CN208714016U - a sorting robot - Google Patents
a sorting robot Download PDFInfo
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- CN208714016U CN208714016U CN201821153014.7U CN201821153014U CN208714016U CN 208714016 U CN208714016 U CN 208714016U CN 201821153014 U CN201821153014 U CN 201821153014U CN 208714016 U CN208714016 U CN 208714016U
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- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 19
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- 238000000926 separation method Methods 0.000 description 4
- 230000002146 bilateral effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
本实用新型公开了一种分拣机械手，它包括一机架、一圆盘件、两支臂杆件和两连杆，圆盘件的中心与机架转动连接，两支臂杆件的杆体与机架转动连接，两连杆的一端与圆盘件转动连接，两连杆的另一端分别与两支臂杆件的另一端一一对应地转动连接连杆通过圆盘件的转动带动两连杆在圆盘件两侧做撑开或收合运动，进而驱动两支臂杆件绕各自杆体的转动连接点转动，使两支臂杆件的末端收合抓取或打开释放。它具有如下优点：抓取同步、抓取快速、搬运快速且输出抓举力大、能抓取重量大的垃圾。
The utility model discloses a sorting manipulator, which comprises a frame, a disc piece, two arm rod pieces and two connecting rods, the center of the disc piece is rotatably connected with the frame, and the rod bodies of the two arm rod pieces It is rotatably connected with the frame, one end of the two connecting rods is rotatably connected with the disc member, and the other ends of the two connecting rods are respectively connected with the other ends of the two arm members in a one-to-one correspondence. The connecting rods do the opening or closing movement on both sides of the disc member, and then drive the two arm members to rotate around the rotation connection points of their respective rod bodies, so that the ends of the two arm members are folded and grasped or opened and released. It has the following advantages: synchronous grabbing, fast grabbing, fast handling, large output grabbing force, and ability to grab heavy-weight garbage.
Description
Technical field
The utility model relates to a kind of sorting manipulator more particularly to a kind of manipulators for weight crawl.
Background technique
Building waste is classified at present, is mainly manually sorted and is realized with manipulator.For manual sorting, there are low efficiencys
Under, and the rubbish material of weight smaller (such as: within 1kg) can only be sorted.The material slightly larger for weight, limited personnel, efficiency
It is even more low.Therefore, manual sorting's cost is often very high.Manipulator sorting has been developed later.
Existing manipulator Sorting Technique mainly has 2 kinds.The first is aspirated-air type, i.e., manipulator is in the table contacted with material
Face generates negative pressure, so that material be adsorbed, and then realizes the crawl to material.Second is clutch type, i.e., mechanical paw is simulated
The mode of manpower grabs material.Wherein, first way is only suitable for material very light, then difficult to heavier or heavier material
It is grabbed with negative-pressure adsorption.And the second way, it is suitble to the crawl compared with heavy material.Sorting for building waste, due to its weight
It is often heavier, the second way can only be used.For the sorting of the manipulator of the second way, it is desirable that it has efficient sorting
(that is: crawl synchronism, crawl rapidity, carrying rapidity), and (rubbish material load is grabbed with certain grasp force
Ability).Each gripper tool meets from different directions during the material when crawl synchronism is manipulator crawl material
Near-synchronous, to realize that material grabs.Rapidity is grabbed, as each gripper tool is from different directions close to the process of material
Time is short, and speed is fast.Rapidity is carried, that is, after requiring manipulator to grab material, time in handling process is short, speed is fast.Mesh
The rubbish material of (such as: 1kg~20kg) slightly larger to weight may be implemented compared to for manual sorting in preceding manipulator Sorting Technique
Carry out rapid sorting, but for rapidly and efficiently sorting heavier rubbish material (such as 20kg or more), be then difficult to realize, mainly because
For meet efficiently sorting (that is: crawl synchronism, crawl rapidity, carry rapidity) under the premise of, inevitable requirement manipulator
In the case that weight wants small, but manipulator weight is small, grasp force is again limited.The above problem is the problem mutually restricted,
Therefore the prior art manipulator can not meet simultaneously sorting high efficiency and higher grasp force.
Utility model content
The utility model provides a kind of sorting manipulator, and which overcome the prior arts described in background technology not
Foot.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of sorting manipulator, it includes a rack, a disc, two support arm rod pieces and two connecting rods, the center of disc
It being connect with gantry rotation, the body of rod of two support arm rod pieces is connect with gantry rotation, and one end of two connecting rods and disc are rotatablely connected, and two
The other end of the other end of connecting rod respectively with two support arm rod pieces is rotatablely connected correspondingly, drives two by the rotation of disc
Link motion, and then two support arm rod pieces is driven to rotate around the rotating joint of the respective body of rod, fold the end of two support arm rod pieces
Release is opened in crawl.
