CN104786218A - End actuator with enveloping and sphere-like melon and fruit rotating functions - Google Patents
End actuator with enveloping and sphere-like melon and fruit rotating functions Download PDFInfo
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- CN104786218A CN104786218A CN201510186605.9A CN201510186605A CN104786218A CN 104786218 A CN104786218 A CN 104786218A CN 201510186605 A CN201510186605 A CN 201510186605A CN 104786218 A CN104786218 A CN 104786218A
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- fruit
- grabbing device
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Abstract
The invention discloses a sphere-like melon and fruit grabbing device. The device comprises a keeping base (1) and three grabbing arms connected to a keeping base boss (14). The grabbing arms are connected to middle joints (4) in front joints (2) through telescopic cylinders (3). Rolling bodies (6) are connected into U-shaped grooves of joints (5) through pin shafts. Rubber rollers (11) driven by a direct-current motor are arranged on the grabbing arms. Stop universal bearings (8) and rocker arms (9) are fixed to the keeping base boss (14). Powerful double torsional springs (13) and elastic force regulators are arranged on connection pins. The device can be suitable for stably grabbing various sphere-like melons and fruits and can drive the melons and the fruits to rotate. The device has the advantages of being compact in structure, easy to manufacture, capable of saving energy, efficient, convenient to install, and the like.
Description
Technical field
The present invention relates to technical field of food machinery, particularly relate to a kind of spherical melon and fruit grabbing device.
Background technology
Larger difference is there is in agricultural product and industrial products in volume, profile, quality etc.Especially, when carrying out roughing to agricultural product, be a large technical barrier according to certain standard to its classification.Fruit-vegetable sorting machine now has the mechanical pellet type that can reverse, resilient mechanical, sieve cage etc. mostly.These modes in assorting room due to the reciprocating motion of frame for movement, shock and easily cause fruit major part to be damaged.These separator structures are comparatively complicated, and be generally main mainly with large-scale production line, manufacturing cost is higher, and the efficiency of separation is lower, simultaneously also larger to the damage of product.For this reason, the present invention proposes a kind of structure simple, low price, efficiency is higher, sorted product is damaged to the spherical melon and fruit grabbing device of little energy self adaptation all size shape, especially a kind of device be suitable for based on Digital Image Processing sorting mode.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the invention provides a kind of spherical melon and fruit grabbing device.
In some embodiments, wherein: three universal bearings (8) are uniformly distributed in the bottom keeping pedestal (1), rocking arm (8) top ends can be rotated around maintenance pedestal (1) bottom pin-and-hole.Its beneficial effect is, prevents melon and fruit from directly contacting with " arm " limb, the infringement to sorting object during effective reduction sorting.
In some embodiments, wherein: in " U " type groove that rotor (6) can have in crawl finger tail joint (5), do any gyration.Its beneficial effect is, assists and is sorted object and " arm " closely envelope, improve the stability captured.
In some embodiments, wherein: universal bearing (14) afterbody screw sleeve has spring.Its beneficial effect is, effectively improves the defect that melon and fruit profile difference is large, can adapt to the melon and fruit of various shape.
In some embodiments, wherein: middle joint (4) are equipped with and are driven by minisize dc reducing motor (12) rubber wheel (11) rotated.Its beneficial effect is, in machine assorting room, provide torque to make it rotate to melon and fruit, is conducive to camera collection more comprehensively external information, and then to the accurate sorting of melon and fruit.
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present invention;
Fig. 2 is " capturing finger " cellular construction schematic diagram;
Fig. 3 is universal bearing schematic diagram;
Fig. 4 is rotor schematic diagram.
