CN210589282U

CN210589282U - Cartesian coordinate robot and garbage sorting production line

Info

Publication number: CN210589282U
Application number: CN201921587658.1U
Authority: CN
Inventors: 莫卓亚; 陈文辉; 邓琳奎
Original assignee: Guangdong Gongye Technology Co Ltd
Current assignee: Guangdong Gongye Technology Co Ltd
Priority date: 2019-09-23
Filing date: 2019-09-23
Publication date: 2020-05-22
Anticipated expiration: 2029-09-23

Abstract

The utility model belongs to the technical field of rubbish letter sorting equipment, especially, relate to a cartesian robot and rubbish letter sorting production line, the cartesian robot includes that frame, X press from both sides the device to removal subassembly, Y to removal subassembly, Z to removal subassembly, rotating assembly and rubbish letter sorting clamp, and Z sets up perpendicularly to removal subassembly to removal unit mount on Y to removing the subassembly and with Y, and rotating assembly installs on Z is to removing the subassembly, and rotating assembly presss from both sides the device with rubbish letter sorting clamp and is connected. The utility model discloses when carrying out rubbish letter sorting, can realize X to, Y to, Z to the removal of three direction, can also pass through simultaneously rotating assembly drives rubbish letter sorting clamp and gets the device and realize that the clamp of rotation type gets rubbish, and then realizes multi-directionally, and rubbish is got to multi-angle and rotatable removal clamp, very big enlargement drive the space moving range that rubbish was got to the device clamp is got to rubbish letter sorting clamp, and it is more nimble when getting rubbish to make the clamp more to improve rubbish letter sorting efficiency.

Description

Cartesian coordinate robot and garbage sorting production line

Technical Field

The utility model belongs to the technical field of rubbish letter sorting equipment, especially, relate to a cartesian robot and rubbish letter sorting production line.

Background

At present, two thirds of cities in China face the embarrassment of 'refuse-enclosed cities', so in recent years, the garbage classification is gradually hot. The garbage classification can improve the proportion of recycling waste, reduce the requirement of raw materials, ensure the sustainable utilization of resources and promote the resource circulation.

In the process of sorting garbage, different garbage is generally picked up by a manipulator and thrown into a corresponding garbage collection basket. However, most of the existing manipulators control the clamp in a hydraulic or cylinder driving mode, and can only realize two conditions of complete opening or complete closing, so that the clamp cannot clamp garbage at multiple angles. In addition, the mechanism design limitation that is used for driving the manipulator to remove among the prior art leads to the removal space of manipulator limited, and then leads to the manipulator can press from both sides the scope of getting rubbish less, influences rubbish letter sorting efficiency, influences production.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a cartesian robot and rubbish letter sorting production line aims at solving among the prior art because of the limitation of the mechanism design that drives the manipulator and remove leads to the manipulator to remove the limited and then influence the technical problem of rubbish letter sorting efficiency in space.

In order to achieve the above object, an embodiment of the present invention provides a cartesian robot, including a frame, an X-direction moving assembly and a Y-direction moving assembly, wherein the X-direction moving assembly is mounted on the frame, the Y-direction moving assembly is mounted on the X-direction moving assembly and is perpendicular to the X-direction moving assembly, the cartesian robot further includes a Z-direction moving assembly, a rotating assembly and a garbage sorting and clamping device, the Z-direction moving assembly is mounted on the Y-direction moving assembly and is perpendicular to the Y-direction moving assembly, the rotating assembly is mounted on the Z-direction moving assembly, and the rotating assembly is connected to the garbage clamping and sorting device; the X-direction moving assembly drives the Y-direction moving assembly to move along the X direction, the Y-direction moving assembly drives the Z-direction moving assembly to move along the Y direction, the Z-direction moving assembly drives the rotating assembly to move along the Z direction, and the rotating assembly drives the garbage sorting and clamping device to rotate so as to clamp garbage.

The embodiment of the utility model provides an above-mentioned one or more technical scheme in the rectangular coordinate robot have one of following technological effect at least: the utility model discloses a will X to remove the subassembly Y to remove the subassembly with Z sets up to removing subassembly mutually perpendicular, and will rotating assembly install in Z is to removing on the subassembly for when carrying out rubbish letter sorting, can realize X to, Y to, Z to the removal of three direction, can also pass through simultaneously rotating assembly drives rubbish letter sorting presss from both sides the clamp that the device realized the rotation type and gets rubbish, and then realizes multi-directionally, and rubbish is pressed from both sides to multi-angle and rotatable removal, very big enlargement drive rubbish sorting presss from both sides gets the space moving range that the device pressed from both sides and gets rubbish, and it is more nimble when making the clamp to get rubbish, thereby improves rubbish letter sorting efficiency.

