CN114572461A - Sorting clamp, sorting robot and sorting method - Google Patents
Sorting clamp, sorting robot and sorting method Download PDFInfo
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- CN114572461A CN114572461A CN202210310169.1A CN202210310169A CN114572461A CN 114572461 A CN114572461 A CN 114572461A CN 202210310169 A CN202210310169 A CN 202210310169A CN 114572461 A CN114572461 A CN 114572461A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 142
- 238000004806 packaging method and process Methods 0.000 claims abstract description 17
- 230000008859 change Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 235000002566 Capsicum Nutrition 0.000 claims description 15
- 241000758706 Piperaceae Species 0.000 claims description 15
- 238000003825 pressing Methods 0.000 claims description 12
- 238000005452 bending Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 8
- 239000000463 material Substances 0.000 description 4
- 238000012856 packing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 240000004160 Capsicum annuum Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000008157 edible vegetable oil Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 235000012149 noodles Nutrition 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
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Abstract
The invention provides a sorting clamp, a sorting robot and a sorting method, relates to the technical field of spicy strip production equipment, and solves the technical problems of high labor intensity and low efficiency of manual sorting. The sorting clamp is suspended at the tail end of the sorting robot and comprises a top plate and a clamping device, wherein the top plate is used for being connected with the sorting robot; the fixing clamp mechanism is arranged on the top plate and used for clamping the spicy strips; the movable clamping piece mechanisms are symmetrically arranged on two sides of the fixed clamping piece mechanism and are used for clamping the spicy strips; and the reversing mechanism is in transmission connection with the movable clamping mechanism and can drive the movable clamping mechanism to move so as to switch between the vertical and linear arrangement positions and the horizontal and linear arrangement positions of the fixed clamping mechanism. The spicy stick packaging machine can realize that the longitudinal arrangement of spicy sticks is converted into the transverse arrangement, and simultaneously, the change of the size of the space between two adjacent groups is accompanied, so that the packaging operation requirement of the spicy sticks is met, and the spicy stick packaging machine also has the characteristics of lower manufacturing cost and lower maintenance cost; the whole structure realizes that the whole action is very direct and the working efficiency is high.
Description
Technical Field
The invention relates to the technical field of spicy noodle production equipment, in particular to a sorting clamp, a sorting robot and a sorting method.
Background
For the packaging link of spicy strips, according to a group of 4 packaging requirements, the prior method mostly adopts the form of manually arranging and sorting, then manually rotating for 90 degrees, and then stacking shifting fork material grooves of a pillow packing machine at intervals, thereby occupying a large amount of manpower and cost expenses, being influenced by productivity and output speed of the packaging machine, and having extremely high manual labor intensity. At present, no complete matching equipment can be well matched in the packaging link.
The existing solution is to manually prepare the hot bar code for later use. During the packing operation, the manual work turns to peppery strip according to 4 a set of requirements fast and puts into the shift fork silo of pillow chartered plane, according to fixed shift fork interval, repeated operation.
The existing clamps on the market do not completely match the requirements of the link, most of the existing clamps are multi-grip X unidirectional variable pitch or multi-grip XY bidirectional variable pitch, and the automatic sorting requirements of the link cannot be realized.
Disclosure of Invention
The invention aims to provide a sorting clamp, a sorting robot and a sorting method, and aims to solve the technical problems of high labor intensity and low efficiency of manual sorting in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a sorting clamp which is suspended at the tail end of a sorting robot and comprises
The top plate is used for being connected with the sorting robot;
the fixing clamp mechanism is arranged on the top plate and used for clamping the spicy strips;
the movable clamping piece mechanisms are symmetrically arranged on two sides of the fixed clamping piece mechanism and are used for clamping the spicy strips;
and the reversing mechanism is in transmission connection with the movable clamping mechanism and can drive the movable clamping mechanism to move so as to switch between the vertical linear arrangement position and the horizontal linear arrangement position of the fixed clamping mechanism.
