CN209740150U - Sorting and stacking device based on three-coordinate mechanical claw - Google Patents

Sorting and stacking device based on three-coordinate mechanical claw Download PDF

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Publication number
CN209740150U
CN209740150U CN201822212381.6U CN201822212381U CN209740150U CN 209740150 U CN209740150 U CN 209740150U CN 201822212381 U CN201822212381 U CN 201822212381U CN 209740150 U CN209740150 U CN 209740150U
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subassembly
axis moving
guide rail
sorting
device based
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CN201822212381.6U
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吕自贵
徐玉海
骆敏舟
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Institute of Intelligent Manufacturing Technology JITRI
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Institute of Intelligent Manufacturing Technology JITRI
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Abstract

The utility model belongs to the technical field of automation equipment, a letter sorting bunching device based on three coordinates manipulator claw is related to, including the stacker body, install on the stacker body and can control about from top to bottom remove the subassembly, with remove the subassembly of snatching that the subassembly is connected, remove the subassembly including can driving snatch the subassembly and be transverse motion's X axle removal subassembly, can drive snatch the Y axle removal subassembly that the subassembly was longitudinal motion, can drive it is the Z axle removal subassembly that vertical motion is to snatch the subassembly, snatch mechanical tongs and the electro-magnet that the subassembly set up including the symmetry, mechanical tongs and electro-magnet realize the position through the switching-over motor and exchange, it still includes the automatic identification device to snatch the subassembly. The utility model has the advantages of simple structure, convenient operation, letter sorting is fast, and work efficiency is high, and the rate of accuracy is high, reliable and stable, have very big market value, be worth extensively popularizing and applying.

