A two-degree-of-freedom dual-output mode cleaning sorting device

Abstract

The present application relates to parallel machine structure technical field, specifically to a kind of two degrees of freedom double output mode's cleaning and sorting equipment.The conventional cleaning and sorting production line, if the part on conveying device is conveyed to carry out cleaning and sorting, usually will be equipped with a cleaning robot and sorting robot, cleaning robot and sorting robot are independently arranged, the topology of two is different, respectively needs to be equipped with a host computer to carry out control, cause the cost of cleaning and sorting production line to be higher, the floor area of production line is larger.For the above problems, the present application provides a kind of two degrees of freedom double output mode's cleaning and sorting equipment, the design of the cleaning and sorting equipment has two degrees of freedom, can realize double output mode, this special robot topology makes that equipment can show efficient and flexible operating ability in complex sorting and cleaning task, by this design, equipment can move in two dimensions, while realizing two output actions, greatly improve work efficiency and the convenience of operation.In addition, the special structure of this equipment also allows it to control the position and direction of object more accurately when performing tasks, thereby improving the accuracy of sorting and cleaning.

Description

Technical Field

[0001] This invention relates to the field of parallel machine mechanism technology, and specifically to a cleaning and sorting device with a two-degree-of-freedom dual-output mode. Background Technology

[0002] In a conventional cleaning and sorting production line, to clean and sort parts conveyed from the conveyor, a cleaning robot and a sorting robot are usually provided. The cleaning robot and the sorting robot are set up independently and use different host control modes to output motion. For example, a tire sorting system disclosed in Chinese invention patent CN116213412A contains both a tire cleaning robot and a tire sorting robot. The tire cleaning robot and the tire sorting robot use different robot topologies and must be controlled by two independent host machines. Another example is the robot intelligent dishwasher disclosed in Chinese invention patent CN112754385A, which includes a cleaning machine and a sorting machine. The cleaning machine and the sorting machine also use two different robot topologies and must be controlled by two host machines.

[0003] In the cleaning and sorting production line, the cleaning robot and the sorting robot are set up independently. The two have different topologies and each needs to be equipped with a host for control, which results in a high cost and a large footprint for the cleaning and sorting production line. Summary of the Invention

[0004] The existing technology has the following problems: conventional cleaning and sorting production lines typically require a cleaning robot and a sorting robot to clean and sort parts conveyed from the conveyor. These robots are independently configured with different topologies and each requires a separate control unit, resulting in high costs and a large footprint for the production line. To address these issues, this invention provides a two-degree-of-freedom, dual-output cleaning and sorting device, comprising a suction cup base, a cleaning actuator, a first branch chain, a second branch chain, and a base.

[0005] The suction cup holder is equipped with a suction cup assembly, and the cleaning actuator is equipped with a cleaning nozzle.

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

[0007] The first sub-chain includes a prismatic joint and two revolute joints connected in series. The axes of the revolute joints on the first sub-chain are parallel to each other, and the first prismatic joint is perpendicular to the axis of any one of the revolute joints on the first sub-chain. The first prismatic joint is located on the base.

[0008] The sub-chain two comprises three rotating pairs in series and parallel to each other in axis,

[0009] The rotating pair at one end of the sub-chain two is located on the base, the rotating pair at the other end of the sub-chain two away from the base is connected with the rotating pair at the other end of the sub-chain one away from the base through a connecting rod, the connecting rod is provided with a rotating pair one in series, the axis of the rotating pair one is parallel to the axis of any one of the rotating pairs of the sub-chain two, the axis of the rotating pair one is perpendicular to the axis of any one of the rotating pairs of the sub-chain one, the axis of the rotating pair one is parallel to the axis of the moving pair one,

[0010] The rotating pair one is connected with one end of a chuck base, the other end of the chuck base is connected with one end of a cleaning execution base through a rotating pair two, the axis of the rotating pair two is parallel to the axis of the rotating pair one,