As a further improvement of the invention, the top plate is of a Z-shaped structure, and a connecting ring is arranged in the middle of the top part and is used for being connected with a sorting robot; the fixed clamp mechanism is arranged at the center of the bottom of the top plate; the number of the movable clamping piece mechanisms is even, and the movable clamping piece mechanisms are divided into two groups and arranged on two sides of the fixed clamping piece mechanism; when the fixed clamping piece mechanism and the movable clamping piece mechanism are arranged along the width direction of the bottom plate and are arranged in a vertical straight line, the fixed clamping piece mechanism and the movable clamping piece mechanism are adhered together at a minimum interval; when the fixed clamping piece mechanism and the movable clamping piece mechanism are arranged along the length direction of the bottom plate and are arranged in a horizontal straight line, the fixed clamping piece mechanism and the movable clamping piece mechanism are arranged at intervals.
As a further improvement of the invention, the reversing mechanism comprises a rotating shaft, a rotating limit plate and a guide groove, wherein the rotating shaft is rotatably arranged in the center of the top plate and is positioned in the center of the connecting ring; the guide grooves are L-shaped and are arranged along the length direction of the bottom plate, the number of the guide grooves is even, the guide grooves are divided into two groups which are symmetrically arranged at two sides of the rotating shaft, and the bending directions of the two groups of guide grooves are clockwise bending; the rotating limiting plate is placed above the top plate and is fixedly connected with the rotating shaft, and sliding grooves are symmetrically formed in two sides of the rotating limiting plate; the top of the movable clamping piece mechanism is sequentially clamped in the guide groove and the sliding groove, and when the rotating limiting plate rotates, the movable clamping piece mechanism can be driven to move along the guide groove.
As a further improvement of the present invention, the fixed clamping mechanism and the movable clamping mechanism each include an air cylinder, a pressing plate, a first clamping jaw and a second clamping jaw, the air cylinder and the pressing plate are both suspended on the bottom plate, and the first clamping jaw is disposed at one end of the pressing plate; the second clamping jaw is located the clamp plate other end, and with the cylinder transmission is connected.
As a further improvement of the invention, the number of the first clamping jaws is two, and the first clamping jaws are arranged at intervals; the number of the second clamping jaws is two, and the second clamping jaws are arranged at intervals; the adjacent two movable clamping piece mechanisms or the adjacent fixed clamping piece mechanism and the adjacent movable clamping piece mechanism are provided with the first clamping jaw and the second clamping jaw in a staggered mode.
As a further improvement of the invention, the movable clamp mechanism further comprises a bracket for suspending the cylinder and the pressing plate, the top of the bracket is provided with a connecting column, the top of the connecting column is provided with a limiting seat, and the top of the limiting seat is provided with a guide pillar; the width of the connecting column is matched with that of the guide groove; the specification of the limiting seat is greater than that of the guide groove; the guide post specification is matched with the chute specification.
As a further improvement of the invention, the connecting column is a square column; the limiting seat is cylindrical; the guide post is cylindrical.
As a further improvement of the invention, the starting ends of all the guide grooves are in the same straight line with the central longitudinal axis of the rotating shaft; the tail ends of all the guide grooves are in the same straight line with the central transverse axis of the rotating shaft.
As a further improvement of the invention, the width of the guide groove is greater than the width of the sliding groove.
The invention provides a sorting robot which comprises the sorting clamp.
