CN104526701A - Simple sorting robot - Google Patents

Abstract

The invention discloses a simple sorting robot, which includes a base part, a driving device, a four-bar linkage mechanism, a cylinder and a suction cup. At the end of the four-bar linkage, the suction cup is mounted on the cylinder piston rod. The advantages of the invention are that the suction cup moves smoothly in a plane, has a fast moving speed and has high position accuracy; and the invention has a simple structure, a small number of components, and convenient installation, and is a low-cost and practical simple sorting robot.

Description

A simple sorting robot

Technical field:

The invention belongs to the technical field of industrial robots, and in particular relates to a simple sorting robot.

Background technique:

With the development of the market economy, the demand of the society is developing in the direction of small batch, multi-variety, multi-batch and multi-period, which makes the sorting operation account for an increasing proportion of the overall operation of the distribution center, becoming the most labor-intensive and Time job. Sorting operation has a wide range of uses in actual production. Sorting operation is an important link in the automated production lines of light industry, medicine, food and electronics industries. Compared with manual sorting operations, robot sorting based on machine vision is not only efficient and accurate, but also has irreplaceable advantages in terms of quality assurance and hygiene protection; compared with traditional mechanical sorting operations, machine-based Visual robot sorting has the advantages of a wide range of adaptation, and the ability to change the operating object and sorting process at any time. Robot sorting technology is an organic combination of robot technology and machine vision technology. In Japan and some developed countries in Europe and the United States, the application of robot sorting in the production fields of machinery, food, medicine, and cosmetics has become quite popular. According to the current market demand in our country and the basic research, development and application of related technologies, it is of great significance to develop and apply robot sorting technology.

The existing parallel sorting robot has a series of advantages such as high rigidity, strong carrying capacity, small error, high precision, small self-weight-to-load ratio, good dynamic performance, and easy control. It forms a complementary relationship with the widely used serial robot in application. , but most parallel sorting robots have complex structures and high costs, and it seems a waste of resources for sorting light-weight and small-sized items. The invention designs an economical sorting robot with simple mechanism and suitable for sorting light and small items.

Invention content:

The object of the present invention is to provide an economical sorting robot with simple structure and suitable for sorting light and small items.

A simple sorting robot provided by the present invention includes a base 4, a driving device, a four-bar linkage mechanism 5, a cylinder 6 and a suction cup 12; the base 4 is fixed on the upper end of the column 1 by bolts, and the The column 1 is fixed on the ground; the driving device includes a first driving device and a second driving device, and the first driving device and the second driving device are concentrically arranged on the base 4; the four-bar linkage 5 is connected with the driving device through a flat key, the cylinder 6 is installed at the end of the four-bar linkage mechanism 5 , and the suction cup 12 is installed on the piston rod of the cylinder 6 .

The first driving device includes a first motor 2 and a first speed reducer 3, and the second driving device includes a second motor 14 and a second speed reducer 13; the four-bar linkage mechanism 5 includes a first active arm 9, The second active arm 8, the connecting rod 7 and the execution link 11, the first active arm 9 is connected with the first reducer 3 of the first driving device through a flat key, the second active arm 8 is connected to the The second speed reducer 13 of the second driving device is connected by a flat key, one end of the connecting rod 7 is connected to the second active arm 8 by a bearing, and the other end of the connecting rod 7 is connected to the execution connecting rod 11 by a bearing Connection, the middle part of the executive link 11 is connected with the first active arm 9 through a pin 10; the cylinder 6 is fixed on the end of the executive link 11 by bolts; the suction cup 12 is fixed on the On the piston rod of cylinder 6.

The first motor (2) and the second motor (14) are servo motors, and the first speed reducer (3) and the second speed reducer (13) are harmonic speed reducers.

The two driving devices of the present invention jointly drive the four-bar linkage, so that the end actuator has two degrees of freedom of movement in the plane; the suction cup is installed on the piston rod of the cylinder, and the piston rod can move up and down driven by air pressure, thereby Drive the suction cup to move up and down; thus the suction cup has three degrees of freedom of movement, which can realize the corresponding sorting task.

The beneficial effects of the present invention are: the four-bar linkage constrains the degree of freedom of rotation of the suction cup at the end, ensures the smooth motion of the suction cup in the plane, makes the suction cup move fast and has high positional accuracy; the present invention has a simple structure and a small number of components. A low-cost and practical simple sorting robot.