[0011] The second branch chain comprises a moving pair two and three rotating pairs in series and parallel to each other in axis, the rotating pair at the other end of the second branch chain away from the base is connected with the other end of the cleaning execution base, or the second branch chain comprises a parallelogram structure composed of the moving pair two and four rotating pairs in parallel to each other in axis, one end of the parallelogram structure close to the base is connected with the moving pair two through a rotating pair eight in series, the other end of the parallelogram structure away from the base is connected with a rotating pair nine in series, the rotating pair nine is connected with the other end of the cleaning execution base,

[0012] The moving pair two is located on the base,

[0013] The axis of the rotating pair nine is parallel to the axis of the rotating pair eight and the moving pair two,

[0014] The axis of the rotating pair two is perpendicular to the axis of the rotating pair nine, and the axis of the moving pair two is parallel to the axis of any one of the rotating pairs in the parallelogram structure,

[0015] The moving pair one and the moving pair two are both driving pairs, under the driving of the moving pair one and the moving pair two, the chuck base realizes output mode movement so that the chuck assembly on the chuck base sorts the parts conveyed on the conveying belt, and the cleaning execution base realizes output mode movement so that the cleaning nozzle on the cleaning execution base flushes the parts conveyed on the conveying belt.

[0016] Preferably, the sub-chain one comprises the moving pair one, the rotating pair three and the rotating pair four in series,

[0017] The sub-chain two comprises the rotating pair five, the rotating pair six and the rotating pair seven in series,

[0018] The rotating pair four and the rotating pair seven are connected through a connecting rod,

[0019] The rotating pair five is located on the base.

[0020] Preferably, the second branch chain comprises the moving pair two, the rotation pair group and the rotation pair nine connected in sequence,

[0021] The rotation pair group is a parallelogram structure formed by the rotation pair eleven, the rotation pair fourteen, the rotation pair twelve and the rotation pair thirteen connected in sequence through the short side rod,

[0022] The short side rod between the rotation pair eleven and the rotation pair fourteen is connected with the rotation pair eight in sequence,

[0023] The rotation pair eight is connected with the moving pair two in sequence,

[0024] The short side rod for connecting the rotation pair thirteen and the rotation pair fourteen is connected with the rotation pair nine in sequence.

[0025] Preferably, the second branch chain comprises the moving pair two, the rotation pair eight, the rotation pair nine and the rotation pair ten connected in sequence and having parallel axes, and the rotation pair ten is connected with the other end of the cleaning execution seat.

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

[0027] Preferably, the device further comprises a part conveying line and a part sorting line,

[0028] The part sorting line is located above the tail of the conveying direction of the part conveying line,

[0029] The cleaning nozzle is located above the part conveying line to clean the parts conveyed on the part conveying line, and the cleaning nozzle moves along the axis direction synchronously with the part conveying line,

[0030] After cleaning, the suction disc assembly moves along the axis to adsorb the parts above the part conveying line, and then rotates along the Y axis to sort the parts on the conveying belt of the part sorting line.

[0031] Preferably, the part conveying line and the part sorting line both convey the parts by using rollers.

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

[0033] (1) The cleaning and sorting device with two degrees of freedom and double output modes provided by the present application has the same topological structure and is controlled by the same main machine, and the cleaning and sorting device can alternately realize cleaning and sorting. When the cleaning output motion is performed, the sorting output motion stops moving, the cleaning execution seat moves along the X axis direction synchronously with the conveying belt to clean the parts conveyed on the conveying belt of the part conveying line. After cleaning, the cleaning output motion stops, the suction disc execution seat moves along the Z axis to adsorb the parts above the part conveying line, and then rotates along the Y axis to sort the parts on the conveying belt of the part sorting line.

