole 42 and then enter the filter screen frame 43 to be collected, cleaning of the conveyor belt 20 and dust collection of cleaning are achieved, the influence on part sorting work caused by excessive dust accumulation on the conveyor belt 20 is prevented, and meanwhile, power is still provided by the stepping motor 8.
The driving force of the rotation of the manipulator 3 and the conveyor belt 20, the driving force for fixing parts on the conveyor belt 20, the driving force for cleaning the conveyor belt 20 in a vibrating way and the driving force for collecting cleaned dust are all provided by the stepping motor 8, so that the cost is low.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (4)
1. The utility model provides an assembly robot with select separately function, includes frame (1) and a plurality of manipulator (3), its characterized in that: the top of the frame (1) is provided with a top plate (2), a plurality of manipulators (3) are uniformly and fixedly arranged outside the bottom end of the top plate (2), the top of the inner wall of each manipulator (3) is fixedly provided with a distance sensor (6), two sides of the top of the frame (1) are respectively provided with a conveying mechanism (4), the top of the frame (1) is provided with two vibrating mechanisms (5), the top of the frame (1) is provided with a driving mechanism (7), and the driving mechanism (7) and the vibrating mechanisms (5) are respectively arranged between the two conveying mechanisms (4);
The driving mechanism comprises a stepping motor (8), the stepping motor (8) is fixedly arranged inside a frame (1), a first rotating rod (9) is fixedly arranged at the output end of the stepping motor (8), a second rotating rod (10) is arranged on one side of the first rotating rod (9), the first rotating rod (9) and the second rotating rod (10) are both arranged on the inner wall of the frame (1) and extend out of the top end of the frame (1), the second rotating rod (10) is movably connected with the frame (1) through a bearing, a rotating column (11) is fixedly arranged at the top end of the second rotating rod (10), a hollow rotating rod (12) is fixedly arranged at the bottom end of a top plate (2) and inside a plurality of mechanical arms (3), the bottom of the rotating column (11) is provided with a hollow rotating rod (12), the hollow rotating rod (12) is arranged on the outer side of the second rotating rod (10) and is movably connected with the top end of the frame (1) through a bearing, two belt pulleys (13) are fixedly arranged at the outer end of the first rotating rod (9), the two belt pulleys (13) are connected with the frame (1) through a bearing, the two belt pulleys (13) are fixedly arranged at the outer ends of the two belt pulleys (13) and the two belt pulleys (14) are fixedly arranged at the outer ends of the bottom ends of the first rotating rod (9) respectively, the two belt pulleys (12 are fixedly arranged at the bottom end of the inner end of the belt pulleys (12) and the belt pulley (12 respectively, the two gears (15) are meshed with each other and are arranged at the top of the frame (1), a first sprocket (16) is fixedly arranged at the outer end of the rotating column (11), a second sprocket (17) is fixedly arranged at the outer end of the hollow rotating rod (12), and the second sprocket (17) is arranged at the top of the gears (15);
The conveying mechanism (4) comprises two vertical plates (18) fixedly arranged at the top end of the frame (1), two rotating rollers (19) which are distributed front and back are arranged between the two vertical plates (18) through a rotating shaft, one conveying belt (20) is sleeved at the outer ends of the two rotating rollers (19), a chain (21) and two limit rubber rings (22) are fixedly arranged at the periphery of the inner ends of the rotating rollers (19), the two limit rubber rings (22) are respectively arranged at the two sides of the rotating rollers (19) and are in contact with the rotating rollers (19), the chain (21) is arranged at one side of the limit rubber rings (22), a fixing assembly (23) is arranged on the conveying belt (20), the first chain wheel (16) is meshed with the top at one side of the chain (21), the second chain wheel (17) is meshed with the bottom end at one side of the chain (21), and the vertical plate (18) close to the second chain wheel (17) is positioned at the bottom of the first chain wheel (16), and the second chain wheel (17) penetrates through the vertical plates (18);