In order to achieve the above object, the embodiment of the utility model provides a rubbish letter sorting production line is still provided, including foretell rectangular coordinate robot.

Optionally, the system further comprises a garbage conveying device and a vision collecting device; the vision collection device and the cartesian robot are sequentially arranged along the conveying direction of the garbage conveying device.

The embodiment of the utility model provides an above-mentioned one or more technical scheme in the rubbish letter sorting production line have one of following technological effect at least: the utility model discloses in because of rubbish letter sorting production line has contained the cartesian robot, so rubbish letter sorting production line also can realize X to, Y to, Z to the removal of three direction, and can pass through rotating assembly drives rubbish letter sorting clamp is got the device and is realized the clamp of rotation type and get rubbish, and then realizes multi-directionally, and multi-angle and rotatable removal are got rubbish, very big expansion has driven rubbish letter sorting clamp gets the device and gets the space moving range of getting rubbish, and is more nimble when making the clamp get rubbish to improve rubbish letter sorting efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic view of an overall structure of a cartesian robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the hidden frame and the X-direction moving assembly of FIG. 1;

fig. 3 is a schematic structural diagram of a Z-direction moving assembly of a cartesian robot according to an embodiment of the present invention;

fig. 4 is a schematic view of a split structure of a rotating assembly of a cartesian robot according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a garbage sorting and clamping device of a cartesian robot according to an embodiment of the present invention;

fig. 6 is an exploded schematic view of a garbage sorting and clamping device of a cartesian robot according to an embodiment of the present invention;

fig. 7 is a cross-sectional view of a garbage sorting and clamping device of a cartesian robot according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a support plate of the garbage sorting and clamping device of the cartesian robot according to the embodiment of the present invention;

fig. 9 is a schematic structural view of a clamping jaw of the garbage sorting and clamping device of the cartesian robot according to the embodiment of the present invention;

fig. 10 is another schematic structural diagram of a clamping jaw of the garbage sorting and clamping device of the cartesian robot according to the embodiment of the present invention;

fig. 11 is a schematic view of an overall structure of a garbage sorting production line according to an embodiment of the present invention;

fig. 12 is a schematic structural view of the visual collection device of the garbage sorting production line hiding a local protection cover provided by the embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10-frame 20-servo motor 30-transmission mechanism

31-first toothed rack 32-second toothed rack 33-toothed wheel

34-support plate 35-first bearing 36-second bearing

40-movable connecting rod 50-clamping jaw 51-rotating shaft

52-fixed shaft 53-connecting plate 54-clamping plate

60-reducer 61-mounting plate 70-connecting mechanism

71-upper connecting plate 72-lower connecting plate 73-air spring

341-first chute 342-second chute 541-anti-slip teeth

542-big rubbish clamping groove 543-small rubbish clamping groove 544-limit flange

545 reinforcing rib 611, first wear resistant strip 612 and second wear resistant strip

100-Cartesian robot 110-frame 120-X-direction moving assembly

121-motor 122-guide rail 123-slider

130-Y-moving assembly 200-Z-moving assembly 210-connecting frame

211-transverse fixing plate 212-longitudinal fixing plate 213-clearance hole

220-installation box 221-auxiliary wheel 230-clamping block

231-sliding frame 232-first clamping block 233-second clamping block

234-sliding groove 240-Z-direction lifting guide rail 241-sliding rail

250-Z-direction motor 260-toothed belt wheel 270-lifting toothed belt

300-rotating unit 310-rotating motor 320-rotating shaft

330-switching block 400-garbage sorting and clamping device 500-garbage conveying device

600-vision acquisition device 610-protective cover 620-light supplement lamp

630-visual sensor

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary and intended to explain the embodiments of the present invention and are not to be construed as limiting the present invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which is only for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element so indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as fixed or detachable connections or as an integral part; 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 embodiments of the present invention can be understood by those skilled in the art according to specific situations.

In an embodiment of the present invention, as shown in fig. 1 to 4, a cartesian robot 100 is provided, which includes a frame 110, an X-direction moving assembly 120 and a Y-direction moving assembly 130, wherein the X-direction moving assembly 120 and the Y-direction moving assembly 130 all include a motor 121, a guide rail 122 and a slider 123. The X-direction moving assembly 120 is mounted on the frame 110, and the Y-direction moving assembly 130 is mounted on the X-direction moving assembly 120 and is perpendicular to the X-direction moving assembly 120.

