CN107736131B - Gravity self-stabilizing picking machine - Google Patents
Gravity self-stabilizing picking machine Download PDFInfo
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- CN107736131B CN107736131B CN201711190436.1A CN201711190436A CN107736131B CN 107736131 B CN107736131 B CN 107736131B CN 201711190436 A CN201711190436 A CN 201711190436A CN 107736131 B CN107736131 B CN 107736131B
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- 230000005484 gravity Effects 0.000 title claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 43
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- 235000013399 edible fruits Nutrition 0.000 abstract description 6
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- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 241000220225 Malus Species 0.000 description 6
- 238000011161 development Methods 0.000 description 5
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- 235000011430 Malus pumila Nutrition 0.000 description 4
- 235000015103 Malus silvestris Nutrition 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 235000021016 apples Nutrition 0.000 description 3
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a gravity self-stabilizing picking machine, which comprises a three-jaw mechanical arm, a supporting rod and a moving trolley, wherein the three-jaw mechanical arm is arranged on the supporting rod; the three-jaw mechanical arm comprises a gravity self-stabilization type base and a three-jaw clamping device, and the gravity self-stabilization type base comprises a U-shaped base, an adjusting rod and a balancing weight; the three-jaw clamping device comprises a three-jaw clamping mechanism and a rotating motor, the rotating motor is fixed on the outer side of the U-shaped base, the three-jaw clamping mechanism comprises a frame, a three-jaw mechanical arm, a transmission assembly and a driver, the driver is fixed on the frame, and the frame is rotationally connected with an output shaft of the rotating motor. The invention is provided with a gravity self-stabilizing base, when a picking object is not picked, the gravity center of the three-jaw mechanical arm is deviated downwards; when picking the picking object, separating the picking object from the fruit tree, wherein the gravity center of the three-jaw mechanical arm is deviated, so that the three-jaw mechanical arm turns over, and the picking object can vertically fall down to the storage bag; after the picking object falls, the three-jaw mechanical arm turns over again, and the picking object is restored to the original state and is ready for the next operation.
Description
Technical Field
The invention relates to a fruit picking machine, in particular to a gravity self-stabilizing type picking machine.
Background
Along with the continuous and strong development of agriculture in China, the requirements on related technologies are higher and higher, and the agriculture starts to realize mechanization and intelligence gradually, so that the agricultural machinery industry is inevitably and rapidly developed. With the development of industrialized society, a great amount of rural labor force is lost, the problem of population aging in China is more and more serious, and the labor cost of agriculture is increased, so that the machine is a necessary trend to replace manual operation, and the development of agricultural machinery for reducing the labor amount and improving the efficiency has great potential.
The apple cultivation in China has a long history, has unique geographical, soil and climate conditions suitable for the growth and development of apple trees, and is an ideal industrial development area of apples. Since the 80 s of the 20 th century, the fruit industry in China has developed rapidly in quality and quantity, but in the agricultural production process, picking operation is still carried out manually, picking becomes a link which is the most time-consuming and labor-consuming in production, the labor input during the harvesting accounts for 50% -70% of the whole process, and the picking robot can improve the production efficiency, ensure timely picking and solve the problem of labor deficiency. The main difficulties in picking operation are: the growth heights of apples are different, and the outer skins of the apples are fragile and easy to damage; most of the existing auxiliary picking machines are too complex in structure, various sensors are installed, so that the maintenance cost is too high, apple flesh is easily damaged by a simple mechanism, and in view of various problems and conditions, the research on a novel apple picker is of great significance.
