CN204397902U - A kind of simple and easy sorting machine people - Google Patents

A kind of simple and easy sorting machine people Download PDF

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Publication number
CN204397902U
CN204397902U CN201520042322.2U CN201520042322U CN204397902U CN 204397902 U CN204397902 U CN 204397902U CN 201520042322 U CN201520042322 U CN 201520042322U CN 204397902 U CN204397902 U CN 204397902U
Authority
CN
China
Prior art keywords
drive unit
connecting rod
sucker
cylinder
quadric chain
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201520042322.2U
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Chinese (zh)
Inventor
张良安
王梦涛
余亮
高鲁文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Hiseed Robot Company Limited
Original Assignee
Anhui University of Technology AHUT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anhui University of Technology AHUT filed Critical Anhui University of Technology AHUT
Priority to CN201520042322.2U priority Critical patent/CN204397902U/en
Application granted granted Critical
Publication of CN204397902U publication Critical patent/CN204397902U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of simple and easy sorting machine people, comprise base portion, drive unit, quadric chain, cylinder and sucker, described drive unit is arranged on base, quadric chain is connected by flat key with drive unit, cylinder is arranged on the end of quadric chain, and sucker is arranged on cylinder piston rod.The utility model has the advantages that sucker planar stable movement, translational speed is fast and have higher positional precision; And the utility model structure is simple, the number of components is few, easy for installation, is the low and simple and easy sorting machine people of practicality of a kind of cost.

Description

A kind of simple and easy sorting machine people
Technical field:
The utility model belongs to Industrial Robot Technology field, is specifically related to a kind of simple and easy sorting machine people.
Background technology:
Along with the development of market economy, the demand of society is to small lot, multi items, multiple batches of multicycle future development, and the ratio making sorting operation shared in home-delivery center's overall operation is also increasing, becomes most labor intensive and the operation of time.Sorting operation has purposes widely in reality is produced, and in the automatic production line of the industries such as light industry, medicine, food and electronics, sorting operation is an important step.Robot based on machine vision sorts compared with manual sorting's operation, not only efficiently, accurately, and in quality assurance, medical support etc., has the irreplaceable advantage of manual work; Compared with traditional mechanical sorting operation, the robot sorting based on machine vision then has wide accommodation, can convert the advantage of manipulating object and conversion sorting operation at any time.Robot Sorting Technique is the organic assembling of Robotics and machine vision technique, Japan and more American-European developed countries, quite universal in production field applied robot sortings such as machinery, food, medicine, cosmetics.Very important meaning is had according to the market demand situation of current China and correlation technique basic research, development and application robot Sorting Technique.
Existing sorting machine people in parallel has that rigidity is large, bearing capacity is strong, error is little, precision is high, deadweight duty ratio is little, power performance good, control the series of advantages such as easy, on applying, complementary relationship is formed with the serial manipulator of current extensive use, but most sorting machine people structure in parallel is more complicated, cost is high, then to seem some wasting of resources for sorting quality light, that volume is little article.It is simple that the present invention devises a kind of mechanism, is applicable to the economical sorting machine people of slight small item product sorting.
Summary of the invention:
The purpose of this utility model is to provide a kind of structure simple, being applicable to the economical sorting machine people of slight small item product sorting.
The utility model provides a kind of simple and easy sorting machine people of a kind of simple and easy sorting machine people to comprise base 4, drive unit, quadric chain 5, cylinder 6 and sucker 12; Described base 4 is bolted on the upper end of column 1, and described column 1 fixes on the ground; Described drive unit comprises the first drive unit and the second drive unit, and described first drive unit is arranged on described base 4 with described second drive unit is concentric; Described quadric chain 5 is connected by flat key with described drive unit, and described cylinder 6 is arranged on the end of described quadric chain 5, and described sucker 12 is arranged on the piston rod of described cylinder 6.
Described first drive unit comprises the first motor 2 and the first decelerator 3, and described second drive unit comprises the second motor 14 and the second decelerator 13; Described quadric chain 5 comprises the first master arm 9, second master arm 8, connecting rod 7 and performs connecting rod 11, described first master arm 9 is connected by flat key with the first decelerator 3 of described first drive unit, described second master arm 8 is connected by flat key with the second decelerator 13 of described second drive unit, described connecting rod 7 one end is connected by bearing with described second master arm 8, the other end of described connecting rod 7 is connected by bearing with described execution connecting rod 11, and the middle part of described execution connecting rod 11 is connected by bearing pin 10 with described first master arm logical 9; Described cylinder 6 is bolted on the end of described execution connecting rod 11; Described sucker 12 is fixed on the piston rod of described cylinder 6.
Described first motor (2) and described second motor (14) adopt servomotor, and described first decelerator (3) and the second decelerator (13) adopt harmonic speed reducer.
Two drive units of the present utility model drive quadric chain jointly, and making end perform bar planar has two one-movement-freedom-degrees; Described sucker is arranged on the piston rod of cylinder, and piston rod is driven can be moved up and down by air pressure, thus drives sucker to move up and down; Thus sucker has three one-movement-freedom-degrees, can realize sorting task accordingly.
The beneficial effects of the utility model are: the rotational freedom of quadric chain constraint end sucker, ensures sucker planar stable movement, make sucker translational speed fast and have higher positional precision; Structure of the present invention is simple, and the number of components is few, is the low and simple and easy sorting machine people of practicality of a kind of cost.
Accompanying drawing illustrates:
Fig. 1 is the utility model simple and easy sorting machine people structural representation;
Fig. 2 is the partial structurtes enlarged diagram of quadric chain and sucker in the utility model.
In figure: 1: column, 2: the first motors, 3: the first decelerators, 4: base, 5: quadric chain, 6: cylinder, 7: connecting rod, 8: the second master arms, 9: the first master arms, 10: bearing pin, 11: perform connecting rod, 12: sucker, 13: the second decelerators, 14: the second motors.
Detailed description of the invention:
As shown in Figure 1 and Figure 2, a kind of simple and easy sorting machine people, comprises base portion, drive unit (first motor 2 and the first decelerator 3), quadric chain 5, cylinder 6 and sucker 12; Described drive unit is arranged on base 4, and quadric chain 5 is connected by flat key with drive unit, and cylinder 6 is arranged on the end of quadric chain 5, and sucker 12 is arranged on cylinder piston rod.
As shown in Figure 1, described column 1 is hollow square steel material, so that carry out sorting operation on corresponding production line on position robot being supported on certain altitude; The first described motor 2 is bolted on the first decelerator 3, and the first decelerator 3 is bolted on described base 4; The first described decelerator 3 adopts harmonic speed reducer, improves transmission accuracy, reduces vibration.
As shown in Figure 2, described quadric chain 5 comprises the first master arm 9, second master arm 8, connecting rod 7 and performs connecting rod 11, the first described master arm 9 is same with the bar appearance of described connecting rod 7, described execution connecting rod 11 and the cradle head of the first master arm 9 are to same with the bar appearance of the second master arm 8 with the length (figure middle conductor A) of the cradle head performing connecting rod 11 and connecting rod 7, thus constitute stable parallelogram sturcutre, make motion quick and stable; The end of quadric chain can planar move, and has two translational degree of freedom; Cradle head between connecting rod is connected by bearing, bearing pin 10, axle sleeve, nut; The piston rod of described cylinder 6 can realize the motion of vertical direction, thus drives sucker 12 vertical motion.
This simple and easy sorting machine people course of work is: when article (as biscuit) enter in robot opereating specification, first drive unit drives quadric chain 5 to move to directly over biscuit position by end sucker 12, the air slide bar that cylinder 6 connects certain pressure moves down, sucker 12 is ventilated and to be held by biscuit, then the piston rod of cylinder 6 moves up, at this moment drive unit drives quadric chain 5 that sucker is moved to preposition, sucker 12 is died and to be put down by biscuit, last sucker moves on to directly over the position of next biscuit, action before repetition, complete sorting operation biscuit being transported to precalculated position from a position.