Further, the cartesian robot 100 further comprises a Z-direction moving assembly 200, a rotating assembly 300 and a garbage sorting and clamping device 400, wherein the Z-direction moving assembly 200 is mounted on the Y-direction moving assembly 130 and is perpendicular to the Y-direction moving assembly 130, the rotating assembly 300 is mounted on the Z-direction moving assembly 200, and the rotating assembly 300 is connected to the garbage sorting and clamping device 400. The X-direction moving assembly 120 drives the Y-direction moving assembly 130 to move along the X direction, the Y-direction moving assembly 130 drives the Z-direction moving assembly 200 to move along the Y direction, the Z-direction moving assembly 200 drives the rotating assembly 300 to move along the Z direction, and the rotating assembly 300 drives the garbage sorting and clamping device 400 to rotate to clamp garbage. The garbage sorting and clamping device 400 can clamp garbage in an opening and closing manner.

The utility model discloses in through will X to remove subassembly 120Y to remove subassembly 130 with Z sets up to removing subassembly 200 mutually perpendicular, and will rotating assembly 300 install in Z is to removing on the subassembly 200 for when carrying out rubbish letter sorting, can realize X to, Y to, Z to the removal of three direction, can also pass through simultaneously rotating assembly 300 drives rubbish letter sorting presss from both sides the clamp of getting device 400 realization rotation type and gets rubbish, and then realizes multi-directionally, and multi-angle and rotatable removal come to press from both sides and get rubbish, very big expansion drives rubbish sorting presss from both sides the space moving range of getting device 400 clamp and gets rubbish, and is more nimble when making the clamp get rubbish, thereby improves rubbish letter sorting efficiency.

Further, the embodiment of the utility model provides an X is all through external controlling means realization control to moving subassembly, Y to moving subassembly, Z to moving subassembly, rotating assembly and rubbish letter sorting clamp get the electronic part among the device, and controlling means can coordinate each electronic part action of control under the condition of settlement procedure, and wherein, controlling means can be technical maturity such as computer, PLC or singlechip or the fashioned prior art of technique, and it is not in the utility model discloses an improve the scope, no longer give unnecessary details to controlling means here.

In another embodiment of the present invention, as shown in fig. 2 to 3, the Z-direction moving assembly 200 includes a connecting frame 210, a mounting box 220, a clamping block 230, a Z-direction lifting rail 240, a Z-direction motor 250, a toothed belt wheel 260, and a lifting toothed belt 270. The connecting frame 210 is installed at an output end of the Y-directional moving component 130, an output end of the Y-directional moving component 130 is a slider 123 of the Y-directional moving component 130, one side of the installation box 220 is connected with the connecting frame 210, the other side of the installation box 220 is connected with the clamping block 230, the clamping block 230 is further connected with the Z-directional lifting guide rail 240 in a sliding manner, the rotating component 300 is installed at the Z-directional lifting guide rail 240, the Z-directional motor 250 is installed at the connecting frame 210, the toothed belt pulley 260 is installed in the installation box 220 and connected with the Z-directional motor 250, the lifting toothed belt 270 is sleeved on the toothed belt pulley 260, and two ends of the lifting toothed belt pulley 260 penetrate through the clamping block 230 and are respectively fixedly connected with two ends of the Z-directional lifting guide rail 240 so that the Z-directional motor 250 drives the toothed belt pulley 260 to rotate, the toothed pulley 260 pulls the Z-direction lifting rail 240 to ascend or descend by the lifting toothed belt 270. Specifically, when the Z-direction moving assembly 200 works, the Z-direction motor 250 rotates to drive the toothed belt wheel 260 to rotate, and the toothed belt wheel 260 drives the lifting toothed belt 270 to ascend or descend, so as to pull the Z-direction lifting guide 240 to ascend or descend along the clamping block 230, thereby driving the garbage sorting and clamping device 400 to clamp garbage.

In another embodiment of the present invention, as shown in fig. 1 to 3, a plurality of auxiliary wheels 221 are rotatably mounted in the mounting box 220, and the auxiliary wheels 221 are disposed on the lifting cog belt 270 in a pressure-sharing manner. Specifically, the auxiliary wheels 221 are arranged on the lifting toothed belt 270 in a pressing manner, so that the pressure between the lifting toothed belt 270 and the toothed belt wheel 260 is increased, and the connection between the lifting toothed belt 270 and the toothed belt wheel 260 is tighter.

In another embodiment of the present invention, as shown in fig. 2 to 3, the connecting frame 210 includes a transverse fixing plate 211 and a longitudinal fixing plate 212, the transverse fixing plate 211 is fixedly connected to the slider 123 of the Y-direction moving assembly 130, the longitudinal fixing plate 212 is fixedly connected to one side of the transverse fixing plate 211 and is 90 ° disposed on the transverse fixing plate 211, and the longitudinal fixing plate 212 is further fixedly connected to the mounting box 220. The middle of the transverse fixing plate 211 is provided with a clearance hole 213, and the Z-direction lifting guide rail 240 passes through the clearance hole 213. Specifically, the transverse fixing plate 211 and the longitudinal fixing plate 212 are disposed at 90 ° to form a right-angled structure, so that the overall stability of the connecting frame 210 is improved. Further, the Z-direction elevating guide 240 is more stably fixed.