Disclosure of Invention
The invention aims to solve the technical problems that the prior art is insufficient, and provides a gravity self-stabilizing picking machine which is provided with a gravity self-stabilizing base, and when a picking object is not picked, the gravity center of a three-jaw mechanical arm is deviated; when picking the picking object, separating the picking object from the fruit tree, wherein the gravity center of the three-jaw mechanical arm moves upwards at the moment, so that the three-jaw mechanical arm turns over, and the picking object can directly fall down to the storage bag; after the picking object falls, the gravity center of the three-jaw mechanical arm moves back to the original position again, overturns again, resumes the original state, prepares for next operation, sets up the counter weight mechanism, including adjusting pole and balancing weight, reaches the purpose of adjusting the gravity center of three-jaw mechanical arm through the weight of increase and decrease balancing weight and the length of adjusting the regulating lever, can make this picking machine be applicable to the picking object of multiple weight and specification.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a gravity is from steady type picking machine which characterized in that: the three-jaw mechanical arm is arranged at the top end of the support rod; the three-jaw mechanical arm comprises a gravity self-stabilization base and a three-jaw clamping device fixed on the gravity self-stabilization base, the gravity self-stabilization base comprises a U-shaped base, an adjusting rod arranged on the outer side of the closed end of the U-shaped base and a balancing weight arranged on the adjusting rod and far away from one end of the U-shaped base, a U-shaped rod is fixed at the top end of the supporting rod, and two ends of the open end of the U-shaped base are rotatably arranged at two ends of the open end of the U-shaped rod; the three-jaw clamping device comprises a three-jaw clamping mechanism and a rotating motor used for driving the three-jaw clamping mechanism to rotate, wherein the rotating motor is fixed on the outer side of the U-shaped base, the three-jaw clamping mechanism comprises a frame, a three-jaw mechanical arm, a transmission assembly and a driver, the driver is fixed on the frame, and the frame is rotationally connected with an output shaft of the rotating motor.
Foretell a gravity is from steady type picking machine, its characterized in that: the machine frame comprises a clamping base and guide posts, wherein the clamping base is rotationally connected with the rotating motor, the guide posts are arranged on the clamping base, the number of the guide posts is three, and the three-jaw manipulator is arranged on the three guide posts.
Foretell a gravity is from steady type picking machine, its characterized in that: the transmission assembly comprises a screw rod driven by the driver, a pushing disc arranged on the screw rod and push rods hinged to the pushing disc, wherein the number of the push rods is three, the other ends of the push rods are in transmission connection with the three-jaw mechanical arm, a threaded hole matched with the screw rod is formed in the center of the pushing disc, and the pushing disc is connected with the frame through a moving pair.
Foretell a gravity is from steady type picking machine, its characterized in that: the three-jaw mechanical arm comprises a palm base and three mechanical fingers arranged on the palm base, wherein the palm base is fixed on the frame, the mechanical fingers comprise knuckle rods hinged on the palm base, knuckle rods hinged on the knuckle rods and fingertip knuckle rods hinged on the knuckle rods, a knuckle set square is hinged at the position where the knuckle rods are hinged with the palm base, the knuckle set square is connected with the transmission assembly, a knuckle set square is hinged at the position where the knuckle rods are hinged with the knuckle rods, a knuckle connecting rod is hinged between the knuckle set square and the knuckle set square, and a knuckle connecting rod is hinged between the knuckle set square and the fingertip knuckle rods.
Foretell a gravity is from steady type picking machine, its characterized in that: the finger tip section bar is of a wedge-shaped structure, and the middle finger section bar, the root section bar and the middle finger connecting bar are of cuboid structures.
Foretell a gravity is from steady type picking machine, its characterized in that: the finger root connecting rod is a shock absorption rod, the shock absorption rod comprises a thin rod hinged to a triangular plate in the finger, a pressure spring sleeved on the thin rod and a thick rod hinged to the triangular plate in the finger root, and a hole for slidably mounting the thin rod is formed in the thick rod.
Foretell a gravity is from steady type picking machine, its characterized in that: the support rod comprises an inclined rod, a sliding rail and a vertical rod, wherein the inclined rod is used for installing the three-jaw mechanical arm, the sliding rail is fixed at the lower end of the inclined rod, the vertical rod is used for supporting the inclined rod and the sliding rail, a clamping mechanism used for fixing the position of the sliding rail is arranged on the sliding rail, the clamping mechanism is fixed on the vertical rod through a rod base, a pulley is installed on the rod base, the sliding rail is installed on the pulley, and the vertical rod is rotatably installed on the mobile trolley.