The fixing assembly (23) comprises a box body (24) arranged on the inner side of the conveying belt (20), the top end and the bottom end of the box body (24) are both in contact with the inner wall of the conveying belt (20), the box body (24) is arranged between two rotating rollers (19), one side of the box body (24) is fixedly connected with one side of a vertical plate (18) close to a second sprocket (17) through a supporting rod (25), a first pipeline (26) is arranged on the other side of the box body (24) in a penetrating mode, a second pipeline (27) is arranged on the vertical plate (18) far away from the second sprocket (17) in a penetrating mode, one end of the second pipeline (27) is communicated with the first pipeline (26), the other end of the second pipeline (27) penetrates through one side of the frame (1) and is communicated with the inside of the frame (1), a hollow vertical plate (28) is fixedly arranged on the top end of the vertical plate (18) far away from the second sprocket (17), a rubber frame (30) is fixedly arranged on one side of the hollow vertical plate (28), a plurality of hollow baffles (29) are arranged on one side of the rubber frame (30), a plurality of hollow baffles (29) are fixedly arranged on the bottom ends of the hollow baffles (29) and are fixedly arranged on the rubber strips (34) and are fixedly arranged on the outer ends of the rubber strips (34) and are in contact with the hollow baffles (34) and are fixedly arranged on the hollow ends;
The novel air conditioner is characterized in that a first through hole (31) is formed in one side of the hollow vertical plate (28), the rubber frame (30) is communicated with the inside of the hollow vertical plate (28) through the first through hole (31), a plurality of second through holes (32) are formed in the front end and the rear end of the hollow baffle (29), a plurality of third through holes (33) are formed in the outer end of the conveying belt (20), the top end of the box body (24) is opened, the third through holes (33) are communicated with the opening of the box body (24), the third through holes (33) are formed among a plurality of rubber strips (34), a fourth through hole (35) is formed in one side of the hollow baffle (29), the hollow baffle (29) is communicated with the inside of the rubber frame (30) through a fourth through hole (35), a third pipeline (36) is formed in the other side of the hollow vertical plate (28), one end of the third pipeline (36) is communicated with the inside of the hollow vertical plate (28), an exhaust pipe (37) is formed in the other end of the third pipeline (36), two sides of the exhaust pipe (37) penetrate through the inside of the rack (1) and are communicated with the second pipeline (27);
The second pipeline (27) and the exhaust pipe (37) are fixedly provided with one-way valves, and the one-way valve on the exhaust pipe (37) is arranged outside the third pipeline (36);
The outer end of the first rotating rod (9) is fixedly provided with a fan blade (38), and the fan blade (38) is arranged at the bottom of the belt pulley (13).
2. An assembling robot with sorting function according to claim 1, characterized in that: the vibrating mechanism (5) comprises a third rotating rod (39), an eccentric wheel (40) is fixedly arranged at one end of the third rotating rod (39) and a first bevel gear (41) is fixedly arranged at the other end of the third rotating rod, the third rotating rod (39) penetrates through a vertical plate (18) close to the second chain wheel (17) and is connected with the vertical plate (18) through a bearing, the third rotating rod (39) is arranged at the bottom of the second chain wheel (17), and the eccentric wheel (40) is arranged at the bottom of the hollow baffle plate (29).
3. An assembling robot with sorting function according to claim 2, characterized in that: the outer end of the hollow rotating rod (12) is fixedly provided with a second bevel gear (44), the second bevel gear (44) is arranged between the second chain wheel (17) and the gear (15), and the two first bevel gears (41) are respectively meshed with two sides of the second bevel gear (44).
4. An assembling robot with sorting function according to claim 1, characterized in that: the novel filter screen comprises a frame (1), wherein two sides of the top end of the frame (1) are respectively provided with a through hole (42), the through holes (42) are formed in the bottom of a hollow baffle plate (29), the bottoms of the through holes (42) are provided with filter screen frames (43), the two filter screen frames (43) are respectively fixedly arranged at the top end inside the frame (1), and a driving mechanism (7) is arranged between the two filter screen frames (43).
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| CN202110084057.4A CN112756269B (en) | 2021-01-21 | 2021-01-21 | Assembly robot with sorting function |
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| CN202110084057.4A CN112756269B (en) | 2021-01-21 | 2021-01-21 | Assembly robot with sorting function |
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| CN112756269B true CN112756269B (en) | 2024-04-26 |
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| CN112756269A (en) | 2021-05-07 |
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Effective date of registration: 20240204 Address after: Room 205, Room 206, Room J1447, No. 1045 Tianyuan Road, Tianhe District, Guangzhou City, Guangdong Province, 510000 Applicant after: Guangzhou Caimeng Technology Co.,Ltd. Country or region after: China Address before: 510000 No. 8, dachunyuan Industrial Park, Maogang village, Dasha Town, Huangpu District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Mingyao Technology Co.,Ltd. Country or region before: China |
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