CN207343278U - A kind of rectangular co-ordinate part sorting equipment - Google Patents

Abstract

The utility model discloses a rectangular coordinate parts sorting device, which comprises a Y-direction beam, an X-direction beam, a Y-direction connecting rod, a dual-degree-of-freedom sorting head and a gripper. The Y-direction beam is connected to the sorting table through the frame, and the bottom of the Y-direction beam is provided with a Y-direction slide rail. The X-direction beam is slidably connected to the Y-direction slide rail through a slider, and an X-direction slide rail perpendicular to the Y-direction slide rail is arranged at the bottom of the X-direction beam. The Y-direction connecting rod is slidably connected with the X-direction slide rail through the slider, and the Y-direction connecting rod is parallel to the Y-direction beam. The dual-degree-of-freedom sorting head is arranged at the other end of the Y-direction connecting rod, and the dual-degree-of-freedom sorting head is vertically arranged along the Z-axis, and can rotate along the Z-axis and can be raised and lowered in height. The gripper in the utility model can identify the shape of the parts, and adjust the adsorption fingers of the corresponding parts to carry out adsorption connection. Driven by the Y-direction beam, X-direction beam, Y-direction connecting rod and double-degree-of-freedom sorting head, it can realize Automatically grab various parts and place them on the corresponding racks.

Description

A Cartesian Coordinate Parts Sorting Device

technical field

The utility model relates to the field of automatic processing of thin metal plate parts, in particular to a sorting device for rectangular coordinate parts.

Background technique

At present, when the laser cutting machine cuts the plate, in order to save the plate, it usually adopts the "nesting" processing method, that is, parts of different sizes and shapes are cut on the same plate, as shown in Figure 1, to reduce the area of waste .

In an automated production line, parts cut by a laser cutting machine often require subsequent automated bending. However, these chaotic parts cut out have no way to perform subsequent automatic bending. Therefore, in the automated production line, it is necessary to sort and classify the "nesting" parts after laser cutting. That is to sort out different parts and place them in stacks.

Utility model content

The technical problem to be solved by the utility model is to provide a Cartesian coordinate parts sorting device for the above-mentioned deficiencies in the prior art. The Cartesian coordinate parts sorting device can automatically sort the parts cut by laser "nesting" , classification, so as to meet the automatic bending requirements of the automatic production line.

In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is:

A Cartesian coordinate parts sorting device, comprising a sorting table, a placement frame, a Y-direction beam, an X-direction beam, a Y-direction connecting rod, a two-degree-of-freedom sorting head and a gripper.

The sorting table is used to place the plates and parts cut by the laser cutting machine.

The display rack is arranged on one side of the sorting table.

The Y-direction beam is connected with the sorting table, and the bottom of the Y-direction beam is provided with a Y-direction slide rail.

The X-direction beam is slidably connected to the Y-direction slide rail through a slider, and an X-direction slide rail perpendicular to the Y-direction slide rail is arranged at the bottom of the X-direction beam.

The Y-direction connecting rod is slidably connected with the X-direction slide rail through the slider, and the Y-direction connecting rod is parallel to the Y-direction beam.

The two-degree-of-freedom sorting head is arranged at the other end of the Y-direction connecting rod. The two-degree-of-freedom sorting head is vertically arranged along the Z-axis, and can rotate along the Z-axis and can be raised and lowered in height.

The gripper is set at the bottom of the dual-degree-of-freedom sorting head, and the gripper can automatically grasp parts of various shapes in the sheet after nesting.

The double-degree-of-freedom sorting head is a threaded drive head, which includes a threaded screw, nut A, nut B, a rotating sleeve and a nut driver; the upper half of the threaded screw is provided with thread A, and the lower half of the threaded screw is provided with There is thread B; the thread direction of thread A and thread B is opposite; nut A forms a thread pair connection with thread A, and nut B forms a thread pair connection with thread B; the rotating sleeve is coaxially sleeved on the outer circumference of the threaded screw, and the rotating sleeve The top inner wall of the rotating sleeve is hinged with the outer surface of nut A, and the bottom inner wall of the rotating sleeve is hinged with the outer surface of nut B; nut A and nut B can be driven by the corresponding nut driving device to achieve co-rotation and reverse rotation .

The outer surfaces of the nuts A and B are provided with an annular groove with an L-shaped cross section, wherein the vertical annulus of the annular groove forms a hinged surface that is hinged with the rotating sleeve, and the horizontal annulus of the annular groove forms an opposing The blocking surface of the top or bottom surface of the rotating sleeve for limit blocking.