Description

Sorting and stacking device based on three-coordinate mechanical claw
Technical Field
the utility model belongs to the technical field of automation equipment, concretely relates to letter sorting bunching device based on three-coordinate mechanical gripper.
Background
With the technology of the automatic stereoscopic warehouse becoming more mature, the automatic warehouse is rapidly increased, and large, medium and small enterprises begin to perform automatic warehouse transformation. However, the existing automatic warehouse storage mode adopts the mode of a stacker and a goods shelf to carry out warehouse entry and exit, the stacker takes out the goods shelf to carry out other process treatment, the factory can completely meet the requirement that all goods on the goods are taken out of the warehouse, but only the goods of the specified type on the goods are taken, the goods are not taken from the bottom, most of the goods are taken out and transferred to a conveying line, and then are sorted out of the warehouse by special equipment, and the design is in a warehouse with limited territorial space and cannot carry out extra wiring on the basis of the existing warehouse to carry out warehouse sorting; in addition, the sorting outside the warehouse also takes more conveying time, the warehouse entering and exiting efficiency is reduced, and the normal production beat of a company is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defect and not enough that exist among the prior art, provide a simple structure, convenient operation, letter sorting is fast, and work efficiency is high, and the rate of accuracy is high, reliable and stable's letter sorting bunching device based on three-coordinate manipulator claw.
In order to achieve the above object, the utility model adopts the following technical scheme: the utility model provides a letter sorting bunching device based on three coordinates manipulator claw, includes the stacker body, install on the stacker body and can control the removal subassembly about from top to bottom, with remove the subassembly that snatchs that the subassembly is connected, remove the subassembly including can driving snatch the subassembly and be transverse motion's X axle removal subassembly, can drive snatch the Y axle removal subassembly that the subassembly was longitudinal movement, can drive snatch the subassembly and be vertical motion's Z axle removal subassembly, snatch mechanical tongs and the electro-magnet that the subassembly set up including the symmetry, mechanical tongs and electro-magnet realize the position through the switching-over motor and exchange, it still includes the automatic identification device to snatch the subassembly.
Preferably, the stacker body comprises a chassis trolley capable of moving back and forth along a track, a stand column vertically arranged above the chassis trolley, and a cargo platform capable of moving up and down along the stand column, wherein a telescopic supporting plate is arranged on the cargo platform, and a power distribution cabinet is arranged on the stand column.
Preferably, the moving assembly is provided with two groups which are symmetrically arranged above the goods platform through supporting rods respectively, and the supporting rods are vertically and symmetrically arranged at the front end and the rear end of the goods platform.
Preferably, the telescopic supporting plates are arranged in two and are arranged on the cargo platform in parallel, and bidirectional telescopic movement can be realized towards the left side and the right side of the cargo platform.
Preferably, the Y-axis moving assembly comprises a Y-axis moving guide rail horizontally arranged above the support rod, and a Y-axis motor installed at one side of the Y-axis moving guide rail and capable of driving the Y-axis moving slider to move back and forth along the Y-axis moving guide rail.
Preferably, the X-axis moving assembly includes an X-axis moving guide rail fixedly connected to the Y-axis moving slider, and an X-axis motor installed at one side of the X-axis moving guide rail and capable of driving the X-axis moving slider to move back and forth along the X-axis moving guide rail.
Preferably, the Z-axis moving assembly comprises a Z-axis moving guide rail and a Z-axis motor, the Z-axis moving guide rail and the X-axis moving guide rail are perpendicular to each other, one end of the X-axis moving slide block is arranged in the X-axis moving guide rail in a matched mode, the other end of the X-axis moving slide block is arranged in the Z-axis moving guide rail in a matched mode, and the Z-axis motor is arranged above the Z-axis moving guide rail and can drive the Z-axis moving guide rail to move up and down along the X-axis moving slide.
Preferably, the reversing motor is arranged below the Z-axis moving guide rail, the mechanical gripper and the electromagnet are arranged on the same straight line perpendicular to the goods platform, and the mechanical gripper and the electromagnet are exchanged in upper and lower positions through the reversing motor.
Preferably, the automatic recognition device is a visual detection camera which is arranged on one side of the mechanical gripper and used for scanning and positioning the goods outline.
After the technical scheme is adopted, the utility model discloses following beneficial effect has:
The utility model provides a sorting and stacking device based on three-coordinate mechanical gripper, through the setting of two sets of removal subassemblies, namely two tongs subassemblies, realize the form of single track double mechanical arm, improve the sorting speed, through the setting of automatic identification equipment, guaranteed the rate of accuracy of snatching; the real-time sorting on the stacker can avoid the trouble of taking out the pallet and placing the pallet on a conveying line for separate sorting, avoid occupying the space of the conveying line, and is beneficial to improving the efficiency, saving the space and time and reducing the cost; the goods shelf matched with the device adopts the electromagnet drawing type storage box, only the end part is required to draw, and the bottom part is not required to stretch, so that the space size between the upper part and the lower part of the goods shelf is reduced, the storage space is saved, the utilization rate of the goods shelf is improved, and the storage quantity of the goods shelf is increased; to sum up, the utility model has the advantages of simple structure, convenient operation, letter sorting is fast, and work efficiency is high, and the rate of accuracy is high, reliable and stable, has very big market value, is worth extensively popularizing and applying.
Drawings
Fig. 1 is a schematic view of the overall structure of a sorting and stacking device based on a three-coordinate mechanical claw according to the present invention;
Fig. 2 is the utility model relates to a letter sorting bunching device's partial structure schematic diagram based on three coordinate mechanical gripper.
Wherein: the stacking machine comprises a stacking machine body 1, a track 11, a chassis trolley 12, a stand column 13, a cargo platform 14, a telescopic supporting plate 15, a power distribution cabinet 16, a supporting rod 17, a moving assembly 2, an X-axis moving assembly 21, an X-axis moving guide rail 211, an X-axis moving slide block 212, an X-axis motor 213, a Y-axis moving assembly 22, a Y-axis moving guide rail 221, a Y-axis moving slide block 222, a Y-axis motor 223, a Z-axis moving assembly 23, a Z-axis moving guide rail 231, a Z-axis motor 232, a grabbing assembly 3, a mechanical hand grip 31, an electromagnet 32, a reversing motor 33 and an automatic identification device 34.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
As shown in fig. 1-2, the sorting and stacking device based on three-coordinate manipulator provided in this embodiment includes a stacker body 1, a moving assembly 2 installed on the stacker body 1 and capable of moving up and down, left and right, and a grabbing assembly 3 connected to the moving assembly 2.
The stacker body 1 comprises a chassis trolley 12 capable of moving back and forth along a rail 11, an upright column 13 vertically arranged above the chassis trolley 12, and a goods platform 14 capable of moving back and forth along the upright column 13, wherein the rail 11 is laid on the ground in the middle of a goods shelf and is used for the stacker to walk and ensure that the stacker walks or backs along a straight line, the chassis trolley 12 is provided with a walking wheel matched with the rail 11, the walking wheel can move back and forth along the rail 11 under the action of a driving mechanism, the goods platform 14 moves up and down along the rail or a gear rack on the upright column, the goods platform 14 is horizontally arranged and is used for supporting a moving component 2, a storage box and a turnover box, the storage box is taken out of or placed on the goods shelf, the turnover box is taken out of or placed on a conveying line, articles in the storage box are taken out of the turnover box, and articles in the storage box are taken out of, scalable layer board 15 is equipped with two, and parallel arrangement is on cargo platform 14 to can realize two-way flexible to cargo platform 14's the left and right sides, when snatching the subassembly and will store the box and take out from goods shelves, scalable layer board 15 outwards stretches out, plays the auxiliary stay effect, withdraws in cargo platform 14 when out of work, saves space, be equipped with switch board 16 on the stand 13 for set up the power supply and the control system of stacker.
The moving assembly 2 is provided with two groups, the two groups are symmetrically arranged above the goods platform 14 through the supporting rods 17 respectively, the supporting rods 17 are vertically and symmetrically arranged at the front end and the rear end of the goods platform 14, the moving assembly 2 comprises an X-axis moving assembly 21 capable of driving the grabbing assembly 3 to do transverse motion, a Y-axis moving assembly 22 capable of driving the grabbing assembly 3 to do longitudinal motion, and a Z-axis moving assembly 23 capable of driving the grabbing assembly 3 to do vertical motion.