The invention provides a sorting method based on a sorting robot, which comprises the following steps:
s1, arranging and arranging the peppery strips to be sorted and packaged at a grabbing station, and arranging the peppery strips into an equidistant arrangement and conveying form according to the minimum space size;
s2, automatically sorting the peppers in a form of placing along with the grabbing fixed points by a sorting robot, placing the sorted peppers in a placing position, placing the peppers in a fork groove of a pillow packaging machine according to the requirement of the placing position in a group of 4 peppers, and sorting 20 peppers by the sorting robot each time;
in the step S2, when the sorting robot grabs, the cylinders in the fixed clamping mechanism and the movable clamping mechanism are opened to ensure that the first clamping jaw and the second clamping jaw are distributed on 20 spicy strips at equal intervals, then the cylinders are contracted to automatically divide the 20 spicy strips into five groups, and 4 spicy strips in each group are in a holding state;
in the step S2, when the sorting robot is placed, the sorting robot rotates a rotating shaft, the rotating shaft drives a rotating limiting plate to rotate, the rotating limiting plate drives four groups of movable clamping piece mechanisms to move in a guide groove of a top plate according to a path, when the rotating shaft rotates 90 degrees, the four movable clamping piece mechanisms move to a horizontal linear arrangement position required for placement from a previous longitudinal linear arrangement position, an air cylinder is opened, and five groups of spicy strips are uniformly placed in five groups of shifting forks;
in step S2, after the sorting robot is placed, the rotating shaft rotates anticlockwise, the air cylinder contracts and restores to a state before grabbing, the circulation is repeated, the longitudinal arrangement of the spicy strips is converted into the transverse arrangement, and meanwhile, the requirement of packaging operation of the spicy strips is met along with the change of the size of the space between two adjacent groups of spicy strips.
Compared with the prior art, the invention has the following beneficial effects:
the sorting clamp provided by the invention can realize that the longitudinal arrangement of the spicy strips is converted into the transverse arrangement, and simultaneously, the packaging operation requirement of the spicy strips is completed along with the change of the space size between two adjacent groups, and the sorting clamp also has the characteristics of lower manufacturing cost and lower maintenance cost; the whole structure realizes that the whole action is very direct and the working efficiency is high.
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 is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a sorting fixture according to the present invention;
FIG. 2 is a schematic perspective view of the sorting fixture of the present invention as viewed from the bottom;
FIG. 3 is a bottom view of the sorting fixture of the present invention;
FIG. 4 is an exploded view of the sorting fixture of the present invention;
FIG. 5 is a front view of a movable clamp mechanism of the sorting clamp of the present invention with the connecting post removed;
FIG. 6 is a front view of the sorting fixture mounting location post of the present invention;
FIG. 7 is a front view of the sorting jig of the present invention without the locating posts installed;
FIG. 8 is a schematic perspective view of the sorting fixture of the present invention from another side;
FIG. 9 is a schematic view of the arrangement of the fixed and movable clamp mechanisms of the sorting fixture of the present invention in a vertical alignment;
fig. 10 is an exploded view of the fixed and movable clamp mechanisms of the sorting clamp of the present invention;
FIG. 11 is an exploded view of the fixed and movable clamp mechanisms of the sorting fixture of the present invention from another perspective;
fig. 12 is a diagram of the movement route of the sorting jig of the present invention in use.
FIG. 1, top plate; 2. a clip fixing mechanism; 3. a movable clamp mechanism; 31. a cylinder; 32. pressing a plate; 33. a first jaw; 34. a second jaw; 35. a support frame; 36. connecting columns; 37. a limiting seat; 38. a guide post; 4. a reversing mechanism; 41. a rotating shaft; 42. rotating the limiting plate; 421. a chute; 43. a guide groove; 5. and (7) connecting rings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Because the surface of the spicy strip is provided with the edible oil and the chilli powder, the long-term stable and effective use cannot be met by the conventional vacuum adsorption carrying mode, and the sorting carrying can only be carried out by considering the clamping mode. As shown in fig. 1 and 2, the present invention therefore provides a sorting jig, which is suspended at the end of a sorting robot, comprising
The top plate 1 is used for being connected with a sorting robot;
the fixed clamping piece mechanism 2 is arranged on the top plate 1 and used for clamping the spicy strips;
the movable clamping piece mechanisms 3 are symmetrically arranged at two sides of the fixed clamping piece mechanism 2 and are used for clamping the spicy strips;
and the reversing mechanism 4 is in transmission connection with the movable clamping piece mechanism 3 and can drive the movable clamping piece mechanism 3 to move so as to switch between the vertical and horizontal linear arrangement positions of the movable clamping piece mechanism 3 and the fixed clamping piece mechanism 2.