In Fig. 1: 1, keep pedestal; 2, front joint; 3, telescopic cylinder; 4, middle joint; 5, tail joint; 6, rotor; 7, melon and fruit model; 8, universal bearing; 9, rocking arm; 10, pin; 11, rubber wheel; 12, minisize dc reducing motor; 13, powerful torsion spring; 14, keep pedestal boss.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the present invention is further described.As shown in Figure 1, in the present embodiment, pedestal boss (14) is kept to fix three front joints (2) that can rotate around it for installing, described front joint (2) one end has the pin shaft hole of two certain distances to be used for installation two middle joints (4) respectively, in two, the other one end of joint (4) is connected on two pin-and-holes of tail joint (5) one end, front like this joint (2), constitutes the double rocker mechanism of parallelogram lindage between middle joint (4) and tail joint (5).Wherein for fixing front joint (2) and keep the pin of pedestal boss (14) and the pin between front joint (2) and middle joint (4) that powerful torsion spring (13) is housed simultaneously.The rubber wheel (11) driven by micro speed reducing direct current generator (12) is equipped with at the boss place of the outside of belly in middle joint (4).Joint (4) and front joint (2) during telescopic cylinder connects.Keep the bottom surface of pedestal (1) that the universal bearing (8) of band strong rebounding torsion spring is housed.Whole powerful torsion spring in original state device is unloading condition, and three capture finger and shrink compression.
Whole grabbing device power source is driven by power air pump, and the atmospheric pressure that air pump energising produces drives telescopic cylinder (3) to work by conduit, and the telescopic action of telescopic cylinder (3) makes to produce variable angle theta between middle joint (4) and front joint (2).Due to the double rocker mechanism in front joint (2), the parallel-crank mechanism that forms between middle joint (4) and tail joint (5), the line segment that two pin-and-holes of tail joint (5) are formed becomes parallel attitude with the line segment that two pin-and-holes of front joint (2) are formed.Therefore tail joint (5) and middle joint (4) associated movement thus create the action of crawl.
Air pump is energized, and telescopic cylinder (3) shrinks, the powerful torsion spring accumulation of energy of each parts.Point open-shaped state, when device is transported to target area by mechanical arm platform, the magnetic valve power-off of air pump, telescopic cylinder (3) now loses atmospheric pressure, and powerful torsion spring discharges elastic potential energy and produces reaction force, and finger is in compression shape.Under finger gets back to original state, be clamped target, complete the action of " grabbing ".
Carry out in image acquisition process at device, the moment of torsion that micro speed reducing direct current generator (12) work exports passes to rubber wheel (11) by reduction gearing, and the powerful frictional force of rubber wheel (11) makes target in a device around maintenance pedestal (1) center axis thereof.Variable cross-section rotor (6) in tail joint (5) groove and fruit linear contact lay as much as possible, the effective friction reducing crawl object and finger tail joint (5).In the structure shown in Fig. 3, universal bearing (8) makes it be close to target by means of the elastic force of the spring be arranged on rocking arm (9), prevents target from rocking in crawl process or dropping.
After the collected complete information of destination object, when device reaches predetermined put area, the magnetic valve power-off of air pump, telescopic cylinder (3) shrinks, and points open-shaped.Target is put down.
Complete a grasping movement.
When constructing, according to the size and dimension of captured destination object, determine the physical dimension keeping pedestal boss (14); According to the soft or hard degree of captured destination object, change the torsion spring of different parameters.
Above embodiment is only for illustration of patent of the present invention; and be not limitation of the present invention; the those of ordinary skill of relevant technical field; can also make a variety of changes and modification in the spirit and scope situation not departing from patent of the present invention, the protection domain that therefore all equivalent technical schemes also belong to patent of the present invention should be defined by the claims.
Claims (5)
1. the spherical melon and fruit grabbing device of a kind, it is characterized in that: described maintenance pedestal (1) connects three identical crawl fingers with pin, the described crawl front joint of finger (2) is connected with pin with between middle joint (4), telescopic cylinder (3) one end is articulated with front joint (2) other end and is articulated with middle joint (4), and middle joint (4) are connected with tail joint (5) pin; The U-shaped groove in tail joint (5) is equipped with the rotor (6) that can rotate around the axis, the Stud connection of universal bearing (8) is on the rocking arm that can sway (9), and middle joint (4) side is provided with the rubber wheel (15) driven by minisize dc reducing motor (12).
2. the spherical melon and fruit grabbing device of a kind according to claim 1, it is characterized in that: three universal bearings (8) are connected to three rocking arms (9) and go up and be articulated with the pin-and-hole place, bottom keeping pedestal (1), the spring that rocking arm (9) top ends is installed can rotate around maintenance pedestal (1) bottom pin-and-hole.
