Gantry assembly applied to sorting machine

Abstract

The utility model discloses a gantry assembly applied to a sorting machine, which comprises a frame structure, a plurality of gantry assemblies and a plurality of gantry assemblies, the two Y-axis modules are connected to the cross beam structure in a spaced mode, and each Y-axis module is provided with an upper vision module used for shooting and deviation correction; the two X-axis modules are respectively connected to each Y-axis module in a driving manner; the two suction head assemblies are respectively connected to each X-axis module in a driving manner; and the side vision module is arranged between the two Y-axis modules and is used for code scanning or detection. According to the technical scheme, objects can be quickly recognized and accurately grabbed according to different material characteristics.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of sorting machine, especially a gantry assembly applied to sorting machine. BACKGROUND

[0002] In modern automated sorting systems, the gantry assembly as the core mechanical part plays a crucial role. The gantry assembly mainly through precise motion control and visual guidance system, coordinate other modules complete material handling, positioning, grabbing and classification task. Through the combination of gantry assembly and other technologies such as visual identification, robot technology, sensor, sorting machine not only can improve production efficiency, but also can ensure the precision and stability of operation. At present, most of the traditional sorting machine gantry assembly does not make full use of modern intelligent control system and visual guidance system, resulting in low degree of automation, and unable to cope with complex sorting task. SUMMARY

[0003] The main purpose of the utility model is to provide a gantry assembly applied to sorting machine, which can quickly identify and accurately grab objects according to different material characteristics.

[0004] To achieve the above purpose, the utility model provides a gantry assembly applied to sorting machine, which comprises:

[0005] Frame structure, the frame structure includes three groups of beam structure;

[0006] Two Y axis modules, two Y axis modules are respectively connected to the beam structure at intervals, each Y axis module is provided with an upper visual module for shooting and deviation correction;

[0007] Two X axis modules, two X axis modules are respectively driven and connected to each Y axis module;

[0008] Two suction head assemblies, two suction head assemblies are respectively driven and connected to each X axis module;

[0009] Side visual module, the side visual module is arranged between two Y axis modules, which is used for code scanning or detection.

[0010] In a possible implementation, it further comprises a tray changing module connected to any X axis module for replacing the tray.

[0011] In a possible implementation, the tray changing module comprises:

[0012] First driving part, the first driving part is connected to the X axis module;

[0013] A second driving member is connected to the first driving member to drive the second driving member to move along the Y-axis direction.

[0014] A clamping structure is drivingly connected to the second driving member to drive the clamping structure to move along the X-axis direction.

[0015] In a possible implementation, the suction head assembly comprises:

[0016] A fixing structure is drivingly connected to the X-axis module;

[0017] A plurality of connecting members are uniformly spaced and connected to the fixing structure;

[0018] A plurality of suction head bodies are respectively connected to the connecting members.

[0019] In a possible implementation, the plurality of connecting members are provided with buffer structures.

[0020] In a possible implementation, the connection between the plurality of connecting members and the fixing structure is provided with an adjusting member, which comprises:

[0021] A boss structure is rotationally connected to the fixing structure;

[0022] An adjusting column is protruded from the edge of the boss structure, and an adjusting groove is formed in the connecting member, and the adjusting column is slidingly connected to the adjusting groove;

[0023] A locking piece is arranged on the side of the boss structure to lock and fix the boss structure.

[0024] The technical scheme of the utility model adopts the X-axis module, the Y-axis module, the upper visual module and the side visual module to work in coordination, ensures that the object can be automatically photographed, corrected, grabbed and scanned, and the like, so that the suction head assembly can accurately move on the X-Y plane, completes the sorting, grabbing and scanning detection of the object, and thus greatly improves the automation and precision of the sorting process, and reduces manual operation and errors. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained from the structures shown in these drawings without creative labor.

[0026] Figure 1 It is a structure schematic view of a first embodiment of the utility model for gantry assembly of sorting machine.

[0027] Figure 2 It is a structure schematic view of a first embodiment of the utility model for suction head assembly.

[0028] Figure 3 It is a structure schematic view of a first embodiment of the utility model for adjusting part.

[0029] Figure 4 It is a structure schematic view of a first embodiment of the utility model for disc changing module.