Foretell a gravity is from steady type picking machine, its characterized in that: the sliding rail is a hollow rod-shaped guide rail, a sliding groove is formed in the hollow rod-shaped guide rail along the length direction, and the pulley is fixed on the rod base through a vertical rod penetrating through the sliding groove.
Foretell a gravity is from steady type picking machine, its characterized in that: the clamping mechanism comprises two clamping plates which are respectively positioned at two sides of the sliding rail and a quick clamp for driving the clamping plates to clamp the sliding rail, the quick clamp comprises two clamping rods which are respectively hinged to the two clamping plates and two connecting rods which are hinged between the two clamping rods, each two connecting rods are formed by hinging a limiting rod and an L-shaped rod, limiting blocks which are used for limiting the limiting positions of the L-shaped rods are arranged on the limiting rods, the clamping plates are hinged to the lower ends of the clamping rods, the two connecting rods are hinged to the upper ends of the clamping rods, and the middle parts of the clamping rods are hinged to the rod base.
Foretell a gravity is from steady type picking machine, its characterized in that: and a storage bag is arranged on the support rod and is positioned right below the three-jaw mechanical arm, and the bottom of the storage bag is communicated with the travelling trolley.
Compared with the prior art, the invention has the following advantages:
1. the invention is provided with a gravity self-stabilizing base, when a picking object is not picked, the gravity center of the three-jaw mechanical arm is deviated down, and the stable state is maintained; when picking the picking object, separating the picking object from the fruit tree, wherein the gravity center of the three-jaw mechanical arm is deviated, so that the three-jaw mechanical arm turns over, and the picking object can vertically fall down to the storage bag; after the picking object falls, the three-jaw mechanical arm turns over again, and the picking object is restored to the original state and is ready for the next operation.
2. The invention is provided with the counterweight mechanism, comprises the adjusting rod and the counterweight block, achieves the aim of adjusting the gravity center of the three-jaw mechanical arm by increasing and decreasing the weight of the counterweight block and adjusting the length of the adjusting rod, and can be suitable for picking objects with various weights and specifications.
3. According to the three-jaw mechanical arm, the supporting rod is arranged, and an operator can move the three-jaw mechanical arm in a certain range by operating the supporting rod, so that a picking object is positioned in the clamping range of the three-jaw mechanical arm.
4. The movable trolley is arranged, so that the picking machine can be conveniently moved in an orchard, and the situation that an operator needs to hold the picking machine for a long time in the picking process is avoided.
5. The three-jaw mechanical arm is provided with the clamping mechanism, so that the sliding rail is temporarily fixed, an operator can temporarily loosen the operating handle, and the three-jaw mechanical arm cannot fall to the ground, so that mechanical parts are prevented from being damaged.
In summary, the gravity self-stabilizing base is arranged, and when a picking object is not picked, the gravity center of the three-jaw mechanical arm is deviated downwards, so that the stable state is maintained; when picking the picking object, separating the picking object from the fruit tree, wherein the gravity center of the three-jaw mechanical arm is deviated, so that the three-jaw mechanical arm turns over, and the picking object can vertically fall down to the storage bag; after the picking object falls, the three-jaw mechanical arm overturns again to recover the original state, the next operation is prepared, the counterweight mechanism is arranged, the counterweight mechanism comprises an adjusting rod and a counterweight block, the purpose of adjusting the gravity center of the three-jaw mechanical arm is achieved by increasing and decreasing the weight of the counterweight block and adjusting the length of the adjusting rod, and the picking machine can be suitable for picking objects with various weights and specifications.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic diagram of an installation structure of the three-jaw mechanical arm of the present invention.
