Cleaning and sorting equipment with two-degree-of-freedom dual-output mode

Abstract

The invention relates to the technical field of parallel machine structures, in particular to cleaning and sorting equipment in a two-degree-of-freedom dual-output mode. A conventional cleaning and sorting production line is usually provided with a cleaning robot and a sorting robot if parts conveyed from a conveying device need to be cleaned and sorted, the cleaning robot and the sorting robot are independently arranged, topological structures of the cleaning robot and the sorting robot are different, and each of the cleaning robot and the sorting robot needs to be provided with a host for control. Therefore, the cleaning and sorting production line is high in manufacturing cost and large in occupied area. In order to solve the problems, the cleaning and sorting equipment with the two-degree-of-freedom dual-output mode is provided, the cleaning and sorting equipment is designed to have two degrees of freedom, the dual-output mode can be achieved, the special robot topological structure enables the equipment to show efficient and flexible operation capacity in complex sorting and cleaning tasks, and the cleaning and sorting efficiency is improved. Through the design, the equipment can move in two dimensions, two output actions are realized at the same time, and the working efficiency and the operation convenience are greatly improved. In addition, the special structure of the equipment also allows the equipment to more accurately control the position and direction of the object when executing the task, so that the sorting and cleaning accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of parallel machine mechanisms, and in particular to a cleaning and sorting device with two degrees of freedom and dual output modes. Background Art

[0002] Conventional cleaning and sorting production lines, if the parts conveyed from the conveying device are to be cleaned and sorted, are usually equipped with a cleaning robot and a sorting robot. The cleaning robot and the sorting robot are independently set and use different host control modes to output movement. For example, Chinese invention patent CN116213412A discloses a tire sorting system, whose structure contains both a tire cleaning robot and a tire sorting robot. The tire cleaning robot and the tire sorting robot use different robot topological structures respectively, and must be controlled by two independent hosts respectively. Another example is the robot intelligent dishwasher disclosed in Chinese invention patent CN112754385A, whose structure includes a cleaning machine and a sorting machine. The cleaning machine and the sorting machine also use two different robot topological structures respectively, and must also use two hosts to control the cleaning machine and the sorting machine respectively.

[0003] In the cleaning and sorting production line, the cleaning robot and the sorting robot are independently arranged. The two robots have different topological structures and each needs to be equipped with a host for control, which results in a high cost and a large floor space for the cleaning and sorting production line. Summary of the invention

[0004] The problem in the prior art is that a conventional cleaning and sorting production line is usually equipped with a cleaning robot and a sorting robot if it is to clean and sort the parts conveyed by the conveying device. The cleaning robot and the sorting robot are independently set up, and the topological structures of the two are different. Each needs to be equipped with a host for control, resulting in a high cost of the cleaning and sorting production line and a large floor space of the production line. In view of the above problems, the present invention provides a two-degree-of-freedom dual-output mode cleaning and sorting device, which includes a suction cup seat, a cleaning execution seat, a first branch chain, a second branch chain and a base.

[0005] The suction cup seat is provided with a suction cup assembly, and the cleaning execution seat is provided with a cleaning nozzle.

[0006] The first branch chain includes a sub-chain 1 and a sub-chain 2, and the sub-chain 1 and the sub-chain 2 are connected in parallel to form a spatial six-bar parallel mechanism.

[0007] The sub-chain 1 includes a moving pair 1 and two rotating pairs connected in series, the axes of the rotating pairs on the sub-chain 1 are parallel to each other, the moving pair 1 and the axis of any rotating pair on the sub-chain 1 are perpendicular to each other, and the moving pair 1 is located on a base.

[0008] The sub-chain 2 includes three rotating pairs connected in series and with axes parallel to each other.