That is, when the reversing mechanism 4 is activated, the movable clip mechanism 3 can be driven to move, so that the movable clip mechanism 3 moves to be vertically aligned with the fixed clip mechanism, or moves to be horizontally aligned with the fixed clip mechanism 2, in other words, the clip mechanism rotates vertically and horizontally.
The sorting clamp provided by the invention can realize that the longitudinal arrangement of the spicy strips is converted into the transverse arrangement, and simultaneously, the packaging operation requirement of the spicy strips is completed along with the change of the space size between two adjacent groups, and the sorting clamp also has the characteristics of lower manufacturing cost and lower maintenance cost; the whole structure realizes that the whole action is very direct and the working efficiency is high.
As shown in fig. 3 and 4, as an alternative embodiment of the present invention, the top plate 1 is a Z-shaped structure, two free arms at two ends are respectively located at two sides of the middle base part, a connecting ring 5 is arranged in the middle of the top plate 1 for connecting with a sorting robot, the connecting ring 5 is a circular ring structure, two connecting rods are oppositely arranged at the bottom, and the connecting rods are connected to the top plate 1; the fixed clamp mechanism 2 is arranged at the center of the bottom of the top plate 1, and particularly, is positioned on the top plate 1 corresponding to the bottom of the connecting ring 5; as shown in fig. 4, 6 and 7, a through hole is further formed in the top plate 1 at the center position, a positioning column for zero point calibration of the sorting robot is detachably mounted in the through hole, and the positioning column can be directly screwed off from the top plate 1 after zero point calibration is completed. It should be further noted that the through hole for calibration is also located at the center of the fixing clip mechanism 2, and the positioning column will extend through the fixing clip mechanism 2 to the outside to facilitate smooth calibration. The number of the movable clamping piece mechanisms 4 is even, and the movable clamping piece mechanisms are divided into two groups and arranged on two sides of the fixed clamping piece mechanism 2; when the fixed clamping piece mechanism 2 and the movable clamping piece mechanism 3 are arranged along the width direction of the bottom plate 1, namely are arranged in a vertical straight line, the fixed clamping piece mechanism and the movable clamping piece mechanism are mutually kept at the minimum interval to be attached together, so that the spicy strips arranged at equal intervals can be conveniently grabbed in groups at the same time; when the fixed clamping piece mechanism 2 and the movable clamping piece mechanism 3 are arranged along the length direction of the bottom plate 1, namely are arranged in a horizontal straight line, the fixed clamping piece mechanism and the movable clamping piece mechanism are arranged at intervals, so that a plurality of groups of separated spicy strips can be formed, and the requirement for placing the positions at required intervals is met.
Further, the reversing mechanism 4 comprises a rotating shaft 41, a rotating limiting plate 42 and a guide groove 43, the rotating shaft 41 is rotatably arranged at the center of the top plate 1 and is positioned at the center of the connecting ring 5, and the top of the rotating shaft 41 is connected with a rotating shaft of the sorting robot so as to rotate under the driving of the sorting robot; the guide grooves 43 are L-shaped and are arranged along the length direction of the bottom plate 1, the number of the guide grooves is even, the guide grooves are divided into two groups which are symmetrically arranged at two sides of the rotating shaft 41, and the bending directions of the two groups of guide grooves 43 are clockwise bending; the rotating limit plate 42 is placed above the top plate 1 and is fixedly connected with the rotating shaft 41, and sliding grooves 421 are symmetrically formed in two sides of the rotating limit plate 42; the top of the movable clip mechanism 3 is sequentially clamped in the guide groove 43 and the sliding groove 421, when the rotation limiting plate 42 rotates, the movable clip mechanism 3 can be driven to move along the guide groove 43, and considering that the guide groove 43 has a corner, in order to facilitate the smooth passing of the movable clip mechanism 3, in actual operation, when the movable clip mechanism 3 reaches the corner, the moving speed can be reduced to ensure that the movable clip mechanism can smoothly pass through the corner without being clamped or collided.