The double-degree-of-freedom sorting head is a spline drive head, which includes a spline screw, a spline nut, a threaded nut, a rotating sleeve and a nut drive device; the outer surface of the spline screw is staggered and uniformly arranged with spiral spline grooves and threads; wherein, a spline pair connection is formed between the spline nut and the spline groove, and a thread pair connection is formed between the thread nut and the thread; the rotating sleeve is coaxially sleeved on the outer circumference of the spline screw, and the inner wall surface of the rotating sleeve The spline nut and the threaded nut are respectively hinged to the outer surfaces; both the spline nut and the threaded nut can be rotated under the action of the corresponding nut driving device.

The outer surface of the spline nut and the threaded nut is provided with an annular groove with an L-shaped cross section, wherein the vertical annulus of the annular groove forms a hinged surface hinged with the rotating sleeve, and the horizontal annulus of the annular groove forms a The blocking surface that limits the top or bottom surface of the rotating sleeve.

The gripper includes a gripper mounting plate, suction fingers and visual probes; the top of the gripper mounting plate is fixedly connected to the bottom of the dual-degree-of-freedom sorting head, and the bottom of the gripper mounting plate is provided with a vision probe and several suction fingers; each suction The fingers are all connected with the suction driving device, and can be connected and disconnected under the driving of the suction driving device; both the visual probe and the suction driving device are connected with the computer.

Each suction finger is an electromagnet block or a vacuum suction cup.

The rack is a C-frame.

The utility model has the following beneficial effects: the above-mentioned gripper can identify the shape of the part, and adjust the adsorption fingers of the corresponding part to carry out the adsorption connection, driven by the Y-direction beam, the X-direction beam, the Y-direction connecting rod and the double-degree-of-freedom sorting head , to realize the automatic grabbing of various parts and place them on the corresponding racks. Therefore, the parts cut by laser "nesting" can be automatically sorted and classified, so as to meet the automatic bending requirements of the automatic production line.

Description of drawings

Figure 1 shows a schematic diagram of the layout of the parts after cutting by the laser cutting machine.

Fig. 2 shows a structural schematic diagram 1 of a Cartesian coordinate parts sorting device of the present invention.

Fig. 3 shows the structural schematic diagram II of a Cartesian coordinate parts sorting device of the present invention.

Fig. 4 shows a schematic structural view of the gripper of the present invention.

Fig. 5 shows a schematic structural view of the first embodiment of the dual-degree-of-freedom sorting head in the present invention.

Fig. 6 shows a schematic structural view of the second embodiment of the dual-degree-of-freedom sorting head in the present invention.

Fig. 7 shows a schematic cross-sectional structure diagram of the second embodiment of the dual-degree-of-freedom sorting head in the present invention.

Including:

10. Plates; 11. Parts;

20. Sorting table;

30. Display rack;

40. Y-direction beam; 41. C-type frame; 42. Y-direction slide rail;

50. X-direction beam; 51. X-direction slide rail;

60. Y-direction connecting rod;

70. Two-degree-of-freedom sorting head;

71. thread screw; 711. thread A; 712. thread B; 72. nut A; 721. hinged surface; 722. blocking surface; 723. driving surface; 73. nut B; 74. rotating sleeve;

81. Spline screw; 811. Spline groove; 812. Thread; 82. Spline nut; 821. Spline pair; 83. Thread nut; 831. Thread pair;

90. Gripper; 91. Gripper mounting plate; 92. Adsorption finger; 93. Vision probe.

Detailed ways

The utility model will be described in further detail below in conjunction with the accompanying drawings and specific preferred embodiments.

As shown in Figure 2 and Figure 3, a Cartesian coordinate parts sorting device includes a sorting table 20, a placement frame 30, a Y-direction beam 40, an X-direction beam 50, a Y-direction connecting rod 60, a two-degree-of-freedom sorting Head 70 and gripper 90.

The sorting table is used to place the sheets and parts cut by the laser cutting machine. The sorting table can be set downstream of the laser cutting machine, and the sheets 10 and parts 11 cut by the laser cutting machine are automatically transferred to the sorting machine through an automatic transmission line. on stage.

The display racks are arranged on one side of the sorting table, and the number of the display racks is set according to the types and quantities of parts after nesting.

The Y-direction beam is connected with the sorting table through a frame, and the frame is preferably a C-shaped frame 41 .

A Y-direction slide rail 42 is provided at the bottom of the Y-direction beam.

The X-direction beam is slidably connected to the Y-direction slide rail through a slider, and an X-direction slide rail 51 perpendicular to the Y-direction slide rail is arranged at the bottom of the X-direction beam.

The Y-direction connecting rod is slidably connected with the X-direction slide rail through the slider, and the Y-direction connecting rod is parallel to the Y-direction beam.