[0009] The rotating pair at one end of the second sub-chain is located on the base, the rotating pair at one end of the second sub-chain away from the base is connected to the rotating pair at one end of the first sub-chain away from the base through a connecting rod, the connecting rod is connected in series with the rotating pair 1, the axes of the rotating pair 1 and any rotating pair on the second sub-chain are parallel to each other, the axes of the rotating pair 1 and any rotating pair on the first sub-chain are perpendicular to each other, and the axes of the rotating pair 1 and the moving pair 1 are parallel to each other.

[0010] The first rotating pair is connected to one end of the suction cup seat, and the other end of the suction cup seat is connected to one end of the cleaning execution seat through the second rotating pair. The axis of the second rotating pair is parallel to the axis of the first rotating pair.

[0011] The second branch chain includes a second moving pair and three rotating pairs which are connected in series in sequence and whose axes are parallel to each other. The rotating pair at one end of the second branch chain away from the base is connected to the other end of the cleaning execution seat. Alternatively, the second branch chain includes a parallelogram structure consisting of a second moving pair and four rotating pairs whose axes are parallel to each other. The end of the parallelogram structure close to the base is connected in series with the second moving pair through a rotating pair eight. The end of the parallelogram structure away from the base is connected in series with a rotating pair nine. The rotating pair nine is connected to the other end of the cleaning execution seat.

[0012] The mobile pair is located on the base.

[0013] The axis of the rotating pair 9 is parallel to the axis of the rotating pair 8 and the axis of the moving pair 2.

[0014] The axes of the second rotational pair and the ninth rotational pair are perpendicular to each other, and the axis of the second translational pair is parallel to the axis of any rotational pair in the parallelogram structure.

[0015] The moving pair 1 and the moving pair 2 are both driving pairs. Driven by the moving pair 1 and the moving pair 2, the suction cup seat realizes output mode movement so that the suction cup assembly on the suction cup seat can sort the parts transported on the conveyor belt, and the cleaning execution seat realizes output mode movement so that the cleaning nozzle on the cleaning execution seat can rinse the parts transported on the conveyor belt.

[0016] Preferably, the sub-chain 1 comprises a moving pair 1, a rotating pair 3 and a rotating pair 4 which are connected in series in sequence.

[0017] The sub-chain 2 includes a fifth rotational pair, a sixth rotational pair and a seventh rotational pair connected in series in sequence.

[0018] The revolving pair 4 is connected with the revolving pair 7 by a connecting rod.

[0019] The revolving pair 5 is located on the base.

[0020] Preferably, the second branch chain comprises a movable pair 2, a rotating pair group and a rotating pair 9 connected in sequence,

[0021] The rotating pair group is a parallelogram structure formed by rotating pair 11, rotating pair 14, rotating pair 12 and rotating pair 13, which are connected in series in sequence through short side rods.

[0022] A revolving pair 8 is connected in series to the short side rod between the revolving pair 11 and the revolving pair 14.

[0023] The rotating pair 8 is connected in series with the moving pair 2.

[0024] The short side rod for connecting the revolving pair thirteen with the revolving pair fourteen is connected in series with the revolving pair nine.

[0025] Preferably, the second branch chain comprises a moving pair 2, a rotating pair 8, a rotating pair 9 and a rotating pair 10 which are sequentially connected in series and whose axes are parallel to each other, and the rotating pair 10 is connected to the other end of the cleaning execution seat.

[0026] Preferably, the suction cup assembly is a vacuum gripper comprising a plurality of suction cups.

[0027] Preferably, it also includes a parts conveying line and a parts sorting line.

[0028] The parts sorting line is located above the tail end of the parts conveying line in the conveying direction.

[0029] The cleaning nozzle is located above the parts conveying line to clean the parts conveyed on the parts conveying line. The cleaning nozzle moves along the axial direction synchronously with the parts conveying line.

[0030] After cleaning is completed, the suction cup assembly moves along the axis to absorb the parts above the parts conveyor line, and then rotates along the axis to sort the parts onto the conveyor belt of the parts sorting line.

