CN208716341U - Cooperating type material tidying mechanism - Google Patents

Abstract

The utility model provides a kind of cooperating type material tidying mechanism, including support device, magazine, transmission device and control device.The support device is used to support the magazine；The magazine is for placing material；The transmission device includes feeding belt, the reason material position on the feeding belt and multiple robots；Material is transferred to the reason material position from the magazine for controlling the robot by the control device.Compared to the prior art, the cooperating type material tidying mechanism of the utility model, utilize multiple robot work compounds, material is shifted into famous dictum material position from magazine, material that not only can be different to a large amount of, material carries out automatic sorting, and have the advantages that low cost, it is efficient, can be applied to multiple industries, realize the full-automation of producing line.

Description

Cooperating type material tidying mechanism

Technical field

The utility model relates to a kind of cooperating type material tidying mechanisms, belong to automation control area.

Background technique

Under " made in China 2025 " background, every profession and trade production line all in transformation and upgrade, develops to automated production.In mesh Preceding developing stage, the full set that producing line is also not implemented are full-automatic.Such as: the producing lines such as processing, packaging, the object that need to be processed or pack Expect that communicated band spaced apart is sent to automatic equipment feed inlet, then sent out from discharge port, realizes automatic processing or packaging etc. Operation.But face thousands of initial material, equipment can not automatic arranging at suitable processing form, generally require by Manual sorting is put again later to conveyer belt, and feeding, reason material are carried out.

In order to guarantee production efficiency, an automatic processing or the human cost for packing producing line are high, this semi-automatic The production line of change and the demand for not meeting industrial upgrading transformation.In addition, artificial loading may be to food if it is food service industry Cause secondary pollution.

In view of the above-mentioned problems, take vibrating disk as auxiliary feeder equipment a small amount of material, it will be unordered by vibration Aligning for material automatic order is neat, is accurately transported to next procedure, in unified state automatically into processing or packaging Position, can solve a part of problem, but when material is excessive or material oil-containing, it is aqueous when, vibrating disk is easy to appear failure, No longer it is applicable in.

In view of this, it is necessary to provide a kind of low costs, efficient automatic material arranging mechanism, to solve the above problems.

Utility model content

The purpose of this utility model is to provide a kind of cooperating type material tidying mechanism, which be can solve respectively The problem of a industry different material automatic sorting, and have the advantages that inexpensive, efficient.

To achieve the above object, the utility model provides a kind of cooperating type material tidying mechanism, including support device, magazine, Transmission device and control device, the support device are used to support the magazine, and the magazine is for placing material, the transmission Device includes feeding belt, the reason material position on the feeding belt and multiple robots, and the control device is described for controlling Material is transferred to the reason material position from the magazine by robot.

The robot is connected by CAN bus with the control device as a further improvement of the utility model, and Multiple robots are connected in CAN bus with chrysanthemum link type.

The robot includes first motor, is connected with the first motor as a further improvement of the utility model, Tiny motion controller, swing arm and grippers, the swing arm is connected with the motor shaft of the first motor, described first Motor drives the swing arm to rotate around the motor shaft when rotating, and the grippers are arranged perpendicular to the swing arm, and can be opposite It is moved up and down in the swing arm.

The first motor is fixed in the support device as a further improvement of the utility model, and described One motor and the tiny motion controller integral are installed, and the grippers include the first cylinder and crawl section, and described first Cylinder is connected by solenoid valve with the tiny motion controller.

The feeding belt is equipped with several partitions as a further improvement of the utility model, between two neighboring partition Be equidistant, the reason material position i.e. be formed between two neighboring partition.

The transmission device further includes that setting is in the support device and right as a further improvement of the utility model, The sensor of feeding belt original position described in Ying Yu, the sensor are connected with the robot, and the sensor is for examining Survey the time that first partition occurs on the feeding belt.

The cooperating type material tidying mechanism further includes refining structure, the refining as a further improvement of the utility model, Structure includes the second motor, the speed reducer being connected with second motor and the swing rod being connected with the speed reducer, and described second Motor is connected with the control device, and the magazine is connected with the swing rod, with second motor rotation when, the swing rod It is moved under the drive of the speed reducer, the magazine vibrates under the drive of the swing rod.