Fig. 3 is a schematic structural view of the three-jaw clamping device of the present invention.
Fig. 4 is a schematic diagram of the structure of a three-jaw manipulator (lacking an underactuated finger) according to the present invention.
Fig. 5 is a schematic structural view of the support bar of the present invention.
Fig. 6 is a schematic structural view of the sliding rail of the present invention.
FIG. 7 is a schematic view of the mounting structure of the clamping mechanism of the present invention.
Fig. 8 is a schematic structural view of the clamping mechanism of the present invention.
Reference numerals illustrate:
Detailed Description
As shown in fig. 1, 2 and 3, the invention comprises a three-jaw mechanical arm, a supporting rod and a moving trolley 1, wherein the supporting rod is arranged on the moving trolley 1, and the three-jaw mechanical arm is arranged at the top end of the supporting rod; the three-jaw mechanical arm comprises a gravity self-stabilization base and a three-jaw clamping device fixed on the gravity self-stabilization base, the gravity self-stabilization base comprises a U-shaped base 2, an adjusting rod arranged on the outer side of the closed end of the U-shaped base 2 and a balancing weight 3 arranged on the adjusting rod and far away from one end of the U-shaped base 2, a U-shaped rod is fixed at the top end of the supporting rod, and two ends of the open end of the U-shaped base 2 are rotatably arranged at two ends of the open end of the U-shaped rod; the three-jaw clamping device comprises a three-jaw clamping mechanism and a rotating motor 11-1 for driving the three-jaw clamping mechanism to rotate, wherein the rotating motor 11-1 is fixed on the outer side of the U-shaped base 2, the three-jaw clamping mechanism comprises a frame, three-jaw manipulators, a transmission assembly and a driver 11-2, the driver 11-2 is fixed on the frame, and the frame is fixed on an output shaft of the rotating motor 11-1.
The three-jaw mechanical arm is designed according to the bionic principle and is used for picking objects according to the manual picking action instead of the manual hand, at least two actions are needed for picking once according to analysis of the manual picking action, the picking objects are clamped at first and then are clamped to rotate, the picking objects are separated from trees, and the picking action is finished. After the picking object is clamped by the three-jaw mechanical arm, if the picking object is directly loosened to enable the picking object to fall down, the picking object is enabled to collide with the three-jaw mechanical arm in the falling process, so that the picking object is damaged, in the embodiment, the three-jaw mechanical arm comprises a gravity self-stabilizing base and a three-jaw clamping device fixed on the gravity self-stabilizing base, and the working principle of the gravity self-stabilizing base is as follows: when the three-jaw mechanical arm is in an empty state, the gravity center of the three-jaw mechanical arm is biased downwards, and the three-jaw mechanical arm faces upwards, so that clamping and collecting actions are facilitated; when the three-jaw mechanical arm picks up a picking object, the three-jaw mechanical arm clamps the picking object, so that the whole gravity center is deviated, the three-jaw mechanical arm drives the picking object to turn over and face downwards, the picking object is convenient to fall down, and the picking object is prevented from colliding with the three-jaw mechanical arm in the falling process; and after the three-jaw mechanical arm loosens and puts down the picking object, the gravity center returns to the original position again, so that the three-jaw mechanical arm overturns back to the original position again. Because different picking objects have different densities and masses, the similar picking objects are also often different in size, therefore, the gravity self-stabilizing base comprises a U-shaped base 2, an adjusting rod arranged on the outer side of the closed end of the U-shaped base 2 and a balancing weight 3 arranged on the adjusting rod and far away from one end of the U-shaped base 2, before picking, the three-jaw mechanical arm can be tested by using smaller picking objects and larger picking