3. the spherical melon and fruit grabbing device of a kind according to claim 1, is characterized in that: described rotor (6) can do any gyration in " U " type groove capturing finger tail joint (5).
4. the spherical melon and fruit grabbing device of a kind according to claim 1, is characterized in that: described universal bearing (8) afterbody screw sleeve has adjustment spring.
5. the spherical melon and fruit grabbing device of a kind according to claim 1, is characterized in that: described middle joint (4) is equipped with and is driven by minisize dc reducing motor (12) rubber wheel (11) rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510186605.9A CN104786218A (en) | 2015-04-20 | 2015-04-20 | End actuator with enveloping and sphere-like melon and fruit rotating functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510186605.9A CN104786218A (en) | 2015-04-20 | 2015-04-20 | End actuator with enveloping and sphere-like melon and fruit rotating functions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104786218A true CN104786218A (en) | 2015-07-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510186605.9A Pending CN104786218A (en) | 2015-04-20 | 2015-04-20 | End actuator with enveloping and sphere-like melon and fruit rotating functions |
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| CN (1) | CN104786218A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415392A (en) * | 2015-12-10 | 2016-03-23 | 深圳市海科瑞科技有限公司 | Wide-range grabbing under-actuated multi-adaptive manipulator |
| CN105922279A (en) * | 2016-07-06 | 2016-09-07 | 徐子桐 | Automatic grabbing mechanical arm used for ground grouted rubble |
| CN106181479A (en) * | 2016-08-12 | 2016-12-07 | 王恒标 | Fine adjustment type clamps positioner |
| CN106744533A (en) * | 2017-04-07 | 2017-05-31 | 福建新源重工有限公司 | Interlock folder |
| CN107984407A (en) * | 2016-08-22 | 2018-05-04 | 徐勤凤 | Adjustable clamper |
| CN109201501A (en) * | 2018-09-11 | 2019-01-15 | 广东宏穗晶科技服务有限公司 | A kind of fine work lemon sorting machine people |
| CN112873258A (en) * | 2021-01-08 | 2021-06-01 | 江苏科技大学 | Ball automatic picking mechanical arm |
| CN116158264A (en) * | 2023-04-25 | 2023-05-26 | 东北林业大学 | Apple picking manipulator |
-
2015
- 2015-04-20 CN CN201510186605.9A patent/CN104786218A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415392A (en) * | 2015-12-10 | 2016-03-23 | 深圳市海科瑞科技有限公司 | Wide-range grabbing under-actuated multi-adaptive manipulator |
| CN105415392B (en) * | 2015-12-10 | 2017-11-10 | 深圳市海科瑞科技有限公司 | A kind of a wide range of crawl drive lacking multi-adaptation mechanical hand |
| CN105922279A (en) * | 2016-07-06 | 2016-09-07 | 徐子桐 | Automatic grabbing mechanical arm used for ground grouted rubble |
| CN105922279B (en) * | 2016-07-06 | 2018-05-15 | 哈工大机器人集团（广州）知识产权投资控股有限公司 | A kind of automatic catching robot for ground stone masonry |
| CN106181479A (en) * | 2016-08-12 | 2016-12-07 | 王恒标 | Fine adjustment type clamps positioner |
| CN106181479B (en) * | 2016-08-12 | 2018-07-20 | 王恒标 | Fine adjustment type clamps positioning device |
| CN107984407A (en) * | 2016-08-22 | 2018-05-04 | 徐勤凤 | Adjustable clamper |
| CN106744533A (en) * | 2017-04-07 | 2017-05-31 | 福建新源重工有限公司 | Interlock folder |
| CN109201501A (en) * | 2018-09-11 | 2019-01-15 | 广东宏穗晶科技服务有限公司 | A kind of fine work lemon sorting machine people |
| CN112873258A (en) * | 2021-01-08 | 2021-06-01 | 江苏科技大学 | Ball automatic picking mechanical arm |
| CN116158264A (en) * | 2023-04-25 | 2023-05-26 | 东北林业大学 | Apple picking manipulator |
| CN116158264B (en) * | 2023-04-25 | 2023-06-23 | 东北林业大学 | Apple picking manipulator |
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Application publication date: 20150722 |