As shown in fig. 5, 8, 9 and 10, as an alternative embodiment of the present invention, the fixed clamping mechanism 2 and the movable clamping mechanism 3 each include an air cylinder 31, a pressing plate 32, a first clamping jaw 33 and a second clamping jaw 34, the air cylinder 31 and the pressing plate 32 are both suspended on the bottom plate 1, and the first clamping jaw 33 is disposed at one end of the pressing plate 32; the second clamping jaw 34 is located at the other end of the pressing plate 32 and is in transmission connection with the air cylinder 31, a U-shaped piece grabbing groove is formed by the first clamping jaw 33, the pressing plate 32 and the second clamping jaw 34, and the air cylinder 31 is used for driving the second clamping jaw 34 to move, so that the piece grabbing groove is enlarged and reduced, and the spicy strips are grabbed and put down.
As shown in fig. 10 and 11, further, the number of the first clamping jaws 33 is two, and the first clamping jaws are arranged at intervals; the number of the second clamping jaws 34 is two, and the second clamping jaws are arranged at intervals; the adjacent two movable clamping device mechanisms 3 are alternatively arranged in a staggered manner, namely, the first clamping jaw 33 and the second clamping jaw 34 on the adjacent fixed clamping device mechanism 2 and the adjacent movable clamping device mechanism 3. Specifically, as shown in fig. 10, the fixing plate structures of the two movable clamp mechanisms 3 in each group, in which the second clamping jaws 34 are arranged, are just opposite, namely a positive L and a negative L, so that the first clamping jaws 33 and the second clamping jaws 34 in the two adjacent clamp mechanisms can be staggered without interference; as shown in fig. 11, which is a schematic view from the other side of the clamping mechanism, the first clamping jaw 33 can be seen from the side, and it can also be seen from the view that the first clamping jaw 33 in the two movable clamping mechanisms 3 in the same group is also arranged in a staggered manner, and the first clamping jaw 33 and the second clamping jaw 34 in the fixed clamping mechanism 2 need to be arranged in a staggered manner with the first clamping jaw 33 and the second clamping jaw 34 in the movable clamping mechanism 3 adjacent to the first clamping jaw 33.
As shown in fig. 4, 10 and 11, in detail, the movable clamp mechanism 3 further includes a supporting frame 35 for suspending the cylinder 31 and the pressing plate 32, a connecting column 36 is disposed on the top of the supporting frame 35, a limiting seat 37 is disposed on the top of the connecting column 36, and a guide pillar 38 is disposed on the top of the limiting seat 37; the width of the connecting column 36 is matched with that of the guide groove 43; the specification of the limiting seat 37 is larger than that of the guide groove 43; the specification of the guide post 38 is matched with that of the sliding chute 421.
Further, the connecting column 36 is a square column; the limiting seat 37 is cylindrical; the guide post 38 is cylindrical. Through the structure, the movable clamp mechanism 3 cannot rotate when moving, and the direction of the spicy strips can be kept.
The starting ends of all the guide grooves 43 are in the same straight line with the central longitudinal axis of the rotating shaft 41; the tail ends of all the guide grooves 43 are in the same line with the central transverse axis of the rotating shaft 41.
The width of the guide groove 43 is larger than that of the sliding groove 421.
The invention provides a sorting robot which comprises the sorting clamp.
Example 1:
in the embodiment, a sorting robot with a sorting fixture is provided, wherein the sorting robot is a parallel robot and is arranged between a grabbing station and a placing station in a manner of following grabbing and placing at fixed points; the spicy strips are firstly arranged into a mode of being arranged and conveyed at equal intervals according to the minimum interval size through material arranging equipment or other modes such as manual work and the like.