objects respectively, the weight of the balancing weight 3 and the length of the adjusting rod are adjusted comprehensively, the gravity center of the three-jaw mechanical arm is guaranteed, the three-jaw mechanical arm can be self-stabilized in the mass range of the smaller picking objects and the larger picking objects, a U-shaped rod is fixed at the top end of the supporting rod, the two ends of the open end of the U-shaped base 2 are rotatably mounted at the two ends of the open end of the U-shaped rod, in the embodiment, the U-shaped base 2 can be rotated and mounted at the top end of the supporting rod by using smaller picking objects and the larger picking objects respectively, the three-jaw mechanical arm can be rotated by using various structures, the two ends of the U-shaped base 2 can be mounted at the two ends of the open end of the U-shaped base 2, the U-shaped base 2 can be stably moved, but the two ends of the U-shaped base 2 can be stably moved, the U-shaped base can be stably and the U-shaped base can be fixedly have different structures, and the two ends can be stably moved at the open at the top ends. The three-jaw clamping device is used for realizing picking action of the three-jaw mechanical arm, the picking action comprises clamping and rotating two independent actions, a motor is adopted for driving, the motion is separately transmitted through a transmission mechanism, two driving motors are adopted for driving respectively, the embodiment adopts double-motor driving, the part of the transmission mechanism which is separated from the transmission mechanism is omitted, the structure is simpler, the three-jaw clamping device comprises a three-jaw clamping mechanism and a rotating motor 11-1 used for driving the three-jaw clamping mechanism to rotate, the rotating motor 11-1 is used for realizing rotating action after clamping a picking object, the three-jaw clamping mechanism comprises a frame, a three-jaw mechanical arm, a transmission component and a driver 11-2, the three-jaw clamping mechanism is used for realizing the action of clamping the picking object, the driver 11-2 is fixed on the frame, the frame is fixed on an output shaft of the rotating motor 11-1, the rotating motor 11-1 is fixed on the outer side of a U-shaped base 2, the rotating motor 11-1 and the driver 11-2 are respectively located on the outer side of the U-shaped base, the two U-shaped bases can be located on the outer side of the U-shaped base and the two U-shaped base 2, and the two U-shaped bases can be conveniently adjusted, and the two U-shaped bases can be located on the outer sides of the U-shaped base 2, and the two U-shaped base can be conveniently adjusted, and the two bases can be respectively located on the U-shaped base 2.
In this embodiment, the frame includes a clamping base 15 rotatably connected to the rotating motor 11-1 and guide posts 16 mounted on the clamping base 15, three guide posts 16 are provided, and the three-jaw manipulator is mounted on the three guide posts 16.
The clamping base 15 is used for installing the driver 11-2 and supporting the whole three-jaw clamping mechanism, the clamping base 15 is rotationally connected with the rotating motor 11-1, and in specific implementation, the clamping base 15 can be connected with an output shaft of the rotating motor 11-1 through a speed reducing mechanism. The rotating motor 11-1 drives the clamping base 15 to rotate so as to enable the whole three-jaw clamping mechanism to rotate, so that a rotating action is achieved, the guide posts 16 are used for fixing the palm base 8 of the three-jaw manipulator, in the embodiment, the guide posts 16 are used for assisting a transmission component to transmit for the three-jaw manipulator, and the three guide posts 16 are more stable in structure.
In this embodiment, the transmission assembly includes a screw rod 12 rotatably connected with the driver 11-2, a pushing disc 13 mounted on the screw rod 12, and push rods 14 hinged on the pushing disc 13, where the number of the push rods 14 is three and all in transmission connection with the three-jaw manipulator, a threaded hole matched with the screw rod 12 is provided in the center of the pushing disc 13, and the pushing disc 13 is connected with the frame through a moving pair.