Among one embodiment: the rotating joint of two connecting rod and disc separation two sides above and below the center of disc
And the center about disc is centrosymmetric setting.
Among one embodiment: the rotating joint of the two support arms rod piece, two support arm rod pieces and rack is in separation in disk
The left-right symmetric relation of part two sides.Among one embodiment of connecting rod connecting rod connecting rod connecting rod connecting rod: the equal length of two connecting rod, institute
Two support arm rod pieces are stated about the vertical plane bilateral symmetry by disc center, which is parallel to gravity direction.
Among one embodiment: the slewing area of the disc is 0~90 degree.
Among one embodiment: one support arm rod piece includes the first rod piece and the second rod piece, one end of the first rod piece and second
One end of rod piece is fixedly connected, and the other end of the first rod piece is connected with corresponding link rotatable, the support arm rod piece and rack
Rotating joint is located on the first rod piece.
Among one embodiment: the two support arms rod piece respectively includes the first rod piece and the second rod piece, one end of the first rod piece
Be fixedly connected with one end of the second rod piece, the other end of the first rod piece is connected with corresponding link rotatable, the support arm rod piece with
The rotating joint of rack is located on the first rod piece.
Among one embodiment: the support arm rod piece is integrally formed.Among one embodiment: further including a brake apparatus, use
In the rotation amplitude of limitation disc.
Among one embodiment: the brake apparatus is uniaxial brake, is installed in the shaft of driving disc rotation.
Among one embodiment: the disc passes through pneumatic or oil pressure actuated.
The technical program compared with the background art, it has the following advantages:
1, the sorting manipulator that this patent proposes, during mechanism is input to power output from power, the bar that is related to
Part component is few (including three disc, connecting rod and support arm rod piece components), facilitates the force flow loss for reducing transmitting, therefore, defeated
Grasp force is big out, the rubbish for being suitble to weight capacity big.
2, since the sorting manipulator construction package is few, manipulator weight can be greatly reduced, improves Manipulator Transportation object
The rapidity of material.
3, the sorting manipulator structure that this patent proposes, can pass through position of the rotating joint to support arm rod piece on the body of rod
Set, the length of support arm rod piece, the length of connecting rod, connecting rod and disc rotating joint position, it is therein any one or it is more
It is a to be adjusted, disc difference slewing area can be met and realize the opening of support arm rod piece and fold.
4, the rotary motion range of disk rotational part can be located at a quarter circle and (turned by the sorting manipulator that this patent proposes
Dynamic range is 0-90 degree) or it is less than a quarter circle, machine support arm rod piece can be met from reaching the process closed, thus have
Help improve manipulator crawl rapidity.
5, the position by the rotating joint to support arm rod piece on the body of rod, the length of support arm rod piece, the length of connecting rod,
The rotating joint position of connecting rod and disc, it is therein it is any one or more be adjusted, can make two support arm rod pieces from
It opens in closing course, it is synchronous close to the process of material from two sides respectively, meet the synchronism of the manipulator.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is the front view that sorting manipulator described in the present embodiment is in collapse state.
Fig. 2 is the perspective view that sorting manipulator described in the present embodiment is in collapse state.
Fig. 3 is the front view that sorting manipulator described in the present embodiment is in half opened condition.
Fig. 4 is the perspective view that sorting manipulator described in the present embodiment is in half opened condition.
Fig. 5 is the front view that sorting manipulator described in the present embodiment is in full open position.
Fig. 6 is the perspective view that sorting manipulator described in the present embodiment is in full open position.
Specific embodiment
Fig. 1 to Fig. 6 is please referred to, a kind of sorting manipulator, it includes a rack 10, a disc 20, two support arm rod pieces 30
With two connecting rods 40, the center of disc 20 and rack 10 are rotatablely connected, and the body of rod and rack 10 of two support arm rod pieces 30 are rotatablely connected,
One end of two connecting rods 40 and disc 20 are rotatablely connected, the other end of two connecting rods 40 other end one with two support arm rod pieces 30 respectively
One is accordingly rotatablely connected, and connecting rod drives the movement of two connecting rods 40 by the rotation of disc 20, and then drives two support arm rod pieces 30
Rotating joint 301 around the respective body of rod rotates, and so that the end of two support arm rod pieces 30 is folded crawl or opens release.