In this embodiment, letter sorting anchor clamps include a roof 1, and one set of fixed folder mechanism 2 and four sets of movable folder mechanisms 3 of installation are in the roof 1, and five sets of folder mechanisms that also are counted together, and five sets of folder mechanisms all are through the cylinder drive for four peppery strips after the arrangement location are put together the shrink and are pressed from both sides tightly, reach the single group state that needs when placing.
Four sets of the five sets of clamping mechanisms are movable clamping piece mechanisms 3, the movable clamping piece mechanisms are restrained on the top plate 1 through a support frame 35 and a connecting column 36 and are limited by a limiting seat 37, the movable clamping piece mechanisms 3 are prevented from being separated from the top plate 1 under the action of self gravity, and are movably connected with a rotating limiting plate 42 through a guide column 38 at the top of the limiting seat 37, during work, the four sets of the movable clamping piece mechanisms 3 are A, B, D, E respectively, the four sets of the clamping piece mechanisms can slide in a guide groove 43 on the top plate 1, and in the whole sorting and carrying process, the fixed clamping piece mechanisms 2, namely the C set, keep self position states unchanged except the action of a self contraction air cylinder 31. A. B, D, E the four sets of mechanisms travel in the travel path shown in fig. 12 in the guide grooves 43 of the top plate 1. The top plate 1 and the connecting ring 5 are fixed together, and the connecting ring 5 is directly fixed on a movable platform at the tail end of the parallel robot. When the parallel robot acts, the whole sorting clamp can be driven by the connecting ring 5 to move in the XYZ three directions.
The sorting fixture further comprises a rotation limiting plate 42 arranged at the top of the top plate 1, and the rotation limiting plate 42 is connected with the middle rotating shaft 41. And the middle rotating shaft 41 is fixedly connected with the four-shaft middle rotating shaft at the tail end of the parallel robot. In this way, the middle rotating shaft of the parallel robot can drive A, B, D, E the four sets of clip mechanisms to move along the path in the sliding slot 421 of the rotating limit plate 42 through the middle rotating shaft 41 and the rotating limit plate 42. Thus, when the middle rotating shaft of the parallel robot rotates 90 ° clockwise according to the position shown in fig. 1, the A, B, D, E four sets of clamping members can move to the required state according to the determined path when we place. The five groups of spicy strips can be placed in the five groups of shifting forks uniformly by opening the cylinder 31.
After the placing is finished, the rotating shaft of the parallel robot rotates anticlockwise by 90 degrees in the middle, and meanwhile, the cylinder contracts and returns to the state before the grabbing. Circulation like this, can realize through this anchor clamps that longitudinal arrangement changes into horizontal arrangement, the interval size that has simultaneously between two adjacent groups changes, accomplishes the packing operation demand of peppery strip.