[0034] (2) The two-degree-of-freedom double-output mode cleaning and sorting equipment of the application adopts the same main machine to control the same set of topology structure to realize 2T mode output motion and 1T1R mode output motion, without adopting two robot topology structures, so that the structure is simpler, the cost is lower, and the cleaning and sorting line occupies a smaller area;

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

[0036] Figure 1 : The structure diagram of the two-degree-of-freedom double-output mode cleaning and sorting equipment of the application.

[0037] Figure 2 : The structure diagram of another two-degree-of-freedom double-output mode cleaning and sorting equipment of the application.

[0038] Figure 3 : Figure 2 The use state diagram of the cleaning and sorting equipment Figure 1 .

[0039] Figure 4 : Figure 2 The use state diagram of the cleaning and sorting equipment Figure 2 .

[0040] In the figure: 0. Base, 1. Cleaning execution seat, 2. Sucker seat, 3. Part conveying line, 4. Part sorting line, 5. Part, 6. Connecting rod, 7. Sucker assembly, 8. Cleaning nozzle, I. First branch chain, II. Second branch chain, P1. Moving pair one, P3. Moving pair two, R4. Revolving pair one, R5. Revolving pair two, R 11 . Revolving pair three, R 12 . Revolving pair four, R 21 . Revolving pair five, R 22 . Revolving pair six, R 23 . Revolving pair seven, R 31 . Revolving pair eight, R 32 . Revolving pair nine, R 33 . Revolving pair ten, R a . Revolving pair eleven, R b . Revolving pair twelve, R c . Revolving pair thirteen, R d . Revolving pair fourteen. DETAILED DESCRIPTION

[0041] The application will be described in detail below with reference to the embodiments. It should be understood that the following embodiments are only examples of the implementation of the application, and are not a limitation on the scope of the application.

[0042] As shown in Figures 1-4 It is a two-degree-of-freedom double-output mode cleaning sorting equipment provided by the application, which 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 assembly 7 is arranged on the suction cup seat 2, and the cleaning spray head 8 is arranged on the cleaning execution seat 1,

[0044] The first branch chain I comprises a sub-chain one and a sub-chain two, and the sub-chain one and the sub-chain two are connected in parallel to form a spatial six-bar parallel mechanism,

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

[0046] The sub-chain two comprises three rotating pairs connected in series and having axes parallel to each other,

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

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

[0049] The second branch chain II comprises a moving pair two P3 and three rotating pairs connected in series and having axes parallel to each other, the rotating pair at the other end of the second branch chain II away from the base 0 is connected with the other end of the cleaning execution seat 1, or the second branch chain comprises a parallelogram structure composed of the moving pair two P3 and four rotating pairs having axes parallel to each other, one end of the parallelogram structure close to the base 0 is connected with the moving pair two P3 through a rotating pair eight R 31 The other end of the parallelogram structure away from the base 0 is connected with a rotating pair nine R 32In series, the revolute pair nine R 32 Connected with the other end of the cleaning execution seat 1, the axis of the prismatic pair two P3 is consistent with its moving direction,

[0050] The prismatic pair two P3 is located on the base 0,

[0051] The revolute pair nine R 32 The axis of the revolute pair eight R 31 , the axis of the prismatic pair two P3 is parallel to each other,

[0052] The revolute pair two R5 is perpendicular to the axis of the revolute pair nine R 32 , the axis of the prismatic pair two P3 is parallel to the axis of any revolute pair in the parallelogram structure,

[0053] The prismatic pair one P1 and the prismatic pair two P3 are both driven pairs, under the driving of the prismatic pair one P1 and the prismatic pair two P3, the chuck seat 2 realizes 1T1R output mode motion (1T1R refers to translation along the Z axis and can rotate along the Y axis),

[0054] So that the chuck assembly 7 on the chuck seat 2 sorts the parts 5 conveyed on the conveying belt, the cleaning execution seat 1 realizes 2T output mode motion (2T refers to translation along the X axis and the Z axis),

[0055] So that the cleaning nozzle 8 on the cleaning execution seat 1 flushes the parts 5 conveyed on the conveying belt.