Description of drawings:

Fig. 1 is a schematic structural diagram of a simple sorting robot of the present invention;

Fig. 2 is an enlarged schematic diagram of the partial structure of the four-bar linkage mechanism and the sucker in the present invention.

In the figure: 1: column, 2: first motor, 3: first reducer, 4: base, 5: four-bar linkage, 6: cylinder, 7: connecting rod, 8: second main arm, 9: first One main arm, 10: pin shaft, 11: executive connecting rod, 12: suction cup, 13: second reducer, 14: second motor.

Detailed ways:

As shown in Figures 1 and 2, a simple sorting robot includes a base part, a driving device (the first motor 2 and the first reducer 3), a four-bar linkage mechanism 5, a cylinder 6 and a suction cup 12; The driving device is installed on the base 4, the four-bar linkage mechanism 5 is connected with the driving device by a flat key, the cylinder 6 is installed at the end of the four-bar linkage mechanism 5, and the sucker 12 is installed on the cylinder piston rod.

As shown in Figure 1, the column 1 is a hollow square steel material, which supports the robot at a certain height so as to facilitate the sorting operation on the corresponding production line; the first motor 2 is fixed by bolts On a reducer 3, the first reducer 3 is fixed on the base 4 by bolts; the first reducer 3 adopts a harmonic reducer to improve transmission accuracy and reduce vibration.

As shown in Figure 2, the four-bar linkage mechanism 5 includes a first active arm 9, a second active arm 8, a connecting rod 7 and an execution link 11, and the first active arm 9 and the connecting rod The rod length of 7 is the same, and the length (line segment A in the figure) of the rotating joint between the described executive connecting rod 11 and the first active arm 9 and the rotating joint between the performing connecting rod 11 and the connecting rod 7 is the same as that of the second active arm 8. The rods have the same length, thus forming a stable parallelogram structure, which makes the movement fast and smooth; the end of the four-bar linkage mechanism can move in the plane, with two translational degrees of freedom; the rotational joint between the connecting rods is composed of bearings, pins 10. A shaft sleeve and a nut connection; the piston rod of the cylinder 6 can move vertically, thereby driving the suction cup 12 to move vertically.

The working process of this simple sorting robot is: when the item (such as biscuit) enters the operating range of the robot, firstly the driving device drives the four-bar linkage mechanism 5 to move the end suction cup 12 directly above the position of the biscuit, and the air cylinder 6 is connected to a certain pressure of air The piston rod moves downward, the suction cup 12 ventilates to suck the biscuit, and then the piston rod of the cylinder 6 moves upward, at this time, the driving device drives the four-bar linkage mechanism 5 to move the suction cup to a predetermined position, the suction cup 12 cuts off the air and puts down the biscuit, and finally the suction cup Move to the position directly above the next biscuit and repeat the previous action, thus completing the sorting action of moving the biscuit from one position to the predetermined position.

Claims (3)

1. a simple and easy sorting machine people, is characterized in that this robot comprises base (4), drive unit, quadric chain (5), cylinder (6) and sucker (12); Described base (4) is bolted on the upper end of column (1), and described column (1) fixes on the ground; Described drive unit comprises the first drive unit and the second drive unit, and described first drive unit is arranged on described base (4) with described second drive unit is concentric; Described quadric chain (5) is connected by flat key with described drive unit, described cylinder (6) is arranged on the end of described quadric chain (5), and described sucker (12) is arranged on the piston rod of described cylinder (6).

2. the simple and easy sorting machine people of one according to claim 1, it is characterized in that described first drive unit comprises the first motor (2) and the first decelerator (3), described second drive unit comprises the second motor (14) and the second decelerator (13), described quadric chain (5) comprises the first master arm (9), second master arm (8), connecting rod (7) and execution connecting rod (11), described first master arm (9) is connected by flat key with first decelerator (3) of described first drive unit, described second master arm (8) is connected by flat key with second decelerator (13) of described second drive unit, described connecting rod (7) one end is connected by bearing with described second master arm (8), the other end of described connecting rod (7) is connected by bearing with described execution connecting rod (11), the middle part of described execution connecting rod (11) is connected by bearing pin (10) with described first master arm logical (9), described cylinder (6) is bolted on the end of described execution connecting rod (11), described sucker (12) is fixed on the piston rod of described cylinder (6).

3. the simple and easy sorting machine people of one according to claim 2, it is characterized in that described first motor (2) and described second motor (14) adopt servomotor, described first decelerator (3) and described second decelerator (13) adopt harmonic speed reducer.