The invention provides a sorting method based on a sorting robot, which comprises the following steps:
s1, arranging and arranging the spicy strips to be sorted and packaged at the grabbing station, and arranging the spicy strips into an equidistant arrangement conveying form according to the minimum distance size;
s2, automatically sorting the peppers in a form of placing along with the grabbing fixed points by a sorting robot, placing the sorted peppers in a placing position, placing the peppers in a fork groove of a pillow packaging machine according to the requirement of the placing position in a group of 4 peppers, and sorting 20 peppers by the sorting robot each time; 20 pieces are sorted by the robot each time, and the sorting is carried out 22-25 times per minute, so that the requirements of the rear-end packaging machine on the packaging speed of 450-500 pieces/min can be met;
in the step S2, when the sorting robot grabs, the cylinders in the fixed clamping mechanism and the movable clamping mechanism are opened to ensure that the first clamping jaw and the second clamping jaw are distributed on 20 spicy strips at equal intervals, then the cylinders are contracted to automatically divide the 20 spicy strips into five groups, and 4 spicy strips in each group are in a holding state;
in the step S2, when the sorting robot is placed, the sorting robot rotates a rotating shaft, the rotating shaft drives a rotating limiting plate to rotate, the rotating limiting plate drives four groups of movable clamping piece mechanisms to move in a guide groove of a top plate according to a path, when the rotating shaft rotates 90 degrees, the four movable clamping piece mechanisms move to a horizontal linear arrangement position required for placement from a previous longitudinal linear arrangement position, an air cylinder is opened, and five groups of spicy strips are uniformly placed in five groups of shifting forks;
in step S2, after the sorting robot is placed, the rotating shaft rotates anticlockwise, the air cylinder contracts and restores to a state before grabbing, the circulation is repeated, the longitudinal arrangement of the spicy strips is converted into the transverse arrangement, and meanwhile, the requirement of packaging operation of the spicy strips is met along with the change of the size of the space between two adjacent groups of spicy strips.
The state during grabbing is the state of A, B, C, D, E groups, and finally the state is changed into the states of A ', B ', C ', D ' and E ' groups during placing. The change of the whole process comprises the conversion of longitudinal arrangement into transverse arrangement and is accompanied by the change of the space size between two adjacent groups. The green part in the figure is the path that each packet travels during the change.
It should be noted that "inward" is a direction toward the center of the accommodating space, and "outward" is a direction away from the center of the accommodating space.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in fig. 1 to facilitate the description of the invention and to simplify the description, but are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A sorting clamp is characterized in that the sorting clamp is suspended at the tail end of a sorting robot and comprises
The top plate is used for being connected with the sorting robot;
the fixing clamp mechanism is arranged on the top plate and used for clamping the spicy strips;
the movable clamping piece mechanisms are symmetrically arranged on two sides of the fixed clamping piece mechanism and are used for clamping the spicy strips;
and the reversing mechanism is in transmission connection with the movable clamping mechanism and can drive the movable clamping mechanism to move so as to switch between the vertical linear arrangement position and the horizontal linear arrangement position of the fixed clamping mechanism.
2. The sorting fixture of claim 1, wherein the top plate is a Z-shaped structure, and a connecting ring is arranged in the middle of the top plate and used for connecting with a sorting robot; the fixed clamp mechanism is arranged at the center of the bottom of the top plate; the number of the movable clamping piece mechanisms is even, and the movable clamping piece mechanisms are divided into two groups and arranged on two sides of the fixed clamping piece mechanism; when the fixed clamping piece mechanism and the movable clamping piece mechanism are arranged along the width direction of the bottom plate and are arranged in a vertical straight line, the fixed clamping piece mechanism and the movable clamping piece mechanism are adhered together at a minimum interval; when the fixed clamping piece mechanism and the movable clamping piece mechanism are arranged along the length direction of the bottom plate and are arranged in a horizontal straight line, the fixed clamping piece mechanism and the movable clamping piece mechanism are arranged at intervals.
3. The sorting clamp according to claim 2, wherein the reversing mechanism comprises a rotating shaft, a rotating limiting plate and a guide groove, the rotating shaft is rotatably arranged at the center of the top plate and is positioned at the center of the connecting ring; the guide grooves are L-shaped and are arranged along the length direction of the bottom plate, the number of the guide grooves is even, the guide grooves are divided into two groups which are symmetrically arranged at two sides of the rotating shaft, and the bending directions of the two groups of guide grooves are clockwise bending; the rotating limiting plate is placed above the top plate and is fixedly connected with the rotating shaft, and sliding grooves are symmetrically formed in two sides of the rotating limiting plate; the top of the movable clamping piece mechanism is sequentially clamped in the guide groove and the sliding groove, and when the rotating limiting plate rotates, the movable clamping piece mechanism can be driven to move along the guide groove.