[0030] Explanation of the attached drawing:

[0031] 10, frame structure, 11, beam structure, 20, Y-axis module, 21, upper vision module, 30, X-axis module, 40, suction head assembly, 41, fixed structure, 42, connecting piece, 43, suction head body, 44, buffer structure, 45, adjusting part, 451, boss structure, 452, adjusting column, 453, locking sheet, 46, adjusting groove, 50, side vision module, 60, disc changing module, 61, first driving part, 62, second driving part, 63, clamping structure.

[0032] The realization, functional characteristics and advantages of the utility model will be further explained by combining with embodiments and referring to the attached drawings. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the application more clear and explicit, the application will be further explained in detail by combining with the attached drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the application, and are not used to limit the application.

[0034] In order to solve the problems in the background art, by combining with the attached drawings, Figures 1 to 4 The application proposes a gantry assembly applied to sorting machine, which comprises:

[0035] Frame structure 10, the frame structure 10 comprises three groups of beam structures 11;

[0036] Two Y-axis modules 20, two Y-axis modules 20 are respectively connected to the beam structures 11 at intervals, and each Y-axis module 20 is provided with an upper vision module 21 for shooting and deviation rectification;

[0037] Two X-axis modules 30, two X-axis modules 30 are respectively drivingly connected to each Y-axis module 20;

[0038] Two suction head assemblies 40, two suction head assemblies 40 are respectively drivingly connected to each X-axis module 30;

[0039] A side vision module 50 is arranged between two Y-axis modules 20 for code scanning or detection.

[0040] In this embodiment, the frame structure 10 constitutes the overall structure of the gantry assembly, which includes at least three groups of beam structures 11 according to the needs of the production stations. The beam structures 11 can be made of aluminum alloy, steel, etc., and are fixed on the rack of the sorting machine by bolt connection or welding. The X-axis module 30 and the Y-axis module 20 move in different directions, which can be composed of a drive system, a transmission system, a guide rail system, a support structure, a position sensor, a control system and a limit switch. Their specific selection and design need to be customized according to the working requirements, load, precision and environment of the system. The drive system can include a motor (servo motor / stepper motor), a reducer, a synchronous belt or a gear rack transmission; the guide rail system can include a sliding rail and a sliding block, a linear guide rail, etc.; the support structure can include the frame structure 10, which is usually made of aluminum or steel; the position sensor usually includes an encoder / optical sensor, and the control system is a PLC or a motion controller; the limit switch can be a travel switch or a limit switch. The X-axis module 30 and the Y-axis module 20 usually need to work together to achieve precise position control. They can move independently or work together in motion, and the control system ensures the synchronous movement of the two axes through real-time feedback. The main function of the suction head assembly 40 is to firmly suck the object (such as Tray, product, parts, etc.) by suction force and carry it to the predetermined position. It can realize the carrying of the object without contacting the object, avoiding damage caused by direct contact. The suction head is usually designed to be adjustable, and can adjust the suction force or the size of the suction cup according to different shapes, sizes and weights of the object, to adapt to different grabbing tasks. The suction head assembly 40 can work with the top vision module 21 and the side vision module 50 to ensure that the object is accurately grabbed and precisely positioned at the required position when grabbing the object, and the side vision module 50 is responsible for code scanning and product identification.

[0041] In one possible implementation, a tray changing module 60 is further included, which is connected to any X-axis module 30 for changing the tray.

[0042] Combined with reference Figure 1 and Figure 4As shown, in this embodiment, the tray changing module 60 is responsible for automatically changing the material tray (such as Tray) to ensure the continuity and efficiency of the production process. In the automated production process, different types of goods or products may require different trays or Trays for transportation, storage and processing. The role of the tray changing module 60 is to change these Tray through automated means, thereby avoiding manual operation, improving production efficiency and reducing human error. The tray changing module 60 can automatically change different Tray according to the needs in the production line operation. It can detect the replacement time of the Tray according to the system instruction, automatically perform the replacement task, and ensure the seamless connection of the production process. By automatically replacing the Tray, the tray changing module 60 can significantly improve the efficiency of the production line. Reducing manual operation not only saves time, but also reduces errors and costs caused by manual operation.

[0043] In one possible implementation, the tray changing module 60 comprises:

[0044] The first driving member 61 is connected to the X-axis module 30.

[0045] The second driving member 62 is connected to the first driving member 61 to move the second driving member 62 along the Y-axis direction.

[0046] The clamping structure 63 is drivingly connected to the second driving member 62 to move the clamping structure 63 along the X-axis direction.