In another embodiment of the present invention, as shown in fig. 3, the fastening block 230 includes a sliding frame 231, a first fastening block 232 and a second fastening block 233, the sliding frame 231 is fixedly connected to the mounting box 220, the first fastening block 232 and the second fastening block 233 are respectively connected to two ends of the sliding frame 231 and form a "u" shaped structure, the side surfaces of the first fastening block 232 opposite to the second fastening block 233 are respectively provided with a sliding groove 234, and two sides of the Z-direction lifting rail 240 are provided with a sliding rail 241 adapted to the sliding groove 234 so that the Z-direction lifting rail 240 moves along the sliding groove 234. Specifically, by arranging the sliding groove 234 to cooperate with the sliding rail 241, the moving direction of the Z-direction lifting rail 240 can be limited, i.e. the Z-direction lifting rail moves along the sliding groove 234 along a straight line, so that the energy loss is reduced.

In another embodiment of the present invention, as shown in fig. 1 and 4, the Z-direction lifting guide 240 is hollow inside, the rotating assembly 300 includes a rotating electrical machine 310, a rotating shaft 320 and a switching block 330, the rotating electrical machine 310 is installed on the top of the Z-direction lifting guide 240, one end of the rotating shaft 320 is passed through the Z-direction lifting guide 240 and connected to the rotating electrical machine 310, the other end of the rotating shaft 320 is connected to the switching block 330, and the switching block 330 is further connected to the trash sorting clamping device 400. Specifically, when the rotating assembly 300 works, the rotating motor 310 rotates to drive the rotating shaft 320 to rotate, and the transferring block 330 drives the garbage sorting and clamping device 400 to clamp garbage. Therefore, the garbage sorting machine can realize X, Y, Z movement in three directions, can rotate to clamp garbage, enlarges the space range of clamping garbage, and is favorable for improving the garbage sorting efficiency.

In an embodiment of the present invention, as shown in fig. 5 to 7, a garbage sorting and clamping device 400 is provided, specifically, the garbage sorting and clamping device 400 includes a frame 10, a servo motor 20, a transmission mechanism 30, two movable connecting rods 40 and two clamping jaws 50.

Further, the motor is installed in the frame 10 and connected with the frame 10; the transmission mechanism 30 includes a first rack 31, a second rack 32 and a gear 33, the gear 33 is disposed in the frame 10 and connected to the spindle of the servo motor 20, and the first rack 31 and the second rack 32 are respectively engaged with two opposite sides of the gear 33.

Further, the upper ends of the two clamping jaws 50 are respectively and rotatably connected to two sides of the frame 10, the upper ends of the two clamping jaws 50 are also respectively connected to one ends of the two movable connecting rods 40, and the other ends of the two movable connecting rods 40 are respectively connected to the first rack 31 and the second rack 32 to drive the lower ends of the two clamping jaws 50 to open or close along with the horizontal movement of the upper ends of the two clamping jaws 50.

The garbage sorting and clamping device 400 provided by the embodiment of the utility model starts the servo motor 20 when in use, and drives the gear 33 to rotate by utilizing the rotation of the main shaft of the servo motor 20, so that the first rack 31 and the second rack 32 which are meshed and connected to the two opposite sides of the gear 33 can do linear motion back and forth on the same plane along the opposite directions or the opposite directions, thereby being beneficial to the stability of the garbage sorting device during working; wherein, servo motor 20 can control its main shaft according to actual demand (for example according to received control signal) and rotate different numbers of turns, thus, can control the distance that first rack 31 and second rack 32 removed the demand, make two movable connecting rod 40 of being connected with first rack 31 and second rack 32 respectively also realize the action, thereby can drive two clamping jaws 50 of being connected with these two movable connecting rod 40 respectively through two movable connecting rod 40 and open or closed, and then realize controlling two clamping jaws 50 and open the opening of different sizes, realize pressing from both sides and get different volume sizes, can be applicable to the clamp of different object sizes under the complex environment like this, save the time of quick change clamping jaw 50, solve and respond to the difference of product size and can not normally press from both sides and get, promote production efficiency.

In another embodiment of the present invention, as shown in fig. 5 to 8, the transmission mechanism 30 further includes a supporting plate 34, a plurality of first bearings 35 and a plurality of second bearings 36, the supporting plate 34 is disposed below the gear 33 and connected to the frame 10, and the two opposite sides of the top of the supporting plate 34 are respectively provided with a first sliding groove 341 and a second sliding groove 342; the first and second sliding

grooves

341 and 342 serve as rails for the first and

second bearings

35 and 342 to roll, respectively. That is, the first and

second chutes

341 and 342 limit the rolling paths of the first and

second bearings

35 and 36, respectively, to prevent the occurrence of misalignment.