4. The sorting fixture of claim 3, wherein the fixed clamp mechanism and the movable clamp mechanism each include an air cylinder, a pressure plate, a first clamping jaw, and a second clamping jaw, the air cylinder and the pressure plate each being suspended from the base plate, the first clamping jaw being disposed at one end of the pressure plate; the second clamping jaw is located the clamp plate other end, and with the cylinder transmission is connected.
5. A sorting clamp according to claim 4, characterised in that said first jaws are two in number, spaced apart; the number of the second clamping jaws is two, and the second clamping jaws are arranged at intervals; the adjacent two movable clamping piece mechanisms or the adjacent fixed clamping piece mechanism and the adjacent movable clamping piece mechanism are provided with the first clamping jaw and the second clamping jaw in a staggered mode.
6. The sorting jig of claim 4, wherein the movable clamp mechanism further comprises a support frame for suspending the cylinder and the pressing plate, a connecting column is provided on the top of the support frame, a limiting seat is provided on the top of the connecting column, and a guide post is provided on the top of the limiting seat; the width of the connecting column is matched with that of the guide groove; the specification of the limiting seat is greater than that of the guide groove; the guide post specification is matched with the chute specification.
7. The sortation clamp of claim 7, wherein said attachment post is a square post; the limiting seat is cylindrical; the guide post is cylindrical.
8. A sorting fixture according to claim 3, characterised in that all the guide slot starts in line with the central longitudinal axis of the shaft; the tail ends of all the guide grooves are in the same straight line with the central transverse axis of the rotating shaft.
9. A sorting robot, characterized in that it comprises a sorting jig according to any one of claims 1-8.
10. A sorting method based on a sorting robot as claimed in claim 9, comprising the steps of:
s1, arranging and arranging the spicy strips to be sorted and packaged at the grabbing station, and arranging the spicy strips into an equidistant arrangement conveying form according to the minimum distance size;
s2, automatically sorting the peppers in a form of placing along with the grabbing fixed points by a sorting robot, placing the sorted peppers in a placing position, placing the peppers in a fork groove of a pillow packaging machine according to the requirement of the placing position in a group of 4 peppers, and sorting 20 peppers by the sorting robot each time;
in the step S2, when the sorting robot grabs, the cylinders in the fixed clamping mechanism and the movable clamping mechanism are opened to ensure that the first clamping jaw and the second clamping jaw are distributed on 20 spicy strips at equal intervals, then the cylinders are contracted to automatically divide the 20 spicy strips into five groups, and 4 spicy strips in each group are in a holding state;
in the step S2, when the sorting robot is placed, the sorting robot rotates a rotating shaft, the rotating shaft drives a rotating limiting plate to rotate, the rotating limiting plate drives four groups of movable clamping piece mechanisms to move in a guide groove of a top plate according to a path, when the rotating shaft rotates 90 degrees, the four movable clamping piece mechanisms move to a horizontal linear arrangement position required for placement from a previous longitudinal linear arrangement position, an air cylinder is opened, and five groups of spicy strips are uniformly placed in five groups of shifting forks;
in step S2, after the sorting robot is placed, the rotating shaft rotates anticlockwise, the air cylinder contracts and restores to a state before grabbing, the circulation is repeated, the longitudinal arrangement of the spicy strips is converted into the transverse arrangement, and meanwhile, the requirement of packaging operation of the spicy strips is met along with the change of the size of the space between two adjacent groups of spicy strips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210310169.1A CN114572461A (en) | 2022-03-28 | 2022-03-28 | Sorting clamp, sorting robot and sorting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210310169.1A CN114572461A (en) | 2022-03-28 | 2022-03-28 | Sorting clamp, sorting robot and sorting method |
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| Publication Number | Publication Date |
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| CN114572461A true CN114572461A (en) | 2022-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210310169.1A Pending CN114572461A (en) | 2022-03-28 | 2022-03-28 | Sorting clamp, sorting robot and sorting method |
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