The refining structure further includes second to be connected with the control device as a further improvement of the utility model, Cylinder, one end of second cylinder is fixed with the support device, the other end is connected with the magazine, in second gas Cylinder does compression and pushes away when stretching movement, and the magazine is driven to vibrate.

The support device includes rack and the branch that is fixed on the rack as a further improvement of the utility model, Frame, the feeding belt are located at the side of the support device, the magazine be set between the bracket and the rack and with institute It states feeding belt to be oppositely arranged, the robot is fixedly mounted the top on the bracket and being located at the magazine and close to described Feeding belt setting.

The bracket includes that the first fixed arm being parallel to each other and second are fixed as a further improvement of the utility model, Arm, the linking arm of connection first fixed arm and the second fixed arm and from the outwardly extending adjutage of the linking arm, it is described Robot is fixedly mounted on the adjutage.

The beneficial effects of the utility model are: the cooperating type material tidying mechanism of the utility model, is cooperateed with using multiple robots Operation, by material from magazine shift famous dictum material position, not only can the material different to a large amount of, material sort, but also have There are low cost, efficient advantage, can be applied to multiple industries, realize the full-automation of producing line.

Detailed description of the invention

Fig. 1 is the overall structure diagram of the utility model cooperating type material tidying mechanism.

Fig. 2 is the top view of cooperating type material tidying mechanism shown in Fig. 1.

Fig. 3 is the concrete structure schematic diagram of Tu1Zhong robot.

Fig. 4 is the concrete structure schematic diagram of refining structure in Fig. 1.

Specific embodiment

In order to keep the purpose of this utility model, technical solution and advantage clearer, with reference to the accompanying drawing and it is embodied The utility model is described in detail in example.

It please referring to shown in Fig. 1 and Fig. 2, the utility model discloses a kind of cooperating type material tidying mechanism, including support device 1, Magazine 2, transmission device 3 and control device (not shown).The support device 1 is used to support the magazine 2；The magazine 2 is used In placement material (not shown)；The transmission device 3 includes feeding belt 30, the reason material position 31 on the feeding belt 30 and more A robot 32.Material is transferred to the reason material position from the magazine 2 for controlling the robot 32 by the control device 31, so that material is sent to next procedure subsequently through the feeding belt 30；Preferably, the control device is host computer, it is main It will be by sending instructions to robot 32, so that order robot 32 completes the transfer of material.

The support device 1 includes rack 10 and the bracket 11 being fixed on the rack 10, the rack 10 and desk Structure be substantially the same, including the first installing arm 101 and the second installing arm (not labeled) that are parallel to each other and connection described first The third installing arm (not labeled) and the 4th installing arm 102 of installing arm 101 and the second installing arm, the first installing arm 101, second peace Dress arm, third installing arm and the combination of the 4th installing arm 102 form rectangular-shaped, and the first installing arm 101 and the second installing arm are formed Long side, third installing arm and the 4th installing arm 102 of rectangle form the short side of rectangle.

The bracket 11 is fixedly connected with first installing arm 101 and the second installing arm, and the bracket 11 includes mutual The company of parallel the first fixed arm 111 and the second fixed arm 112 and connection first fixed arm 111 and the second fixed arm 112 Arm 113 is connect, one end of first fixed arm 111 is fixedly connected with the first installing arm 101, the other end is connected with linking arm 113, One end of second fixed arm 112 is fixedly connected with the second installing arm, the other end is connected with linking arm 113, in this way, the branch The whole inverted u-shaped setting of frame 11 is on the rack 10.

The feeding belt 30 is located at the side of the support device 1, and the magazine 2 is set to the bracket 11 and the rack It is oppositely arranged between 10 and with the feeding belt 30.The bracket 11 further includes from the outwardly extending extension of the linking arm 113 Arm 114, the robot 32 are fixedly mounted on the adjutage 114, and are located at the top of the magazine 2 and are sent close to described Material strip 30 is arranged, in this way, facilitating robot 32 that the Material Sorting in magazine 2 is transferred on feeding belt 30.The feeding belt 30 Preferably with 2 flush of magazine, i.e. the thickness of feeding belt 30 and magazine 2 and height between horizontal plane is all the same (i.e. In same level).