The output shaft of the driver 11-2 is fixedly connected with the screw rod 12, the driver 11-2 is started to drive the screw rod 12 to rotate and drive the pushing disc 13 to move up and down, when the pushing disc 13 moves up, the pushing rod 14 is driven to push the three-jaw manipulator to be closed so as to clamp a picking object, when the pushing disc 13 moves down, the pushing rod 14 is driven to pull the three-jaw manipulator to open so as to relax the picking object, the number of the pushing rods 14 is three, three fingers of the three-jaw manipulator are respectively pushed, the three pushing rods 14 are hinged on the pushing disc 13, the underactuated mechanical fingers can be synchronously pushed to clamp simultaneously, and the pushing force of the pushing disc 13 is effectively transmitted to the three fingers of the three-jaw manipulator. The pushing disc 13 is connected with the three guide posts 16 through the moving pair, the guide posts 16 can ensure that all parts of the pushing disc 13 generate the same displacement along the moving direction, the pushing disc 13 is prevented from tilting, and the displacement of all parts causes different closing degrees of the three mechanical fingers of the three-jaw mechanical arm, so that the clamping loosening condition is caused.
As shown in fig. 2, 3 and 4, in this embodiment, the three-jaw manipulator includes a palm base 8 and three mechanical fingers disposed on the palm base 8, the palm base 8 is fixed on the frame, the mechanical fingers include a knuckle rod 7 hinged on the palm base 8, a middle knuckle rod 6 hinged on the knuckle rod 7 and a fingertip joint rod 5 hinged on the middle knuckle rod 6, a middle knuckle set square 9-2 is hinged at a position where the knuckle rod 7 is hinged with the palm base 8, the middle knuckle set square 9-2 is connected with the transmission assembly, a middle knuckle set square 9-1 is hinged at a position where the middle knuckle rod 6 is hinged with the knuckle rod 7, a middle knuckle connecting rod 10-2 is hinged between the middle knuckle set square 9-2 and the middle knuckle set square 9-1, and a middle knuckle connecting rod 10-1 is hinged between the middle knuckle set square 9-1 and the fingertip joint rod 5.
The palm base 8 of the three-jaw manipulator is fixed at the top ends of the three guide posts 16 and simulates the structure of a human hand, the three-jaw manipulator comprises the palm base 8 and three mechanical fingers arranged on the palm base 8, each mechanical finger comprises a knuckle rod 7 hinged on the palm base 8, a middle knuckle rod 6 hinged on the knuckle rod 7 and a fingertip knuckle rod 5 hinged on the middle knuckle rod 6, in the embodiment, a torsion spring 28 is arranged at the position where the fingertip knuckle rod 5 is hinged with the middle knuckle rod 6, and a torsion spring 28 is arranged at the position where the middle knuckle rod 6 is hinged with the knuckle rod 7, and the torsion spring 28 can form counterforces on the knuckle rod 5 and the middle knuckle rod 6, so that the knuckle rod 5 and the middle knuckle rod 6 can be opened in a best effort mode when the three-jaw manipulator is loosened, and the picking object is prevented from being damaged. The mechanical finger in this embodiment is an under-actuated mechanical finger, the finger tip node rod 5, the finger middle node rod 6, the finger middle triangle 9-1 and the finger middle connecting rod 10-1 are all connected by a rotating pair through pins to form a four-bar mechanism, the finger middle triangle 9-1, the finger root node rod 7, the finger root triangle 9-2 and the finger root connecting rod 10-2 are all connected by a rotating pair through pins to form a four-bar mechanism, the two four-bar mechanisms are mutually linked to form an under-actuated mechanical finger, the mechanical finger has 3 degrees of freedom and one driving, namely, the push rod 14 is the only driving force of each under-actuated mechanical finger, and the under-actuated mechanical finger can avoid damage to a picking object caused by the fact that the mechanical finger is forced to be over-forcedly forced in the process of clamping the picking object due to mechanical transmission. The finger middle triangle 9-1 and the finger root triangle 9-2 can enable the finger root part and the finger middle part of the underactuated mechanical finger to always form a certain angle, so that the condition of the underactuated mechanical finger is prevented from being uncontrolled when the underactuated mechanical finger is not actuated, and the shape error of the underactuated mechanical finger is easily caused when the underactuated mechanical finger is actuated, and the clamping action is difficult to carry out.