Further, each of the first bearings 35 is rotatably connected to the outer side of the first rack 31, and each of the first bearings 35 is slidably connected to the first sliding groove 341, and the outer side of one of the first bearings 35 closest to one of the movable links 40 is hinged to the movable link 40. Wherein the movable link 40 is, for example, on the right side as shown in fig. 2.

Further, each of the second bearings 36 is rotatably connected to the outer side of the second rack 32, and each of the second bearings 36 is slidably connected in the second sliding groove 342, and the outer side of one of the second bearings 36 closest to the other of the movable links 40 is hinged to the movable link 40. Wherein the movable link 40 is, for example, on the left side as viewed in fig. 2.

Specifically, the first sliding chute 341 and the second sliding chute 342 disposed on the supporting plate 34 define the sliding tracks of the first bearing 35 and the second bearing 36, the first bearing 35 and the second bearing 36 do not deviate from the linear direction when sliding, which is beneficial to the accuracy of the operation of the garbage sorting and clamping device 400, the first bearing 35 is rotationally connected with the outer side of the first rack 31 and the second bearing 36 is rotationally connected with the outer side of the second rack 32, which is beneficial to the smoothness of the movement of the first rack 31 and the second rack 32; the movable link 40 is connected to the outside of the closest first bearing 35, and the movable link 40 is connected to the outside of the closest second bearing 36 in such a manner that the movement angle of the movable link 40 and the movable link 40 in the frame 10 can be maximized, which is advantageous in achieving the optimization of the device effect.

In another embodiment of the present invention, as shown in fig. 6, the number of the first bearings 35 and the number of the second bearings 36 are three. Specifically, the number of the first bearings 35 and the second bearings 36 is three, the first rack 31 connected with the first bearings 35 and the second rack 32 connected with the second bearings 36 are limited by the degree of freedom, and when the linear motion is performed on the same plane, the stability in the moving process is facilitated, the shaking of the parts in the working process is reduced, and the clamping of garbage is ensured to be more reliable.

In another embodiment of the present invention, as shown in fig. 5 to 7, the garbage sorting and clamping device 400 further includes a speed reducer 60, an input shaft of the speed reducer 60 is connected to the main shaft of the servo motor 20, an output shaft of the speed reducer 60 is connected to the gear 33, a mounting plate 61 is disposed at the bottom of the speed reducer 60, the mounting plate 61 is connected to the frame 10, a first wear strip 611 and a second wear strip 612 are disposed on two sides of the bottom of the mounting plate 61 respectively, each of the first bearings 35 is abutted to the first wear strip 611, and each of the second bearings 36 is abutted to the second wear strip 612. Specifically, when the first wear-resistant strips 611 and the second wear-resistant strips 612 arranged on the two sides of the bottom of the mounting plate 61 do linear motion in the first bearings 35 and the second bearings 36, the first bearings 35 and the second bearings 36 can be prevented from directly contacting the mounting plate 61, so that the service life of the bearings is effectively prolonged; of course, the first wear strip 611 and the second wear strip 612 can also make the rolling of the first bearing 35 and the second bearing 36 smoother, respectively. Further, the first wear-resistant strip 611 and the second wear-resistant strip 612 may employ a copper strip.

In another embodiment of the present invention, as shown in fig. 5, 6, 7, 9 and 10, a rotating shaft 51 is inserted into the clamping jaw 50, two ends of the rotating shaft 51 are both mounted on the frame 10 through a fixing shaft 52 bearing, and the arrangement of the fixing shaft 52 bearing also ensures that the rotating shaft 51 can be stably mounted on the frame 10 and can rotate relative to the frame 10. Specifically, the clamping jaw 50 is fixed on the frame 10 through the rotating shaft 51, when the clamping jaw 50 moves, the position of the clamping jaw 50 is effectively limited by the fixing shaft 52, the stability of the clamping jaw 50 during movement is facilitated, and in the actual operation process, the stability of the device is guaranteed, so that the working efficiency is effectively improved.