Specifically, the magazine 2 be placed on the lower section of the linking arm 113 of the bracket 11, the rack 10 top and Positioned at the inside of the first fixed arm 111 of the bracket 11.The length of the magazine 2 can be set to less than, greater than or equal to Spacing between third installing arm and the 4th installing arm 102, the width of the magazine 2 can be set to be less than or equal to the first peace Fill the spacing between arm 101 and the second installing arm；Preferably, the length of the magazine 2 is less than third installing arm and the 4th installation Spacing between arm 102, the width of the magazine 2 facilitate machine less than the spacing between the first installing arm 101 and the second installing arm Device people 32 sorts material.

The feeding belt 30 is equipped with several partitions 33, and the distance between two neighboring partition 33 is equal, the reason material position 31 are formed between two neighboring partition 33.Robot 32 is used to send the unordered Material Sorting in magazine 2 and being transferred to In the reason material position 31 of material strip 30, and orderly, align it is neat, to be accurately transported to next procedure, in unified state from It is dynamic to enter processing or wrapping position.

The transmission device includes the biography for being arranged on the bracket 11 and corresponding to 30 original position of feeding belt Sensor (not shown), the sensor are connected with the robot 32, and the sensor is for detecting on the feeding belt 30 the The time that one partition 33 occurs forms signal, and transmits signal to robot 32, and robot 32 is according to the letter received Number, it can be determined that go out the initial time of first reason material position 31.According to the spacing of reason material position 31 (between i.e. adjacent two partition 33 Distance), information, each robot 32 such as the setting position of the speed of service of feeding belt 30 and robot 32 can calculate Each reason material position 31 reaches the time at its own position, then facilitates the orderly work of control feeding belt 30 and robot 32 Make.

The utility model is to realize to grab by probability, and the success rate that individual machine people 32 grabs material is not 100%, There are certain probability, so multiple robots 32 need to be arranged in one cooperating type material tidying mechanism, more in order to guarantee successfully to grab material A robot 32 is connect after being connected by CAN bus with control device, realizes that distributed AC servo system, control device unify release tasks Process, each robot 32 work independently but can mutually communicate, work compound, instead of point for being accomplished manually a large amount of materials It picks.Specifically, the robot 32 is connected by CAN bus with the control device, and multiple robots 32 are with chrysanthemum link Formula is connected in CAN bus.

32 single of robot, which grabs, successfully also certain probability, so its more crawl is arranged several times, crawl number can be by reality The setting of border situation, always can once grab success, illustrate that the position, can at all just without material if multiple crawl is failed Continue to grab to change a direction.

It please refers to Fig. 3 and combines shown in Fig. 1 and Fig. 2, the robot 32 includes first motor 320 and first electricity Machine 320 connected tiny motion controller 321, swing arm 322 and grippers 323.The tiny motion controller 321 also belongs to institute A part of control device is stated, the sensor is connected with the tiny motion controller 321.The first motor 320 is fixed On the adjutage 114, and the first motor 320 and 321 integrative installation technology of tiny motion controller.The swing arm 322 are connected with the motor shaft (not shown) of the first motor 320, to can drive institute in the first motor 320 rotation It states swing arm 322 and rotates (rotating in the plane for be parallel to horizontal plane) around the motor shaft.

The tiny motion controller 321 is connected via CAN bus with the control device, and multiple robots 32 is micro- Type motion controller 321 is connected in CAN bus with chrysanthemum link type, so that can pass through between multiple robots 32 CAN bus is mutually communicated.

The first motor 320 is equipped with motor cable 3201, one end and 320 phase of first motor of the motor cable 3201 Even, the other end is connected with tiny motion controller 321, to realize that first motor 320 and the electrical property of tiny motion controller 321 connect It connects.The tiny motion controller 321 is equipped with controlling cable 3211, one end of the controlling cable 3211 and tiny motion control Device 321 processed is connected, the other end and power supply, CAN bus and sensor are respectively connected with, the CAN bus and the control device phase Even；Preferably, the controlling cable 3211 is multi-core cable, and a portion core wire of 3211 other end of the controlling cable It is connected with power supply, a part of core wire is connected with CAN bus, remaining core wire is connected with sensor.