[0031] Preferably, both the parts conveying line and the parts sorting line use rollers to convey parts.

[0032] The present invention has the following beneficial effects:

[0033] (1) The present invention provides a two-degree-of-freedom dual-output mode cleaning and sorting device, which has the same topological structure and is controlled by the same host. The cleaning and sorting device can alternately realize cleaning and sorting. When the cleaning output movement is performed, the sorting output movement stops, and the cleaning execution seat moves synchronously with the conveyor belt along the X-axis direction to clean the parts conveyed on the conveyor belt of the parts conveyor line. After the cleaning is completed, the cleaning output movement stops, and the suction cup execution seat moves along the Z-axis to absorb the parts above the parts conveyor line, and then rotates along the Y-axis to sort the parts onto the conveyor belt of the parts sorting line;

[0034] (2) The two-degree-of-freedom dual-output mode cleaning and sorting equipment of the present invention uses the same host to control the same set of topological structures to realize the 2T mode output movement and the 1T1R mode output movement in rotation, without the need to use two robot topological structures, the structure is simpler, the cost is lower, and the cleaning and sorting line occupies a small area;

[0035] (3) The two-degree-of-freedom dual-output mode cleaning and sorting equipment provided by the present invention has a wide range of application scenarios and can be applied to various occasions that require precise control and efficient operation, such as material sorting in industrial production lines, cleaning of laboratory samples, etc. Its special design not only improves work efficiency, but also reduces the difficulty of operation. It is an indispensable and important equipment in modern automated production. Through the introduction of this equipment, production efficiency can be effectively improved, labor costs can be reduced, and the consistency and reliability of product quality can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 : A schematic structural diagram of a cleaning and sorting device with two degrees of freedom and dual output modes according to the present invention.

[0037] Figure 2 : A schematic structural diagram of a cleaning and sorting device with two degrees of freedom and dual output modes according to the present invention.

[0038] Figure 3 : Figure 2 Schematic diagram of the usage status of the cleaning and sorting equipment.

[0039] Figure 4 : Figure 2 Schematic diagram of the usage status of the cleaning and sorting equipment.

[0040] In the figure: 0. Base, 1. Cleaning execution seat, 2. Suction cup seat, 3. Parts conveying line, 4. Parts sorting line, 5. Parts, 6. Connecting rod, 7. Suction cup assembly, 8. Cleaning nozzle, I. First branch chain, II. Second branch chain, P1. Moving joint 1, P3. Moving joint 2, R4. Rotating joint 1, R5. Rotating joint 2, R 11 .Rotate the third pair, R 12 .Rotation pair 4, R 21 .Rotate pair five, R 22 .Rotate pair six, R 23 .Rotate vice seven, R 31 .Rotate pair eight, R 32 . Turn the vice nine, R 33 .Rotate pair ten, R a .Rotate vice eleven, R b .Rotation pair twelve, R c .Rotation pair 13, R d .Rotate pair fourteen. DETAILED DESCRIPTION

[0041] The present invention is described in detail below with reference to the examples. However, it should be understood that the following examples are only illustrative of the embodiments of the present invention, and are not intended to limit the scope of the present invention.

[0042] like Figure 1-4 As shown, a two-degree-of-freedom dual-output mode cleaning and sorting device provided by the present invention comprises a suction cup seat 2, a cleaning execution seat 1, a first branch chain I, a second branch chain II and a base 0.

[0043] The suction cup seat 2 is provided with a suction cup assembly 7, and the cleaning execution seat 1 is provided with a cleaning nozzle 8.

[0044] The first branch chain I includes a sub-chain 1 and a sub-chain 2, and the sub-chain 1 and the sub-chain 2 are connected in parallel to form a spatial six-bar parallel mechanism.