In another embodiment of the present invention, as shown in fig. 5, 6, 7, 9 and 10, the clamping jaw 50 includes a connecting plate 53 and a clamping plate 54, the connecting plate 53 is detachably connected to the clamping plate 54, the connecting plate 53 is rotatably connected to the frame 10, and the upper end of the connecting plate 53 is connected to the link mechanism. Specifically, the clamping jaw 50 is easily damaged in different degrees after working for a long time, the production cost is greatly increased due to the fact that part of parts are damaged and scrapped in the traditional production process, the clamping jaw 50 in the embodiment is composed of the connecting plate 53 and the clamping plate 54, therefore, when a wearing part on the clamping jaw 50 is damaged, the clamping plate 54 can be directly replaced, and the economic benefit of production is improved. And the clamping plate 54 of the clamping jaw 50 can be assembled and disassembled, so that the clamping plate 54 can be replaced, and the clamping plate 54 with different lengths can be replaced to adapt to different automatic garbage sorting equipment according to requirements.

Further, as shown in fig. 9 and 10, the clamping plate 54 is a plate-shaped structure, and the outer side of the upper portion (i.e., the portion close to the upper end) of the clamping plate 54 is provided with a limit flange 544, the limit flange 544 can be used to limit the installation of the connecting plate 53, that is, when the connecting plate 53 is installed, the connecting plate 53 is placed between the two limit flanges 544, and then the connecting plate 53 and the clamping plate 54 are locked and connected by using a fastener.

Further, as shown in fig. 9 and 10, the outside of the lower portion (i.e., the portion near the lower end) of the clamping plate 54 is provided with a reinforcing rib 545, and the reinforcing rib 545 is located below the two position-limiting flanges 544, so that the upper end of the reinforcing rib 545 can be used to abut against the lower end of the connecting plate 53, and thus, when the connecting plate 53 is placed between the two position-limiting flanges 544, the connecting plate 53 is shown to be mounted in place when it abuts against the reinforcing rib 545. In addition, the reinforcing ribs 545 can be used for reinforcing the strength of the clamping plate 54, so that the clamping plate 54 is ensured to be more powerful in clamping garbage and is not easy to damage.

In another embodiment of the present invention, as shown in fig. 9 and 10, the inner side of the gripping plate 54 is provided with a large garbage holding groove 542 and a small garbage holding groove 543 along the length direction thereof. Specifically, the clamping plate 54 can perform proper operation on the volume of the garbage in the actual operation process, so that the operation process is accelerated, and the production enthusiasm is facilitated. Wherein, the overall structure of getting board 54 roughly is the wave form, two are pressed from both sides and are got board 54 and set up relatively, then can form the major possession rubbish centre gripping groove 542 and the minor possession rubbish centre gripping groove 543 of two relative settings, the space that two major possession rubbish centre gripping grooves 542 formed is bigger, the bigger rubbish of adaptation centre gripping volume, and the space that two minor possession rubbish centre gripping grooves 543 formed is littleer, the littleer rubbish of adaptation centre gripping volume, can improve clamping jaw 50 like this to the commonality of rubbish centre gripping.

In another embodiment of the present invention, as shown in fig. 9 and 10, the inner side of the gripping plate 54 is provided with anti-slip teeth 541. Specifically, when the clamping plate 54 clamps garbage with different materials, shapes and sizes, the friction force can be increased by the anti-slip teeth 541 arranged on the inner side of the clamping plate 54 and the garbage, so that the application range of the device is increased. The design of antiskid tooth 541 can increase the friction force when plate 54 is clamped to pick up rubbish, so as to avoid the problem that plate 54 is easy to drop when clamping rubbish, and improve the reliability of rubbish sorting.

In another embodiment of the present invention, as shown in fig. 5 to 7, a connecting mechanism 70 is disposed on the top of the frame 10, and the connecting mechanism 70 is connected to the rotating assembly 300. Further, the connecting mechanism 70 includes an upper connecting plate 71, a lower connecting plate 72, an air spring 73 and a plurality of elastic ropes, the lower connecting plate 72 is connected to the top of the frame 10, the upper connecting plate 71 is disposed above the lower connecting plate 72, the upper connecting plate 71 is further connected to the transfer block 330, the air spring 73 is connected between the upper connecting plate 71 and the lower connecting plate 72, two ends of each elastic rope are respectively connected between the periphery of the upper connecting plate 71 and the periphery of the lower connecting plate 72, and each elastic rope is arranged in an inclined manner. Specifically, the upper connecting plate 71 and the lower connecting plate are connected through an air spring 73 and an elastic rope, so that the upper connecting plate 71 and the lower connecting plate 72 can move relatively to achieve a damping and buffering effect, and the elastic rope can also ensure clamping and centering. Further, the upper connecting plate 71 and the lower connecting plate 72 may be triangular frame 10 plates of the same result. In addition, the upper connecting plate 71 and the lower connecting plate 72 are arranged in a staggered mode, one corner of the upper connecting plate 71 is correspondingly located between two corners of the lower connecting plate 72, one end of the elastic rope is connected with one corner of the upper connecting plate 71, the other end of the elastic rope is connected with one corner of the lower side of the lower connecting plate 72, and therefore the connection ensures that the clamping jaw 50 can be centered at the center.