Specifically, the Y-axis moving assembly 22 includes a Y-axis moving guide 221 horizontally disposed above the support rod 17, a Y-axis motor 223 installed on one side of the Y-axis moving guide 221 and capable of driving the Y-axis moving slider 222 to move back and forth along the Y-axis moving guide 221, the X-axis moving assembly 21 includes an X-axis moving guide 211 fixedly connected to the Y-axis moving slider 222, and an X-axis motor 213 installed on one side of the X-axis moving guide 211 and capable of driving the X-axis moving slider 212 to move back and forth along the X-axis moving guide 211, the Z-axis moving assembly 23 includes a Z-axis moving guide 231 and a Z-axis motor 232, the Z-axis moving guide 231 and the X-axis moving guide 211 are vertically disposed, one end of the X-axis moving slider 212 is disposed in the X-axis moving guide 211 in a matching manner, the other end of the X-axis moving slider is disposed in the Z-axis moving guide 231 in a matching manner, and the Z-axis motor 232 is installed above the Z-axis And (4) moving downwards.
The grabbing component 3 comprises mechanical grippers 31, electromagnets 32 and automatic identification devices 34 which are symmetrically arranged, the mechanical grippers 31 and the electromagnets 32 realize position exchange through reversing motors 33, the reversing motors 33 are arranged below Z-axis moving guide rails 231, the mechanical grippers 31 and the electromagnets 32 are arranged on the same straight line perpendicular to the goods platform 14, the mechanical grippers 31 and the electromagnets 32 realize up-and-down position exchange through the reversing motors 33, the mechanical grippers 31 and the electromagnets 32 can realize different functions, the electromagnets 32 are electrified to generate magnetic force and then are responsible for drawing out the storage boxes or the turnover boxes from the shelves or the conveying lines to the goods platform 14 or sending the storage boxes or the turnover boxes back to the shelves or the conveying lines from the goods platform 14, the mechanical grippers 31 are clamping jaws or sucking discs for clamping/sucking out articles from the storage boxes or the turnover boxes, the automatic identification device 34 is a visual detection camera which is arranged on one side of the mechanical gripper 31 and used for scanning and positioning the outline of the goods, and the accuracy of goods gripping can be ensured.
The utility model relates to a letter sorting bunching device based on three-coordinate manipulator claw has designed a stacker and has added the structural style that three-coordinate manipulator carries out the letter sorting, realize implementing the letter sorting on line, save the storehouse and sort, the trouble of rewiring, simultaneously in order to improve letter sorting speed, 2 have arranged on a track 11 and have snatched the subassembly 3 and snatched, in order to increase goods position quantity, abandon the form of bottom installation goods, reduce the space size between the goods check is from top to bottom, adopt side installation iron plate, pull the form that the storage box was taken out to goods platform 14 with electromagnet 32; the bottom is supported in a balanced manner by a telescopic supporting plate 15; the electromagnet 32 is installed on the grabbing component 3 and symmetrically arranged with the mechanical gripper 31, the electromagnet 32 draws out the storage box and puts the storage box on the goods platform, after the storage box is pulled to a designated position, the mechanical gripper 31 and the electromagnet 32 end are rotated and switched to grab, and when the storage box is grabbed, the camera scanning contour positioning is carried out, so that the accuracy is ensured.
The warehouse-out principle is as follows: two box bodies can be stored on the goods platform 14, one box body is a turnover box taken from a conveying line, the other box body is a storage box pulled out from a goods shelf, the mechanical gripper 31 clamps and transfers goods in the storage box into the turnover box, then the stacker conveys the turnover box to the conveying line for delivery, and the goods delivered from the delivery line are the goods designated by the system;
and (4) warehousing principle: the stacker takes away the turnover case of filling with the goods from the transfer chain and puts on the goods platform, the stacker walks to appointed storage position, will store the box and take out and put on the goods platform through electro-magnet 32 by the manipulator, when taking out, scalable layer board 15 stretches out simultaneously and prevents to store the box slope and drop, put good back, electro-magnet 32 outage simultaneously switching-over motor 33 converts electro-magnet 32 into the goods clamp that mechanical tongs 31 end in will having enough to meet the need the box and gets into in the storage box, when having enough to meet the need the completion, will store the box and push back and carry out the storage of next storage box goods on the goods shelves, until the goods are all stored and accomplish in the turnover case, the stacker transports the turnover case out and puts on the transfer chain, take away next turnover case again and.
In summary, the sorting and stacking device based on the three-coordinate mechanical claw provided by the utility model adopts a single-rail double-mechanical-arm form, so that the sorting speed is improved; the storage box is placed by the electromagnet, so that the space of a goods shelf is saved; the on-line real-time sorting is adopted, so that the efficiency is improved, the cost is reduced, the market value is high, and the method is worthy of wide popularization and application.
the above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims (9)