In this embodiment, the fingertip bar 5 has a wedge structure, and the knuckle bar 6, the knuckle bar 7 and the knuckle bar 10-1 are all rectangular bars.
The finger tip rod 5 of the wedge-shaped structure is characterized in that one end of the big end of the finger tip rod 5 is respectively connected with the finger middle connecting rod 10-1 and the finger middle connecting rod 6, the other end of the finger tip rod 5 of the wedge-shaped structure is light in weight and easy to control, the shape of the finger tip rod is similar to that of a human hand finger end, a certain bionic principle is provided, and the finger middle connecting rod 6, the finger root connecting rod 7 and the finger middle connecting rod 10-1 are cuboid rods, so that the finger tip rod is easy to process and manufacture, and clamping of picking objects is also facilitated. The knuckle rod 6, the knuckle rod 7 and the knuckle connecting rod 10-1 with the cuboid structures are convenient to process and manufacture, convenient to install and convenient to clamp picking objects.
In this embodiment, the finger root connecting rod 10-2 is a shock absorbing rod, the shock absorbing rod comprises a thin rod 29 hinged on the finger middle triangle 9-1, a pressure spring 30 sleeved on the thin rod 29 and a thick rod 31 hinged on the finger root triangle 9-2, and the thick rod 31 is provided with a hole for slidably mounting the thin rod 29.
In this embodiment, the damping rod is configured to increase a degree of freedom for the underactuated mechanical finger, so that the force on the picking object after the knuckle rod 7 is driven can be further buffered, and because the knuckle rod 7 is closer to the push rod 14, the force received during transmission is also larger, so that the knuckle rod 7 can be effectively prevented from damaging the picking object during the clamping process by using the knuckle connecting rod 10-2 as the damping rod. The shock absorbing rod comprises a thin rod 29 hinged on the triangular plate 9-1 in the finger, a pressure spring 30 sleeved on the thin rod 29 and a thick rod 31 hinged on the triangular plate 9-2 in the finger, wherein the thick rod 31 is provided with a hole for slidably mounting the thin rod 29. The damping rod is simple in structure and utilizes the spring to buffer mechanical force.
As shown in fig. 5, 7 and 8, in this embodiment, the support rod includes a diagonal rod 17 for mounting the three-jaw mechanical arm, a slide rail 18 fixed at the lower end of the diagonal rod 17, and a vertical rod 19 for supporting the diagonal rod 17 and the slide rail 18, a clamping mechanism for fixing the position of the slide rail 18 is provided on the slide rail 18, the clamping mechanism is fixed on the vertical rod 19 through a rod base 22, a pulley 26 is mounted on the rod base 22, the slide rail 18 is mounted on the pulley 26, and the vertical rod 19 is rotatably mounted on the travelling car 1.
The three-jaw mechanical arm is mounted at the top end of the inclined rod 17, the three-jaw mechanical arm is driven by the inclined rod 17, a sliding rail 18 is fixed at the lower end of the inclined rod 17, the sliding rail 18 is mounted on the pulley 26, the sliding rail 18 drives the inclined rod 17 to move through movement of the pulley 26, the three-jaw mechanical arm comprises upward advancing, downward retreating and rotating in a vertical plane, the sliding rail 18 fixes the relative positions of the sliding rail 18 and the pulley 26 through a clamping mechanism, then the three-jaw mechanical arm can be operated to perform clamping action, the pulley 26 is mounted on a vertical rod 19 through a rod base 22, the vertical rod 19 is rotatably mounted on the movable trolley 2, the vertical rod 19 can drive the rod base 22, the pulley 26, the sliding rail 18, the inclined rod 17 and the three-jaw mechanical arm to move, when the three-jaw mechanical arm is particularly used, the movable trolley 2 is moved to the ground near a picking object, then the vertical rod 19 is rotated and the position of the sliding rail 18 is adjusted to enable the three-jaw mechanical arm to approach the picking object, and the sliding rail 18 is fixed through the clamping mechanism to perform work.