The grippers 323 are arranged perpendicular to the swing arm 322, and the grippers 323 can be relative to the swing arm 322 It moves up and down.The grippers 323 are including the first cylinder 324 and positioned at the crawl section 325 of 324 end of the first cylinder, institute It states the first cylinder 324 to be connected by solenoid valve (not shown) with the tiny motion controller 321, first cylinder 324 is logical The stretching motion of itself is crossed, to drive the grippers 323 to move up and down relative to 322 entirety of swing arm.The swing arm 322 Horizontally extending, the grippers 323 are arranged perpendicular to the magazine 2, and are located at the top of the magazine 2, thus When swing arm 322 is rotated around the motor shaft, the material in magazine 2 can be grabbed by the grippers 323.

The crawl section 325 can be sucker, be also possible to handgrip, can be to determine according to the property of different material specifically Using handgrip or sucker.Crawl section 325 shown in Fig. 3 is sucker, and sucker is provided with 3, thus below will using sucker as Preferred embodiment is illustrated, but described grab should not be belonged to as limit, any structure that can be realized grasping movement Take the protection scope in portion 325.

After one of robot 32 grabs material and is successfully placed into corresponding reason material position 31, because of multiple robots It can mutually be communicated by CAN bus between 32, therefore, other robots 32 can know that the reason material position 31 has object Material judges the reason material position for reaching oneself position to reach the time of oneself position according to each reason material position 31 Whether 31 be empty.Specifically, corresponding tiny motion controller 321 can control after certain robot 32 successfully grabs material Crawl section 325 is moved to the top of feeding belt 30, and judges whether current reason material position 31 is empty；If current reason material position 31 is Sky, then tiny motion controller 321 controls crawl section 325 and puts the material of crawl to corresponding reason material position 31；If current reason Material position 31 has material, then continues waiting for until vacancy occurs again putting down material.

It please refers to shown in Fig. 1 and Fig. 4, the cooperating type material tidying mechanism further includes refining structure (not labeled), the refining Structure includes the second motor 40, the speed reducer 41 being connected with second motor 40 and the swing rod being connected with the speed reducer 41 42.Second motor 40 is connected with the control device, and the speed reducer 41 is mounted on second motor 40, the material Box 2 is connected with the swing rod 42, so that the swing rod 42 can be in the band of the speed reducer 41 in second motor 40 rotation Dynamic lower movement, then the magazine 2 vibrates under the drive of the swing rod 42.Specifically: one end of the swing rod 42 passes through Spindle nose (not shown) is connected with the speed reducer 41, the other end is connected by spindle nose with the sliding block 21 of 2 bottom of magazine.The rack 10 are additionally provided with guide rail 103, and the sliding block 21 is set on the guide rail 103 and can slide back and forth along the guide rail 103, thus When second motor 40 rotates, the speed reducer 41 will drive spindle nose rotation, so that the swing rod 42 is moved, the swing rod 42 drive the sliding block 21 to slide back and forth along the guide rail 103 again, then drive and vibrate before and after the magazine 2, make on magazine 2 The holding of material moment is uniformly distributed.

The refining structure further includes the second cylinder 43, and second cylinder 43 is connected with the control device, and described One end of two cylinders 43 is fixed with second installing arm, the other end is connected with the magazine 2, thus in second cylinder 43 It does compression and pushes away when stretching movement, the other end that will drive second cylinder 43 is reciprocating, then drives the magazine 2 left Right vibration makes the material moment on magazine 2 keep being uniformly distributed.

The control device can also be used in movement friendship of the rotation with second cylinder 43 for controlling second motor 40 For progress, to guarantee that the magazine 2 does intersection in front and rear, left and right direction and moves back and forth, refining function is realized.Specifically, institute State control device pass through send the commands to control second motor 40 rotation replace with the movement of second cylinder 43 into Row.