[0045] The sub-chain 1 includes a moving pair 1 P1 and two rotating pairs connected in series, the axes of the rotating pairs on the sub-chain 1 are parallel to each other, the moving pair 1 P1 and the axis of any rotating pair on the sub-chain 1 are perpendicular to each other, the moving pair 1 P1 is located on the base 0, and the axis of the moving pair 1 P1 is consistent with its moving direction,

[0046] The sub-chain 2 includes three rotating pairs connected in series and with axes parallel to each other.

[0047] The rotating pair at one end of the second sub-chain is located on the base 0, the rotating pair at one end of the second sub-chain away from the base 0 is connected to the rotating pair at one end of the first sub-chain away from the base 0 through a connecting rod 6, and a rotating pair R4 is connected in series on the connecting rod 6, the rotating pair R4 is parallel to the axis of any rotating pair on the second sub-chain, the rotating pair R4 is perpendicular to the axis of any rotating pair on the first sub-chain, and the rotating pair R4 is parallel to the axis of the moving pair P1.

[0048] The first rotating pair R4 is connected to one end of the suction cup seat 2, and the other end of the suction cup seat 2 is connected to one end of the cleaning execution seat 1 through the second rotating pair R5. The axis of the second rotating pair R5 is parallel to the axis of the first rotating pair R4.

[0049] The second branch chain II includes a movable pair II P3 and three rotating pairs which are connected in series and have axes parallel to each other. The rotating pair at one end of the second branch chain II away from the base 0 is connected to the other end of the cleaning execution seat 1. Alternatively, the second branch chain includes a parallelogram structure consisting of a movable pair II P3 and four rotating pairs whose axes are parallel to each other. The end of the parallelogram structure close to the base 0 is connected by a rotating pair VIII R 31 Connected in series with the movable pair P3, the end of the parallelogram structure away from the base 0 is connected to the rotating pair R 32 In series, the rotating pair nine R 32Connected to the other end of the cleaning execution seat 1, the axis of the movable pair P3 is consistent with its moving direction.

[0050] The mobile pair P3 is located on the base 0.

[0051] Rotate the Nine R 32 The axis and the revolute pair R 31 , the axes of the movable pair P3 are parallel to each other,

[0052] The second rotation pair R5 and the ninth rotation pair R 32 The axes of the movable pair P3 and any one of the rotating pairs in the parallelogram structure are parallel to each other.

[0053] The first moving pair P1 and the second moving pair P3 are both driving pairs. Under the driving of the first moving pair P1 and the second moving pair P3, the suction cup seat 2 realizes 1T1R output mode movement (1T1R means translation along the Z axis and rotation along the Y axis).

[0054] So that the suction cup assembly 7 on the suction cup seat 1 can sort the parts 5 transported on the conveyor belt, and the cleaning execution seat 1 can realize the 2T output mode movement (2T refers to the translation along the X-axis and Z-axis).

[0055] So that the cleaning nozzle 8 on the cleaning execution seat 2 can wash the parts 5 transported on the conveyor belt.

[0056] In a specific embodiment, the sub-chain 1 includes a mobile pair 1 P1, a rotating pair 3 R connected in series in sequence. 11 and rotary pair 4 R 12 ,

[0057] The sub-chain 2 includes rotating pairs R connected in series in series. 21 、Rotation pair 6 R 22 and rotating pair seven R 23 ,

[0058] The rotating pair R 12 With rotating pair seven R 23 Connected by connecting rod 6,

[0059] The rotating pair R 21 Located on base 0.

[0060] In a specific embodiment, the second branch chain II includes a mobile pair P3, a rotation pair group and a rotation pair R connected in sequence. 32 ,

[0061] The rotating pair group is composed of rotating pair eleven R a 、Rotation pair 14R d 、Rotation pair 12R b And the rotary pair 13 Rc , a parallelogram structure formed by connecting the short side rods in series.

[0062] The rotating pair R a With the revolving pair 14R d There is a revolving pair R in series on the short side rod between 31 ,

[0063] The rotating pair R 31 Connected in series with the mobile vice P3,

[0064] Used to connect the rotating pair 13 R c With the revolute pair 14R b The short side rod and the rotating pair R 32 Series connection.