[0056] In a specific embodiment, the sub-chain one includes the prismatic pair one P1, the revolute pair three R 11 and the revolute pair four R 12 ,

[0057] The sub-chain two includes the revolute pair five R 21 , the revolute pair six R 22 and the revolute pair seven R 23 ,

[0058] The revolute pair four R 12 and the revolute pair seven R 23 are connected through the connecting rod 6,

[0059] The revolute pair five R 21 is located on the base 0.

[0060] In a specific embodiment, the second branch chain II includes the prismatic pair two P3, the revolute pair group and the revolute pair nine R 32 ,

[0061] The revolute pair group is composed of the revolute pair eleven R a , the revolute pair fourteen R d , the revolute pair twelve Rb and the rotational pair thirteen R c , the parallelogram structure formed by the short side rods connected in sequence,

[0062] the rotational pair eleven R a and the rotational pair fourteen R d The short side rod between the rotational pair eight R 31 ,

[0063] The rotational pair eight R 31 and the moving pair two P3 are connected in series,

[0064] The short side rod for connecting the rotational pair thirteen R c and the rotational pair fourteen R b is connected with the rotational pair nine R 32 .

[0065] In a specific embodiment, the second branched chain II includes the moving pair two P3, the rotational pair eight R 31 , the rotational pair nine R 32 and the rotational pair ten R 33 connected in sequence and the axes are parallel to each other, and the rotational pair ten R 33 is connected with 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 further includes a part conveying line 3 and a part sorting line 4,

[0068] The part sorting line 4 is located above the tail of the conveying direction of the part conveying line 3,

[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, and the cleaning nozzle 8 moves along the X-axis direction synchronously with the part conveying line 3,

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

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

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

[0073] With the above ideal embodiments according to the present application as the inspiration, through the above description, relevant staff can make various changes and modifications without deviating from the technical idea of the present application. The technical scope of the present application is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. A two degree of freedom dual output mode cleaning sorting apparatus, characterized by, The device comprises a suction cup base (2), a cleaning execution base (1), a first branch chain (I), a second branch chain (II) and a base (0), The suction cup base (2) is provided with a suction cup assembly (7), and the cleaning execution base (1) is provided with a cleaning nozzle (8), The first branch chain (I) comprises a sub-chain one and a sub-chain two, and the sub-chain one and the sub-chain two are connected in parallel to form a space six-bar parallel mechanism, The sub-chain one comprises a moving pair one (P1) and two rotating pairs connected in series, the axes of the rotating pairs are parallel to each other, the moving pair one (P1) is perpendicular to the axes of any one of the rotating pairs, and the moving pair one (P1) is located on the base (0), The sub-chain two comprises three rotating pairs connected in series and having parallel axes, The rotating pair at one end of the sub-chain two is located on the base (0), the rotating pair at the other end of the sub-chain two away from the base (0) is connected with the rotating pair at the other end of the sub-chain one away from the base (0) through a connecting rod (6), the connecting rod (6) is provided with a rotating pair one (R4) connected in series, the axis of the rotating pair one (R4) is parallel to the axes of any one of the rotating pairs of the sub-chain two, the axis of the rotating pair one (R4) is perpendicular to the axes of any one of the rotating pairs of the sub-chain one, and the axis of the rotating pair one (R4) is parallel to the axis of the moving pair one (P1), The rotating pair one (R4) is connected with one end of the suction cup base (2), the other end of the suction cup base (2) is connected with one end of the cleaning execution base (1) through a rotating pair two (R5), and the axis of the rotating pair two (R5) is parallel to the axis of the rotating pair one (R4), The second branch (II) comprises two (P3) and three revolute pairs in series and parallel to each other, and the revolute pair at the end of the second branch (II) away from the base (0) is connected to the other end of the cleaning execution seat (1), or the second branch comprises a parallelogram structure of two (P3) and four revolute pairs in parallel to each other, the parallelogram structure near the base (0) is connected to the two (P3) through the revolute pair eight (R 31 ), the parallelogram structure away from the base (0) is connected to the revolute pair nine (R 32 ), and the revolute pair nine (R 32 ) is connected to the other end of the cleaning execution seat (1). The moving pair two (P3) is located on the base (0), The axis of the kinematic pair nine (R 32 ) is parallel to the axis of the kinematic pair eight (R 31 ), the kinematic pair two (P3). The rotational pair two (R5) and the rotational pair nine (R 32 ) have axes perpendicular to each other, and the movement pair two (P3) and the axis of any rotational pair in the parallelogram structure are parallel to each other, The moving pair one (P1) and the moving pair two (P3) are driving pairs, under the driving of the moving pair one (P1) and the moving pair two (P3), the suction cup base (2) realizes 1T1R output mode movement, so that the suction cup assembly (7) on the suction cup base (1) sorts the parts (5) conveyed on the conveying belt, and the cleaning execution base (1) realizes 2T output mode movement, so that the cleaning nozzle (8) on the cleaning execution base (2) flushes the parts (5) conveyed on the conveying belt.