When cooperating type material tidying mechanism works, mainly comprise the steps that

S1, control device send instructions to robot 32；

S2, robot 32 control the top that grippers 323 are moved to magazine 2 from initial position according to the instruction received, The initial position is the top that grippers 323 are located at feeding belt 30；

S3, grippers 323 decline and grab material；

S4, grippers 323 rise, and judge whether successfully to grab material, if so, grippers 323 return to initial position, If it is not, then entering step S3；

S5, judge whether material falls, if so, S2 is entered step, if it is not, then continuing；

S6, the reason material position 31 for whether having vacant on feeding belt 30 is judged, if so, grippers 323 decline and put material Corresponding reason material position 31 is set, if it is not, then entering step S5；

S7, grippers 323 rise, and are recycled into step S2, until all sorting finishes by all materials.

Because in step S2, S3, S4, S6, S7, movement, decline and the rising of the grippers 323 are by the tiny motion Controller 321 controls, therefore step S2 can be with specifically: tiny motion controller 321 controls swing arm 322 and drives grippers 323 The top of magazine 2 is moved to from initial position, which is that swing arm 322 is perpendicular to feeding belt 30 and grippers 323 are located at The top of feeding belt 30.

Step S3 specifically: tiny motion controller 321 controls grippers 323 and declines and grab material.

Step S4 specifically: tiny motion controller 321 controls grippers 323 and rises, and judges whether successfully to grab object Material drives grippers 323 to return to initial position, if it is not, then entering step if so, tiny motion controller 321 controls swing arm 322 Rapid S3.It is to be noted that in step S4, if the number that grippers 323 grab material reaches setting value and does not grab yet successfully, The position of magazine 2 is then determined without material, and tiny motion controller 321 controls the movement of grippers 323, changes a direction and continues to grab It takes.

Step S6 specifically: the reason material position 31 for whether having vacant on feeding belt 30 is judged, if so, tiny motion controller 321 control grippers 323 decline and material are placed into corresponding reason material position 31, if it is not, then entering step S5.

Step S7 specifically: tiny motion controller 321 controls grippers 323 and rises, and is recycled into step S2, until institute Having material, all sorting finishes.

In conjunction with shown in Fig. 1 to Fig. 3, be illustrated using sucker as crawl section 325: sucker 325 is equipped with spring (not Diagram), the first cylinder 324 drives sucker 325 to act, and spring is compressed after sucker 325 encounters material, if material heap obtains relatively Height, then spring-compressed degree is relatively large, can guarantee that there is sucker 325 enough power to grab multilayer dose in this way, efficiency is more It is high.The initial position of the grippers 323 of robot 32 are as follows: swing arm 322 is located at feeding belt 30 perpendicular to feeding belt 30, sucker 325 Top.

Manage material process: tiny motion controller 321 controls the movement of swing arm 322, and sucker 325 is made to be moved to the top of magazine 2, First cylinder 324 drives sucker 325 to decline certain altitude, and the sucker 325 is constantly in adsorbed state, when sucker 325 adsorbs Immediately rise after to material, and tremble (this is because: grabbing a material in a large amount of irregular material, it is likely that The material on side can be taken up, the movement trembled in this way can make extra material return to magazine 2), the cylinder inspection of the first cylinder 324 Whether the air flue for surveying instrument moment detection sucker 325 is blocked, and with this to determine whether successfully grabbing material, and it is anti-to will test result It feeds tiny motion controller 321.If testing result is to grab successfully, tiny motion controller 321 controls swing arm 322 and returns to Initial position waits the reason material position 31 having time on feeding belt 30, then controls the first cylinder 324 and sucker 325 is driven to decline certain height Degree, sucker 325 terminate to adsorb and material are placed in corresponding reason material position 31, sent material to next procedure by feeding belt 30； If testing result is crawl failure, above-mentioned movement is repeated, then grab several times；If not grabbed yet after reaching the crawl number of setting Success, then it is assumed that the position of magazine 2 is without material, then tiny motion controller 321 controls the random rotational angle of swing arm 322, with It changes a direction to continue to grab, process is same as above.