In another embodiment of the present invention, please refer to fig. 11 to 12, which further provides a garbage sorting production line, including the cartesian robot 100.

The embodiment of the utility model provides an above-mentioned one or more technical scheme in rectangular coordinate machine 100 people have one of following technological effect at least: the utility model discloses in through will X to remove subassembly 120Y to remove subassembly 130 with Z sets up to removing subassembly 200 mutually perpendicular, and will rotating assembly 300 install in Z is to removing on the subassembly 200 for when carrying out rubbish letter sorting, can realize X to, Y to, Z to the removal of three direction, can also pass through simultaneously rotating assembly 300 drives rubbish letter sorting presss from both sides the clamp of getting device 400 realization rotation type and gets rubbish, and then realizes multi-directionally, and multi-angle and rotatable removal come to press from both sides and get rubbish, very big expansion drives rubbish sorting presss from both sides the space moving range of getting device 400 clamp and gets rubbish, and is more nimble when making the clamp get rubbish, improves rubbish letter sorting efficiency.

Specifically, the garbage sorting production line further includes a garbage conveying device 500, a vision collecting device 600, and an electric control device (not shown). The vision collecting apparatus 600 and the cartesian robot 400 are sequentially disposed in the transferring direction of the garbage transferring apparatus 500. The garbage transfer device 500, the vision collection device 600 and the cartesian robot 100 are electrically connected to the electric control device.

In particular, in practical production, the garbage transporting device 500 generally employs a motor, a synchronous wheel and a synchronous belt to transport the garbage.

Specifically, referring to fig. 12, the vision collecting device 600 includes a protective cover 610, a fill-in light 620, and a vision sensor 630. The safety cover frame 610 is located directly over the rubbish conveyer 500, light filling lamp 620 set up in inside the safety cover 610 and with the safety cover 610 is connected, vision sensor 630 set up in the safety cover 610 and with the safety cover 610 is connected, just vision sensor 630's camera lens orientation rubbish conveyer 500. In this embodiment, the vision sensor 630 is used to shoot the garbage, and the electronic control device identifies the garbage category according to the shot image, so that the cartesian robot 100 can conveniently pick up the garbage and correspondingly throw the garbage into the corresponding garbage basket. In this embodiment, the vision sensor 630 may use a laser scanner, a linear array CCD camera, an area array CCD camera, or a TV camera, or may use a digital camera, etc., for which the present invention is not limited in particular.

Further, when sorting rubbish, earlier place rubbish in on rubbish conveyer 500, then, electrically controlled device control vision collection system 600 is right rubbish on the rubbish conveyer 500 carries out positional information and gathers to acquire rubbish and be in positional information on the rubbish conveyer 500 sends to electrically controlled device, then, electrically controlled device with positional information send to cartesian robot 100, the cartesian robot is according to positional information with accurate clamp get rubbish, and then realizes rubbish letter sorting.

It should be noted that, in the utility model discloses in electrically controlled device with rubbish conveyer 500 is shaping and ripe technique among the prior art, to the two concrete theory of operation, if how electrically controlled device reaches according to the image recognition rubbish classification of shooing how the motor drives synchronizing wheel drives hold-in range conveying rubbish, and the equal reason should be known and can master for the technical staff in this field, so the utility model discloses no longer describe repeatedly.

Specifically, the utility model discloses in because of rubbish letter sorting production line has contained cartesian robot 100, so rubbish letter sorting production line also can realize X to, Y to, Z to the removal of three direction, and can pass through rotating assembly 300 drives rubbish letter sorting clamp 400 is got the clamp that device 400 realized the rotation type and is got rubbish, and then realizes multi-directionally, and multi-angle and rotatable removal come to press from both sides and get rubbish, very big expansion drive rubbish letter sorting clamp 400 is got the space moving range that device 400 got rubbish, and it is more nimble when getting rubbish to make the clamp, thereby improves rubbish letter sorting efficiency.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A rectangular coordinate robot, including the stander, X to moving assembly and Y to moving assembly, the X is to moving the assembly to install in the said stander, the Y is to moving the assembly to install in the said X to moving on the output end of the assembly and with the said X is to moving the assembly to setting up perpendicularly, and the said X moves the assembly to drive the said Y moves the assembly to move along X, characterized by that, the said rectangular coordinate robot also includes Z moves the assembly, rotating assembly and rubbish to sort and get the device, the said Z moves the assembly to install in the said Y to moving on the output end of the assembly and with the said Y moves the assembly to set up perpendicularly, and the said Y moves the assembly to drive the said Z to move the assembly to move along Y, the said rotating assembly is installed on the output end of the said Z moves the assembly, and the said Z moves the assembly to drive the said rotating assembly to move along Z, the rotating assembly is connected with the garbage sorting clamping device, and the rotating assembly drives the garbage sorting clamping device to rotate so as to clamp garbage.