2. The cleaning and sorting device with two degrees of freedom and double output modes according to claim 1, wherein The sub-chain one includes a moving pair one (P1), a rotating pair three (R 11 ) and a rotating pair four (R 12 ) connected in series, The sub-chain two comprises, in series, rotary pair five (R 21 ), rotary pair six (R 22 ), and rotary pair seven (R 23 ), The rotational pair four (R 12 ) is connected to the rotational pair seven (R 23 ) by a connecting rod (6). The rotational pair five (R 21 ) is located on the base (0).

3. The cleaning and sorting device with two degrees of freedom and double output modes according to claim 1, wherein The second branched chain (II) comprises, in sequence, a moving pair two (P3), a group of turning pairs and a turning pair nine (R 32 ), The rotating pair group is a parallelogram structure formed by rotating pair eleven (R a ), rotating pair fourteen (R d ), rotating pair twelve (R b ), and rotating pair thirteen (R c ) in series through short side rods. The short link between the revolute pair eleven (R a ) and the revolute pair fourteen (R d ) is in series with a revolute pair eight (R 31 ), The rotational pair eight (R 31 ) is connected in series with the second moving pair (P3). Short link for connecting rotational pair thirteen (R c ) with rotational pair fourteen (R b ) in series with rotational pair nine (R 32 ).

4. The two-degree-of-freedom dual-output mode cleaning and sorting apparatus according to claim 1, wherein, The second branched chain (II) comprises, in series and with their axes parallel to each other, a second kinematic pair of translation (P3), a ninth kinematic pair of rotation (R 31 ), a tenth kinematic pair of rotation (R 32 ) and an eleventh kinematic pair of rotation (R 33 ), the eleventh kinematic pair of rotation (R 33 ) being connected to the other end of the washing execution seat (1).

5. The two-degree-of-freedom dual-output mode cleaning and sorting apparatus according to claim 1, wherein, 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 apparatus of claim 1, wherein, Further comprising a part conveying line (3) and a part sorting line (4), The part sorting line (4) is located above the tail of the part conveying line (3) in the conveying direction, The cleaning nozzle (8) is located above the part conveying line (3) to clean the parts (5) conveyed on the part conveying line (3), and the cleaning nozzle (8) moves along the X-axis direction synchronously with the part conveying line (3), After cleaning, the suction cup assembly (7) moves along the Z-axis to adsorb the parts (5) above the part conveying line (3), and then rotates along the Y-axis to sort the parts (5) onto the conveying belt of the part sorting line (4).

7. A two-degree-of-freedom dual-output mode cleaning and sorting apparatus according to claim 6, wherein, The part conveying line (3) and the part sorting line (4) both adopt roller to convey the parts (5).

Images