When sucker 325 waits empty reason material position 31 above feeding belt 30, air cylinder detecting instrument detects whether material falls always It falls, and will test result and feed back to tiny motion controller 321；Once detecting the airway open of sucker 325, then material is judged It falls, tiny motion controller 321 controls swing arm 322 again and is moved to 2 top of magazine at this time, and is moved according to the above process Make.

Certainly, when the crawl section 325 is handgrip, the pressure value of handgrip can be detected by setting pressure sensor, With this to determine whether grabbing successfully, it is not described in detail in this.

In conclusion the cooperating type material tidying mechanism of the utility model cooperates refining using multiple 32 work compounds of robot Mechanism realizes material crawl by probability using CAN bus distributed AC servo system, so that material is shifted famous dictum material position from magazine 2 31, material that not only can be different to a large amount of, material carries out automatic sorting, and have the advantages that it is inexpensive, efficient, can Applied to multiple industries, the full-automation of producing line is realized.

Above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, although referring to preferred embodiment pair The utility model is described in detail, those skilled in the art should understand that, it can be to the technology of the utility model Scheme is modified or replaced equivalently, without departing from the spirit and scope of the technical scheme of the present invention.

Claims (10)

1. a kind of cooperating type material tidying mechanism, including support device, magazine, transmission device and control device, the support device is used In supporting the magazine, the magazine is for placing material, it is characterised in that: the transmission device includes feeding belt, is located at institute State the reason material position on feeding belt and multiple robots, the control device is for controlling the robot for material from the magazine It is transferred to the reason material position.

2. cooperating type material tidying mechanism according to claim 1, it is characterised in that: the robot passes through CAN bus and institute It states control device to be connected, and multiple robots are connected in CAN bus with chrysanthemum link type.

3. cooperating type material tidying mechanism according to claim 1, it is characterised in that: the robot include first motor, with The first motor connected tiny motion controller, swing arm and grippers, the motor shaft of the swing arm and the first motor It is connected, to drive the swing arm to rotate around the motor shaft in first motor rotation, the grippers are perpendicular to described Swing arm setting, and can be moved up and down relative to the swing arm.

4. cooperating type material tidying mechanism according to claim 3, it is characterised in that: the first motor is fixed on the support On device, and the first motor and the tiny motion controller integral are installed, the grippers include the first cylinder and Crawl section, first cylinder are connected by solenoid valve with the tiny motion controller.

5. cooperating type material tidying mechanism according to claim 1, it is characterised in that: the feeding belt is equipped with several partitions, The distance between two neighboring partition is equal, and the reason material position is formed between two neighboring partition.

6. cooperating type material tidying mechanism according to claim 5, it is characterised in that: the transmission device further includes being arranged in institute The sensor of the feeding belt original position is stated in support device and corresponds to, the sensor is connected with the robot, The sensor is used to detect the time that first partition occurs on the feeding belt.

7. cooperating type material tidying mechanism according to claim 1, it is characterised in that: the cooperating type material tidying mechanism further includes even Expect that structure, the refining structure include the second motor, the speed reducer being connected with second motor and be connected with the speed reducer Swing rod, second motor is connected with the control device, and the magazine is connected with the swing rod, in second motor When rotation, the swing rod moves under the drive of the speed reducer, and the magazine vibrates under the drive of the swing rod.

8. cooperating type material tidying mechanism according to claim 7, it is characterised in that: the refining structure further includes and the control The second connected cylinder of device processed, one end and the support device of second cylinder fix, the other end and the magazine phase Even, with second cylinder do compression and push away stretch movement when, drive the magazine to vibrate.

9. cooperating type material tidying mechanism according to claim 1, it is characterised in that: the support device includes rack and fixation Bracket on the rack, the feeding belt are located at the side of the support device, and the magazine is set to the bracket and institute It states between rack and is oppositely arranged with the feeding belt, the robot is fixedly mounted on the bracket and is located at the magazine Top and close to the feeding belt be arranged.

10. cooperating type material tidying mechanism according to claim 9, it is characterised in that: the bracket includes to be parallel to each other One fixed arm and the second fixed arm, connection first fixed arm are outside with the linking arm of the second fixed arm and from the linking arm The adjutage of extension, the robot are fixedly mounted on the adjutage.