1. The utility model provides a letter sorting bunching device based on three coordinates manipulator claw, includes stacker body (1), install on stacker body (1) and can move about from top to bottom removal subassembly (2), snatch subassembly (3) be connected with removal subassembly (2), its characterized in that: remove subassembly (2) including driving snatch subassembly (3) and be transverse motion's X axle removal subassembly (21), can drive snatch subassembly (3) and be longitudinal motion's Y axle removal subassembly (22), can drive snatch subassembly (3) and be vertical motion's Z axle removal subassembly (23), snatch subassembly (3) including mechanical tongs (31) and electro-magnet (32) that the symmetry set up, mechanical tongs (31) and electro-magnet (32) realize the position through switching-over motor (33) and trade, it still includes automatic identification device (34) to snatch subassembly (3).
2. The sorting and stacking device based on the three-coordinate mechanical claw is characterized in that: the stacker body (1) comprises a chassis trolley (12) capable of moving back and forth along a track (11), a stand column (13) vertically arranged above the chassis trolley (12), and a cargo platform (14) capable of moving up and down along the stand column (13), wherein a telescopic supporting plate (15) is arranged on the cargo platform (14), and a power distribution cabinet (16) is arranged on the stand column (13).
3. The sorting and stacking device based on the three-coordinate mechanical claw is characterized in that: the moving assemblies (2) are arranged in two groups and are symmetrically arranged above the goods platform (14) through supporting rods (17), and the supporting rods (17) are perpendicular to and symmetrically arranged at the front end and the rear end of the goods platform (14).
4. The sorting and stacking device based on the three-coordinate mechanical claw is characterized in that: the two telescopic supporting plates (15) are arranged on the cargo platform (14) in parallel and can be stretched out and drawn back in two directions to the left side and the right side of the cargo platform (14).
5. The sorting and stacking device based on the three-coordinate mechanical claw is characterized in that: the Y-axis moving assembly (22) comprises a Y-axis moving guide rail (221) horizontally arranged above the supporting rod (17) and a Y-axis motor (223) which is arranged on one side of the Y-axis moving guide rail (221) and can drive the Y-axis moving slide block (222) to move back and forth along the Y-axis moving guide rail (221).
6. The sorting and stacking device based on the three-coordinate mechanical claw is characterized in that: the X-axis moving assembly (21) comprises an X-axis moving guide rail (211) fixedly connected with the Y-axis moving slide block (222) and an X-axis motor (213) which is arranged on one side of the X-axis moving guide rail (211) and can drive the X-axis moving slide block (212) to move back and forth along the X-axis moving guide rail (211).
7. The sorting and stacking device based on the three-coordinate mechanical claw is characterized in that: z axle removes subassembly (23) and includes Z axle removal guide rail (231) and Z axle motor (232), Z axle removal guide rail (231) and X axle removal guide rail (211) mutually perpendicular set up, X axle removes slider (212) one end cooperation and sets up in X axle removal guide rail (211), and the other end cooperation sets up in Z axle removal guide rail (231), Z axle motor (232) are installed in the top of Z axle removal guide rail (231) and can drive Z axle removal guide rail (231) and move along X axle removal slider (212) and reciprocate.
8. The sorting and stacking device based on the three-coordinate mechanical claw is characterized in that: the reversing motor (33) is arranged below the Z-axis moving guide rail (231), the mechanical gripper (31) and the electromagnet (32) are arranged on the same straight line perpendicular to the goods platform (14), and the mechanical gripper (31) and the electromagnet (32) realize vertical position exchange through the reversing motor (33).
9. The sorting and stacking device based on the three-coordinate mechanical claw is characterized in that: the automatic identification device (34) is a visual detection camera which is arranged on one side of the mechanical gripper (31) and used for scanning and positioning the goods outline.
CN201822212381.6U 2018-12-27 2018-12-27 Sorting and stacking device based on three-coordinate mechanical claw Active CN209740150U (en)

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Application Number Priority Date Filing Date Title
CN201822212381.6U CN209740150U (en) 2018-12-27 2018-12-27 Sorting and stacking device based on three-coordinate mechanical claw

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201822212381.6U CN209740150U (en) 2018-12-27 2018-12-27 Sorting and stacking device based on three-coordinate mechanical claw

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CN209740150U true CN209740150U (en) 2019-12-06

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115610763A (en) * 2022-11-22 2023-01-17 中国科学院沈阳自动化研究所 Automatic box cover opening and grabbing inner partition plate device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115610763A (en) * 2022-11-22 2023-01-17 中国科学院沈阳自动化研究所 Automatic box cover opening and grabbing inner partition plate device
CN115610763B (en) * 2022-11-22 2023-03-14 中国科学院沈阳自动化研究所 Automatic box cover opening and grabbing inner partition plate device

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