In the present embodiment, the rotation connection is pivot joint, the rotation of two support arm rod pieces 30, two support arm rod pieces 30 and rack 10
Axial symmetry relationship of the tie point 301 in separation in 20 left and right sides of disc, the rotating joint of two connecting rods 40 and disc 20
401 separation two sides and centers about disc 20 above and below the center of disc 20 are centrosymmetric setting, two connecting rod
40 equal length, for the two support arms rod piece 30 about the vertical plane bilateral symmetry by 20 center of disc, the vertical plane is flat
Row is in gravity direction.
In the present embodiment, the slewing area of the disc 20 is 0~90 degree.It as needed, can be by two armed levers
Position of the spacing, the rotating joint 301 of support arm rod piece 30 of part 30 on the body of rod, the length of support arm rod piece 30, connecting rod 40
401 position of rotating joint of length, connecting rod 40 and disc 20, it is therein it is any one or more be adjusted, Ji Keman
The different slewing areas of sufficient disc 20 are realized the opening of support arm rod piece 30 and are folded.
In the present embodiment, the two support arms rod piece 30 respectively includes the first rod piece 31 and the second rod piece 32, the first rod piece 31
One end be fixedly connected with one end of the second rod piece 32, the other end of the first rod piece 31 is rotatablely connected with corresponding connecting rod 40, institute
The rotating joint 301 for stating support arm rod piece 30 and rack 10 is located on the first rod piece 31.Can also according to the actual situation, it is another compared with
In good embodiment, one support arm rod piece is divided into the first rod piece and the second rod piece, one end of the first rod piece and the one of the second rod piece
End is fixedly connected, and the other end of the first rod piece is connected with corresponding link rotatable, the rotation connection of the support arm rod piece and rack
Point is located on the first rod piece.Another support arm rod piece is integral rod piece.Can also according to the actual situation, in another preferred embodiment,
The support arm rod piece is made of integrated molding.It preferably, further include a brake apparatus, for limiting the rotation width of disc 20
Degree.In the present embodiment, the brake apparatus is uniaxial brake, is installed in the shaft that driving disc 20 rotates.For limiting
The rotation amplitude of rounding diskware 20 is within the scope of 0-90 degree.
The disc 20 can pass through pneumatic or oil pressure actuated.In the present embodiment, in the end of the two support arms rod piece 30
Side is equipped with crawl section 302, which is equipped with and grits one's teeth 312, the object of crawl section 302 and crawl when making crawl
Between active force it is more stable, grab stronger.
The sorting manipulator course of work described in the present embodiment is as follows:
Fold crawl process: sorting manipulator original state is in an open state, and the distal opening of support arm rod piece 30 is aligned
Then object to be grabbed drives disc 20 to rotate clockwise, and drive the movement of two connecting rods 40, band in two connecting rods, 40 motion process
One end of dynamic two support arm rod pieces 30 is strutted to two sides, while support arm rod piece 30 is rotated around rotating joint 301 thereon, makes two
Close to folding, realization folds crawl process for the end of armed lever part 30.
Open release process: sorting manipulator original state is collapse state, and driving disc 20 rotates counterclockwise, and band
Dynamic two connecting rods 40 move, and drive one end of two support arm rod pieces 30 to draw close in opposite directions in two connecting rods, 40 motion process and fold, while support arm
Rod piece 30 is rotated around rotating joint 301 thereon, makes the end of two support arm rod pieces 30 far from opening, and realizes that opening discharged
Journey.
The sorting manipulator that this patent proposes, it is upper simple and reliable in mechanism design, crawl synchronism, crawl can be met simultaneously
Rapidity carries rapidity and exports the rubbish that snatch power is big, energy weight capacity is big.
The above, only the utility model preferred embodiment, therefore, it cannot be limited according to, and the utility model is implemented
It is practical new to should still belong to this for range, i.e., equivalent changes and modifications made according to the scope of the patent of the utility model and the content of the manual
In the range of type covers.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821153014.7U CN208714016U (en) | 2018-07-19 | 2018-07-19 | a sorting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821153014.7U CN208714016U (en) | 2018-07-19 | 2018-07-19 | a sorting robot |
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| Publication Number | Publication Date |
|---|---|
| CN208714016U true CN208714016U (en) | 2019-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821153014.7U Active CN208714016U (en) | 2018-07-19 | 2018-07-19 | a sorting robot |
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| CN (1) | CN208714016U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656142A (en) * | 2018-07-19 | 2018-10-16 | 华侨大学 | A kind of sorting manipulator |
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2018
- 2018-07-19 CN CN201821153014.7U patent/CN208714016U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656142A (en) * | 2018-07-19 | 2018-10-16 | 华侨大学 | A kind of sorting manipulator |
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