[0065] In a specific embodiment, the second branch chain II includes a movable pair P3, a rotating pair R3 and a rotating pair R4 which are connected in series and have axes parallel to each other. 31 , Rotate the nine R 32 and revolving pair 10 R 33 , the revolute pair + R 33 Connected to the other end of the cleaning execution seat 1.

[0066] In a specific embodiment, the suction cup assembly 7 is a vacuum gripper containing a plurality of suction cups.

[0067] In a specific embodiment, it also includes a parts conveying line 3 and a parts sorting line 4.

[0068] The parts sorting line 4 is located above the tail end of the parts conveying line 3 in the conveying direction.

[0069] The cleaning nozzle 8 is located above the part conveying line 3 to clean the parts 5 conveyed on the part conveying line 3. The cleaning nozzle 8 moves synchronously with the part conveying line 3 along the X-axis direction.

[0070] After cleaning is completed, the suction cup assembly 7 moves along the Z axis to absorb the part 5 above the part conveying line 3, and then rotates along the Y axis to sort the part 5 onto the conveyor belt of the part sorting line 4.

[0071] In a specific embodiment, both the parts conveying line 3 and the parts sorting line 4 use rollers to convey the parts 5 .

[0072] The parts conveying line 3 and the parts sorting line 4 are both driven by motors to rotate conveying rollers.

[0073] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A two-degree-of-freedom dual-output mode cleaning and sorting device, characterized in that: It comprises a suction cup seat (2), a cleaning execution seat (1), a first branch chain (I), a second branch chain (II) and a base (0), The suction cup seat (2) is provided with a suction cup assembly (7), and the cleaning execution seat (1) is provided with a cleaning nozzle (8). The first branch chain (I) comprises a sub-chain 1 and a sub-chain 2, wherein the sub-chain 1 and the sub-chain 2 are connected in parallel to form a spatial six-bar parallel mechanism. The sub-chain 1 comprises a movable pair 1 (P1) and two rotating pairs connected in series, the axes of the rotating pairs on the sub-chain 1 are parallel to each other, the movable pair 1 (P1) and the axis of any rotating pair on the sub-chain 1 are perpendicular to each other, and the movable pair 1 (P1) is located on a base (0). The sub-chain 2 includes three rotating pairs connected in series and with axes parallel to each other. The rotating pair at one end of the second sub-chain is located on the base (0), the rotating pair at one end of the second sub-chain away from the base (0) is connected to the rotating pair at one end of the first sub-chain away from the base (0) through a connecting rod (6), the connecting rod (6) is connected in series with a rotating pair 1 (R4), the rotating pair 1 (R4) and the axis of any rotating pair on the second sub-chain are parallel to each other, the rotating pair 1 (R4) and the axis of any rotating pair on the first sub-chain are perpendicular to each other, the rotating pair 1 (R4) and the axis of the movable pair 1 (P1) are parallel to each other, The first rotating pair (R4) is connected to one end of the suction cup seat (2), and the other end of the suction cup seat (2) is connected to one end of the cleaning execution seat (1) through the second rotating pair (R5), and the axis of the second rotating pair (R5) is parallel to the axis of the first rotating pair (R4). The second branch chain (II) comprises a second movable pair (P3) and three rotating pairs, which are connected in series and have axes parallel to each other. The rotating pair at one end of the second branch chain (II) away from the base (0) is connected to the other end of the cleaning execution seat (1). Alternatively, the second branch chain comprises a parallelogram structure consisting of a second movable pair (P3) and four rotating pairs with axes parallel to each other. The end of the parallelogram structure close to the base (0) is connected to the second movable pair (P3) by a rotating pair (R8). 31 ) is connected in series with the movable pair 2 (P3), and the end of the parallelogram structure away from the base (0) is connected with the rotating pair 9 (R 32 ) in series, the rotating pair nine (R 32 ) is connected to the other end of the cleaning execution seat (1), The second movable pair (P3) is located on the base (0), Rotate the vice nine (R 32 ) and the axis of the revolute pair (R 31 ), the axes of the movable pair 2 (P3) are parallel to each other, The rotation pair 2 (R5) and the rotation pair 9 (R 32 ) are perpendicular to each other, the axis of the movable pair 2 (P3) and the axis of any rotating pair in the parallelogram structure are parallel to each other, The first movable pair (P1) and the second movable pair (P3) are both driving pairs. Under the drive of the first movable pair (P1) and the second movable pair (P3), the suction cup seat (2) realizes 1T1R output mode movement, so that the suction cup assembly (7) on the suction cup seat (1) sorts the parts (5) transported on the conveyor belt, and the cleaning execution seat (1) realizes 2T output mode movement, so that the cleaning nozzle (8) on the cleaning execution seat (2) washes the parts (5) transported on the conveyor belt.