Claims (3)

1. a simple and easy sorting machine people, is characterized in that this robot comprises base (4), drive unit, quadric chain (5), cylinder (6) and sucker (12); Described base (4) is bolted on the upper end of column (1), and described column (1) fixes on the ground; Described drive unit comprises the first drive unit and the second drive unit, and described first drive unit is arranged on described base (4) with described second drive unit is concentric; Described quadric chain (5) is connected by flat key with described drive unit, described cylinder (6) is arranged on the end of described quadric chain (5), and described sucker (12) is arranged on the piston rod of described cylinder (6).
2. the simple and easy sorting machine people of one according to claim 1, it is characterized in that described first drive unit comprises the first motor (2) and the first decelerator (3), described second drive unit comprises the second motor (14) and the second decelerator (13), described quadric chain (5) comprises the first master arm (9), second master arm (8), connecting rod (7) and execution connecting rod (11), described first master arm (9) is connected by flat key with first decelerator (3) of described first drive unit, described second master arm (8) is connected by flat key with second decelerator (13) of described second drive unit, described connecting rod (7) one end is connected by bearing with described second master arm (8), the other end of described connecting rod (7) is connected by bearing with described execution connecting rod (11), the middle part of described execution connecting rod (11) is connected by bearing pin (10) with described first master arm logical (9), described cylinder (6) is bolted on the end of described execution connecting rod (11), described sucker (12) is fixed on the piston rod of described cylinder (6).
3. the simple and easy sorting machine people of one according to claim 2, it is characterized in that described first motor (2) and described second motor (14) adopt servomotor, described first decelerator (3) and described second decelerator (13) adopt harmonic speed reducer.
CN201520042322.2U 2015-01-21 2015-01-21 A kind of simple and easy sorting machine people Expired - Fee Related CN204397902U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520042322.2U CN204397902U (en) 2015-01-21 2015-01-21 A kind of simple and easy sorting machine people

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520042322.2U CN204397902U (en) 2015-01-21 2015-01-21 A kind of simple and easy sorting machine people

Publications (1)

Publication Number Publication Date
CN204397902U true CN204397902U (en) 2015-06-17

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CN201520042322.2U Expired - Fee Related CN204397902U (en) 2015-01-21 2015-01-21 A kind of simple and easy sorting machine people

Country Status (1)

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CN (1) CN204397902U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104526701A (en) * 2015-01-21 2015-04-22 安徽工业大学 Simple sorting robot
CN108544532A (en) * 2018-04-13 2018-09-18 东北大学 A kind of apery mechanical arm

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104526701A (en) * 2015-01-21 2015-04-22 安徽工业大学 Simple sorting robot
CN108544532A (en) * 2018-04-13 2018-09-18 东北大学 A kind of apery mechanical arm
CN108544532B (en) * 2018-04-13 2020-04-14 东北大学 Humanoid mechanical arm

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C14 Grant of patent or utility model
GR01 Patent grant
C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20160803

Address after: 243000 Anhui city of Ma'anshan province high tech Zone Chihu Road No. 966 penholder

Patentee after: Anhui Hiseed Robot Company Limited

Address before: 243002 Ma'anshan, East Lake Road, Anhui, No. 59

Patentee before: Anhui University of Technology

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150617

Termination date: 20210121