2. The cartesian robot of claim 1, wherein the Z-direction moving assembly comprises a connecting frame, a mounting box, a clamping block, a Z-direction lifting guide rail, a Z-direction motor, a toothed belt wheel and a lifting toothed belt; the connecting frame is installed on the output end of the Y-direction moving assembly, one side of the installation box is connected with the connecting frame, the other side of the installation box is connected with the clamping block, the clamping block is further connected with the Z-direction lifting guide rail in a sliding mode, the rotating assembly is installed on the Z-direction lifting guide rail, the Z-direction motor is installed on the connecting frame, the toothed belt wheel is installed in the installation box and connected with the Z-direction motor, the lifting toothed belt is connected with the toothed belt wheel in a sleeved mode, two ends of the lifting toothed belt wheel penetrate through the clamping block and are fixedly connected with two ends of the Z-direction lifting guide rail respectively to enable the Z-direction motor to drive the toothed belt wheel to rotate, and the toothed belt wheel pulls the Z-direction lifting guide rail to ascend or descend through the lifting toothed belt.

3. The cartesian robot according to claim 2, wherein the connecting frame comprises a transverse fixing plate and a longitudinal fixing plate, the transverse fixing plate is fixedly connected with the output end of the Y-directional moving assembly, the longitudinal fixing plate is fixedly connected with one side of the transverse fixing plate and is arranged at 90 ° to the transverse fixing plate, and the longitudinal fixing plate is further fixedly connected with the mounting box; and the middle part of the transverse fixing plate is provided with a clearance hole, and the Z-direction lifting guide rail penetrates through the clearance hole.

4. The cartesian robot of claim 2, wherein the locking block comprises a sliding frame, a first locking block and a second locking block, the sliding frame is fixedly connected to the mounting box, the first locking block and the second locking block are respectively connected to two ends of the sliding frame and form a U-shaped structure, the side surfaces of the first locking block opposite to the second locking block are provided with sliding grooves, and two sides of the Z-direction lifting guide rail are provided with sliding rails adapted to the sliding grooves so that the Z-direction lifting guide rail moves along the sliding grooves.

5. The cartesian robot according to claim 2, wherein the Z-direction lifting rail is hollow inside, the rotating assembly comprises a rotating motor, a rotating shaft and a transfer block, the rotating motor is mounted on the top of the Z-direction lifting rail, one end of the rotating shaft passes through the Z-direction lifting rail and is connected with the rotating motor, the other end of the rotating shaft is connected with the transfer block, and the transfer block is further connected with the garbage sorting and clamping device.

6. The cartesian robot according to any one of claims 1-5, wherein the garbage sorting and gripping device comprises a connecting mechanism, a frame, a servo motor, a transmission mechanism, two movable connecting rods and two gripping jaws; the connecting mechanism is arranged at the top of the frame and connected with the rotating assembly, and the servo motor is arranged in the frame and connected with the frame; the transmission mechanism comprises a first rack, a second rack and a gear, the gear is arranged in the frame and is connected with a main shaft of the servo motor, and the first rack and the second rack are respectively meshed with two opposite sides of the gear; the upper ends of the two clamping jaws are respectively and rotatably connected to two sides of the frame, the upper ends of the two clamping jaws are also respectively connected with one ends of the two movable connecting rods, and the other ends of the two movable connecting rods are respectively connected with the first rack and the second rack to drive the lower ends of the two clamping jaws to be opened or closed along with the horizontal movement of the upper ends of the two clamping jaws.

7. The cartesian robot according to claim 6, wherein the transmission mechanism further comprises a support plate, a plurality of first bearings and a plurality of second bearings, the support plate is disposed below the gear and connected to the frame, and the support plate is provided with a first sliding groove and a second sliding groove on opposite sides of a top thereof; each first bearing is rotatably connected to the outer side of the first rack, each first bearing is slidably connected into the first sliding groove, and the outer side of one first bearing closest to one movable connecting rod is hinged to the movable connecting rod; each second bearing is rotatably connected to the outer side of the second rack, each second bearing is slidably connected into the second sliding groove, and the outer side of one second bearing closest to the other movable connecting rod is hinged to the movable connecting rod.

8. The cartesian robot of claim 7, wherein the number of the first bearings and the number of the second bearings are each three.

9. A refuse sorting line, characterized in that it comprises a cartesian robot according to any one of claims 1 to 8.

10. The trash sorting line of claim 9, further comprising a trash conveyor and a vision acquisition device; the vision collection device and the cartesian robot are sequentially arranged along the conveying direction of the garbage conveying device.