The dual-degree-of-freedom sorting head is set at the other end of the Y-direction connecting rod. The dual-degree-of-freedom sorting head is vertically arranged along the Z-axis, and can rotate along the Z-axis and can be raised and lowered. Do two degrees of freedom of "lifting" and "rotation".

Through the X-direction beam, the Y-direction connecting rod and the dual-degree-of-freedom sorting head, the horizontal X-direction (beam direction), the Y-direction translation (beam vertical direction), the rotation around the Z-axis (vertical), and the Z-axis horizontal motion are realized. Motion in 4 degrees of freedom.

The structure of the dual-degree-of-freedom sorting head has the following two preferred embodiments:

first embodiment

As shown in FIG. 5 , the dual-degree-of-freedom sorting head is a threaded driving head, which includes a threaded screw 71, a nut A72, a nut B 73, a rotating sleeve 74 and a nut driving device.

The upper half of the threaded screw is provided with thread A 711, and the lower part of the threaded screw is provided with thread B 712; the thread direction of thread A and thread B is opposite; nut A and thread A form a thread pair connection, and nut B and thread B form Threaded secondary connection.

The outer surfaces of the nuts A and B are preferably provided with an annular groove with an L-shaped cross-section, wherein the vertical annulus of the annular groove forms an articulation surface 721 hinged with the rotating sleeve, and the horizontal annulus of the annular groove then A blocking surface 722 is formed to limit and block the top or bottom surface of the rotating sleeve, and both the nut A and the nut B preferably have a driving surface 723 .

The rotating sleeve is coaxially fitted on the outer circumference of the threaded screw, and the top inner wall of the rotating sleeve is hinged with the hinged surface of the nut A, and the bottom inner wall of the rotated sleeve is hinged with the hinged surface of the nut B; the nuts A and B can be Driven by the corresponding nut drive device, it can realize co-rotation and reverse rotation.

Nuts A and B rotate in the same direction to realize the rotational drive around the Z axis, and rotate in the opposite direction to realize the lifting motion (translation) along the Z axis. Compact structure, small size, high integration, easy to control.

The above-mentioned nut driving device is preferably a motor, etc., and the motor is connected to the driving surface through a belt.

Second embodiment

As shown in Figure 6 and Figure 7, the two-degree-of-freedom sorting head is a spline drive head, and the spline drive head includes a spline screw 81, a spline nut 82, a threaded nut 83, a rotating sleeve 74 and a nut driver; Helical spline grooves 811 and threads 812 are evenly distributed on the outer surface of the key screw.

A spline pair 821 is connected between the spline nut and the spline groove, and a thread pair 831 is connected between the threaded nut and the thread.

The outer surfaces of the spline nut and the threaded nut are all preferably provided with an L-shaped annular groove in section, wherein the vertical annulus of the annular groove forms an articulation surface 721 hinged with the rotating sleeve, and the horizontal annulus of the annular groove The surface forms a blocking surface 722 that limits and blocks the top or bottom surface of the rotating sleeve, and both the spline nut and the threaded nut preferably have a driving surface 723 .

The rotating sleeve is coaxially fitted on the outer periphery of the spline screw, and the inner wall of the rotating sleeve is respectively hinged with the articulation surfaces of the spline nut and the threaded nut; both the splined nut and the threaded nut can be to rotate.

The rotation of the spline nut realizes the rotation drive around the Z axis, and the rotation of the threaded nut realizes the lifting motion (translational motion) along the Z axis. Compact structure, small size, high integration, easy to control.

The above-mentioned nut driving device is preferably a motor, etc., and the motor is connected to the driving surface through a belt.

The gripper is set at the bottom of the dual-degree-of-freedom sorting head, and the gripper can automatically grasp parts of various shapes in the sheet after nesting.

As shown in FIG. 4 , the gripper includes a gripper mounting plate 91 , suction fingers 92 and a vision probe 93 .

The top of the gripper mounting plate is fixedly connected to the bottom of the dual-degree-of-freedom sorting head, and the bottom of the gripper mounting plate is provided with a visual probe and several adsorption fingers; each adsorption finger is connected to the adsorption drive device, and can The connection and disconnection of the adsorption is realized under the drive of the driving device; both the visual probe and the adsorption driving device are connected with the computer.

Each suction finger is preferably an electromagnet block or a vacuum chuck, and the suction driving device is preferably a power supply or a vacuum pump.

The above-mentioned computer stores the shapes and types of various parts to be cut (existing technology), and the visual probe will automatically recognize the shape, position and direction of the parts, and adjust the adsorption fingers of the corresponding parts according to the recognized parts shape to carry out the adsorption connection. Driven by the Y-direction beam 40, the X-direction beam 50, the Y-direction connecting rod 60 and the dual-degree-of-freedom sorting head 70, various parts can be automatically grabbed and placed on the corresponding racks.