[0047] In combination with the above Figure 1 and Figure 4 As shown, in this embodiment, the first driving member 61 and the second driving member 62 can be air cylinders, the second driving member 62 is drivingly connected to the first driving member 61, and the clamping structure 63 can be a suction cup or a gripper, which can grab the Tray according to the control signal. The clamping structure 63 moves to the position of the Tray, and the Tray is extracted and transferred to the new Tray position ready for placement by a mechanical arm or other components. The tray changing module 60 takes out the new Tray from the ready-to-place position and accurately places it at the target position by the clamping structure 63 (such as a suction cup or a mechanical arm). The placement process is also detected by sensors to ensure the correct positioning of the Tray. After the tray changing module 60 completes the replacement task of the Tray, the control system will continue to perform the subsequent process or task according to the needs. If the replacement is completed and the system detects that the work is normal, the tray changing module 60 will return to the initial position and be ready for the next tray changing operation.

[0048] In one possible implementation, the suction head assembly 40 comprises:

[0049] The fixed structure 41 is drivingly connected to the X-axis module 30.

[0050] a plurality of connecting members 42, which are evenly spaced and connected to the fixed structure 41;

[0051] a plurality of suction head bodies 43, each corresponding to a connecting member 42.

[0052] In combination with the above Figure 2 and Figure 3 In this embodiment, the fixed structure 41 is the main support component of the suction head assembly 40, which is connected to the X-axis module 30 and provides stable support and movement trajectory for the suction head assembly 40. The fixed structure 41 is usually connected to the X-axis module 30 through a driving system (such as a motor, servo drive, etc.), so as to realize the movement of the suction head assembly 40. The function of the fixed structure 41 is to fix the suction head assembly 40 on the X-axis module 30 and provide stable connection and transmission support, ensuring the smooth movement of the suction head in the X-axis direction. The connecting members 42 are used to connect multiple suction head bodies 43 and evenly distribute them on the fixed structure 41. The spacing and distribution of these connecting members 42 are usually carefully designed to ensure that each suction head can work independently when needed, while avoiding interference with the operation of other suction heads. The function of the connecting members 42 is to connect the suction head bodies 43 with the fixed structure 41 and provide a certain spatial interval so that the suction head can adapt to different workpiece positions or shapes. Each connecting member 42 provides a support point for the suction head body 43, ensuring that it can stably grasp and carry objects during work. The suction head body 43 is the core component of the suction head assembly 40, used for grasping objects. Each suction head body 43 has a suction device (such as a suction cup) that can absorb objects through pneumatic or vacuum principles and carry them to designated positions. Each suction head body 43 is responsible for grasping an object and is usually designed to be independently operated. When multiple suction head bodies 43 work together, they can simultaneously grasp multiple objects, thereby improving the efficiency of sorting and carrying.

[0053] Specifically, the fixed structure 41 allows the suction head assembly 40 to move in the X-axis direction through connection with the X-axis module 30. The X-axis module 30 can be electrically driven to move the suction head assembly 40 in the horizontal direction, ensuring that the suction head can accurately position the objects to be grasped on the production line. Multiple connecting members 42 are evenly spaced and connected to the fixed structure 41, ensuring that the suction head bodies 43 can be evenly distributed and work in coordination. The design of these connecting members 42 can be adjusted according to specific application requirements, such as the size, weight, or grasping position of the objects. Each suction head body 43 corresponds to a connecting member 42 and is stably connected to the fixed structure 41 through the connecting member 42. The suction head body 43 grasps the object through suction (pneumatic or vacuum) and moves the object to the designated position through the driving system.

[0054] In a possible implementation, each of the plurality of connecting members 42 is provided with a buffer structure 44.

[0055] In the present embodiment, when the suction head body 43 picks up an article and moves to a designated position, it may encounter problems such as severe acceleration and deceleration, collision, or vibration. The buffer structure 44 absorbs these impact forces or vibrations, reducing the burden on the suction head body 43, the connecting member 42, and the entire system, and ensuring that the suction head body 43 picks up and releases the article smoothly. During the picking up and carrying process, the suction head assembly 40 may encounter collisions between articles or sudden loads when the system moves. The buffer structure 44 can effectively absorb these instantaneous impacts, avoiding damage to the articles or the system components. For example, when picking up relatively fragile or fragile articles, the buffer structure 44 can reduce damage during picking up and placing.