2. A two-degree-of-freedom dual-output mode cleaning and sorting device according to claim 1, characterized in that: The sub-chain 1 includes a mobile pair 1 (P1), a rotating pair 3 (R2) connected in series in sequence 11 ) and revolute pair 4 (R 12 ), The sub-chain 2 includes rotating pairs 5 (R 21 )、Rotation pair six (R 22 ) and rotation pair seven (R 23 ), The revolving pair (R 12 ) and the rotation pair 7 (R 23 ) are connected by a connecting rod (6), The revolving pair (R 21 ) is located on the base (0).

3. A two-degree-of-freedom dual-output mode cleaning and sorting device according to claim 1, characterized in that: The second branch chain (II) comprises a movable pair 2 (P3), a rotation pair group and a rotation pair 9 (R 32 ), The rotating pair group is composed of rotating pair eleven (R a )、Rotation pair 14 (R d )、Rotation pair twelve (R b ) and rotary pair 13 (R c ), a parallelogram structure formed by connecting the short side rods in series. The rotating pair eleven (R a ) and revolute pair 14 (R d ) is connected in series with a revolute pair (R 31 ), The rotation pair (R 31 ) is connected in series with the movable pair 2 (P3), For connecting the rotating pair 13 (R c ) and revolute pair 14 (R b ) and the short side bar of the rotating pair (R 32 ) in series.

4. A two-degree-of-freedom dual-output mode cleaning and sorting device according to claim 1, characterized in that: The second branch chain (II) comprises a movable pair 2 (P3), a rotating pair 8 (R4) and a rotating pair 9 which are connected in series and have axes parallel to each other. 31 ), Rotate the ninth pair (R 32 ) and the revolute pair ten (R 33 ), the revolute pair ten (R 33 ) is connected to the other end of the cleaning execution seat (1).

5. The two-degree-of-freedom dual-output mode cleaning and sorting device according to claim 1, characterized in that: The suction cup assembly (7) is a vacuum gripper comprising a plurality of suction cups.

6. The two-degree-of-freedom dual-output mode cleaning and sorting device according to claim 1, characterized in that: It also includes a parts conveying line (3) and a parts sorting line (4). The parts sorting line (4) is located above the tail end of the parts conveying line (3) in the conveying direction. The cleaning nozzle (8) is located above the parts conveying line (3) to clean the parts (5) conveyed on the parts conveying line (3). The cleaning nozzle (8) moves synchronously with the parts conveying line (3) along the X-axis direction. After cleaning is completed, the suction cup assembly (7) moves along the Z axis to absorb the parts (5) above the parts conveying line (3), and then rotates along the Y axis to sort the parts (5) onto the conveyor belt of the parts sorting line (4).

7. The two-degree-of-freedom dual-output mode cleaning and sorting device according to claim 6, characterized in that: The parts conveying line (3) and the parts sorting line (4) both use rollers to convey the parts (5).

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