The preferred embodiment of the utility model has been described in detail above, but the utility model is not limited to the specific details in the above-mentioned embodiment, and within the scope of the technical concept of the utility model, various equivalent transformations can be carried out to the technical solution of the utility model , these equivalent transformations all belong to the protection scope of the present utility model.

Claims (8)

1. A kind of 1. rectangular co-ordinate part sorting equipment, it is characterised in that：Including pigeonholes, laying rack, Y-direction crossbeam, X to crossbeam, Y To connecting rod, double freedom sorting head and handgrip；

   Pigeonholes is used to place the plate after laser cutting machine is cut out a piece of cloth in a way with the minimum material to make two or more articles of clothing and part；

   Laying rack is arranged on the side of pigeonholes；

   Y-direction crossbeam is connected with pigeonholes, and Y-direction crossbeam bottom is provided with Y-direction slide；

   X is slidably connected to crossbeam by sliding block and Y-direction slide, and X is provided with the X perpendicular with Y-direction slide to cunning to crossbeam bottom Rail；

   Y-direction connecting rod is slidably connected by sliding block with X to slide, and Y-direction connecting rod is parallel with Y-direction crossbeam；

   Double freedom sorting head is arranged on the other end of Y-direction connecting rod, and double freedom sorting head is vertically arranged along Z axis, can be along Z Axis is rotated and can highly can lifted；

   Handgrip is arranged on the bottom of double freedom sorting head, and handgrip can be realized to cutting out a piece of cloth in a way with the minimum material to make two or more articles of clothing the automatic of variously-shaped part in rear plate Crawl.
2. 2. rectangular co-ordinate part sorting equipment according to claim 1, it is characterised in that：Double freedom sorting head is screw thread Driving head, screw drive head include thread screw, nut A, nut B, turnbarrel and nut drive；Thread screw it is upper Half part is provided with screw thread A, and the latter half of thread screw is provided with screw thread B；The hand of spiral of screw thread A and screw thread B are opposite；Spiral shell Female A forms screw thread pair with screw thread A and is connected, and nut B forms screw thread pair with screw thread B and is connected；Turnbarrel coaxial package is in screw thread spiral shell The periphery of bar, and the top inner wall face of turnbarrel and the outer surface of nut A are hinged, the bottom interior wall face of turnbarrel and spiral shell The outer surface of female B is hinged；Nut A and nut B can realize rotating Vortex and reversely under the driving of corresponding nut drive Rotation.
3. 3. rectangular co-ordinate part sorting equipment according to claim 2, it is characterised in that：The outer surface of nut A and nut B The L-shaped annular groove in section is provided with, wherein, the vertical anchor ring of annular groove is formed to be hinged with what turnbarrel was hinged Face, the horizontal anchor ring of annular groove then form the blocking surface that spacing stop is carried out to turnbarrel top surface or bottom surface.
4. 4. rectangular co-ordinate part sorting equipment according to claim 1, it is characterised in that：Double freedom sorting head is spline Driving head, spline driving head include spline screw rod, splined nut, screw nut, turnbarrel and nut drive；Spline spiral shell Rod outer surface interlocks and uniformly distributed has spiral spline and screw thread；Wherein, spline is formed between splined nut and spline Pair connection, forms screw thread pair connection between screw nut and screw thread；Turnbarrel coaxial package is revolved in the periphery of spline screw rod Outer surface of the internal face of rotaring sleeve respectively with splined nut and screw nut is hinged；Splined nut and screw nut can be Under the action of corresponding nut drive, rotated.
5. 5. rectangular co-ordinate part sorting equipment according to claim 4, it is characterised in that：Splined nut and screw nut Outer surface is provided with the L-shaped annular groove in section, wherein, the vertical anchor ring of annular groove forms what is be hinged with turnbarrel Hinged face, the horizontal anchor ring of annular groove then form the blocking surface that spacing stop is carried out to turnbarrel top surface or bottom surface.
6. 6. rectangular co-ordinate part sorting equipment according to claim 1, it is characterised in that：Handgrip include handgrip installing plate, Adsorb finger and vision probe；Bottom at the top of handgrip installing plate with double freedom sorting head is fixedly connected, handgrip installing plate Bottom is provided with vision probe and several absorption fingers；Each absorption finger is connected with absorption driving device, and equal energy The connection and disconnection of absorption are realized under the driving of absorption driving device；Vision probe and absorption driving device with computer phase Connection.
7. 7. rectangular co-ordinate part sorting equipment according to claim 6, it is characterised in that：Each absorption finger is electromagnetism Iron block or vacuum cup.
8. 8. rectangular co-ordinate part sorting equipment according to claim 1, it is characterised in that：Rack is c-type rack.