[0056] Specifically, the buffer structure 44 can be a spring with a certain hardness and size. The spring can deform when subjected to force, absorb a portion of the impact force, and release a certain elastic force when rebounding, reducing the transmission of impact and vibration. Rubber pads, soft plastics, or other elastic materials can also be used to play a buffering role. An air bag or air cushion can also be used as the buffer structure 44.

[0057] With reference to Figure 3 In a possible implementation, an adjusting member 45 is arranged at the connection between the plurality of connecting members 42 and the fixing structure 41, and the adjusting member 45 comprises:

[0058] a boss structure 451 rotatably connected to the fixing structure 41;

[0059] an adjusting column 452 protruding from an edge of the boss structure 451, and an adjusting groove 46 is arranged on the connecting member 42, and the adjusting column 452 is slidably connected in the adjusting groove 46;

[0060] a locking piece 453 arranged on a side of the boss structure 451, for locking and fixing the boss structure 451.

[0061] In the present embodiment, the boss structure 451 can be a structure with a "convex" shape in cross-section, which is arranged at the joint of the fixing structure 41 and the connecting member 42, and provides a support and a rotating joint for the adjusting column 452, so as to realize the adjustable connection between the connecting member 42 and the fixing structure 41. The design of the boss structure 451 allows the angle or position between the connecting member 42 and the fixing structure 41 to be finely adjusted, so as to ensure that the suction head assembly 40 can be accurately adjusted according to actual needs. The adjusting column 452 is a part of the boss structure 451, which is convexly arranged at the edge of the boss structure 451 and cooperates with the adjusting groove 46 on the connecting member 42. The adjusting groove 46 is arranged on the connecting member 42, and is used for accommodating the adjusting column 452 and providing a sliding track for the adjusting column 452. Through the adjusting groove 46, the adjusting column 452 can slide in a certain direction, so as to adjust the spacing distance between the plurality of connecting members 42. The locking piece 453 is arranged at the side of the boss structure 451, and is used for fixing the position of the adjusting column 452 in the adjusting groove 46, so as to prevent the adjusting column 452 from sliding or loosening accidentally during use. The locking piece 453 fixes the adjusting column 452 by providing a friction force between the adjusting column 452 and the adjusting groove 46 or by locking, so as to ensure that the adjusted connection relationship will not change.

[0062] In the drawings of the present embodiment, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationships in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the present patent, and for those skilled in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0063] The above is only a preferred embodiment of the present application, and does not limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gantry assembly for use in a sorter, the gantry assembly comprising: The utility model relates to a kind of automatic tray changing machine, including: Frame structure, the frame structure includes three groups of beam structure; Two Y-axis modules, two Y-axis modules are respectively spaced apart and connected to the beam structure, each Y-axis module is provided with upper visual module, for shooting and rectification; Two X-axis modules, two X-axis modules are respectively driven and connected to each Y-axis module; Two suction head assemblies, two suction head assemblies are respectively driven and connected to each X-axis module; Side visual module, the side visual module is arranged between two Y-axis modules, for scanning code or detection.

2. The gantry assembly for a sorter of claim 1, wherein, It also includes tray changing module, the tray changing module is connected to any X-axis module, for replacing tray.

3. The gantry assembly for a sorter of claim 2, wherein, The tray changing module includes: First driving part, the first driving part is connected to the X-axis module; Second driving part, the second driving part is connected to the first driving part, so that the second driving part moves along Y-axis direction; Clamping structure, the clamping structure is driven and connected to the second driving part, so that the clamping structure moves along X-axis direction.

4. The gantry assembly for a sorter according to any one of claims 1 to 3, wherein The suction head assembly includes: Fixed structure, the fixed structure is driven and connected to the X-axis module; Multiple connectors, multiple connectors are uniformly spaced and connected to the fixed structure; Multiple suction head bodies, multiple suction head bodies are respectively connected to multiple connectors.

5. The gantry assembly for a sorter of claim 4, wherein, Multiple connectors are provided with buffer structure.

6. The gantry assembly for a sorter of claim 4, wherein, The connection of multiple connectors and the fixed structure is provided with adjusting piece, and the adjusting piece includes: Boss structure, the boss structure is rotationally connected to the fixed structure; Adjusting column, the adjusting column is protruded on the edge of the boss structure, adjusting groove is opened on the connector, and the adjusting column is slidably connected in the adjusting groove; Locking sheet, the locking sheet is arranged on the side of the boss structure, for locking the boss structure.

Images