In this embodiment, as shown in fig. 6, the sliding rail 18 is a hollow rod-shaped rail, a sliding groove 18-1 is formed on the hollow rod-shaped rail along the length direction, and the pulley 26 is fixed on the rod base 22 by a vertical rod 27 passing through the sliding groove 18-1.
The hollow rod-shaped guide rail is square, so as to cooperate with the pulley 26, so that the pulley 26 can rotate inside the slide rail 18 along with the movement of the slide rail 18, in this embodiment, mounting holes 18-2 for fixing are formed on two side surfaces of the end of the slide rail 18, and the fixing can be performed by using pins or screws. The pulley 26 of the sliding rail 18 is mounted on the vertical rod 27, so that the height of the pulley 26 can be raised, the rotation angle of the sliding rail 18 is larger, and the sliding rail 18 is prevented from colliding with the rod base 22 to limit the rotation angle of the sliding rail 18.
In this embodiment, the clamping mechanism includes two clamping plates 20 respectively disposed on two sides of the sliding rail 18 and a quick clamp for driving the clamping plates 20 to clamp the sliding rail 18, the quick clamp includes two clamping rods 21 respectively hinged on the two clamping plates 20 and two connecting rods hinged between the two clamping rods 21, the two connecting rods are formed by hinging a limiting rod 23 and an L-shaped rod 24, a limiting block for limiting the limit position of the L-shaped rod 24 is disposed on the limiting rod 23, the clamping plates 20 are hinged on the lower end of the clamping rods 21, the two connecting rods are hinged on the upper end of the clamping rods 21, and the middle part of the clamping rods 21 is hinged on the rod base 22.
In this embodiment, the clamping plates 20 are disposed on two sides of the sliding rail 18 and can directly clamp the sliding rail 18, so that an operator can vacate one hand to perform clamping action, in this embodiment, a plurality of hemispherical rubber protrusions are disposed on the clamping plates 20 and can effectively increase friction force between the sliding rail 18 and the clamping plates 20, the clamping plates 20 clamp and fix the sliding rail 18 through a quick clamp, the quick clamp comprises two clamping rods 21 respectively hinged to the two clamping plates 20 and two connecting rods hinged between the two clamping rods 21, the quick clamp is simple in structure and convenient and quick to use, and when the quick clamp is used, the L-shaped rods 24 are pressed downwards until the L-shaped rods 24 are contacted with limiting blocks on the limiting rods 23, the upper ends of the two clamping rods 21 are outwards spread, and as the middle parts of the clamping rods 21 are hinged to the rod bases 22, when the upper ends of the two clamping rods 21 are outwards opened, the lower ends of the two clamping rods 21 are inwards folded to drive the clamping rods 21 to clamp the sliding rail 18 to be temporarily fixed.
In this embodiment, a handle is fixed to the lower end of the sliding rail 18.
The shape of the sliding rail 18 is square, which is not beneficial to the holding of operators, so in the embodiment, the handle is fixed at the lower end of the sliding rail 18 through the mounting hole 18-2, so that the operation is more comfortable and convenient, and the design is more humanized.
In this embodiment, as shown in fig. 1, a storage bag 25 is mounted on the support rod, the storage bag 25 is located right below the three-jaw mechanical arm, and the bottom of the storage bag 25 is communicated with the travelling car 1.
The collecting bag 25 can collect the picked objects put down by the three-jaw clamping arms, the three-jaw mechanical arms are prevented from being too high, the picked objects are damaged in the falling process, the bottom end of the collecting bag 25 is communicated with the movable trolley 2, and the picked objects falling into the collecting bag 25 can fall into the movable trolley 2 to be stored and carried.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modification, variation and equivalent structural changes made to the above embodiment according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (8)
1. The utility model provides a gravity is from steady type picking machine which characterized in that: the three-jaw mechanical arm is arranged at the top end of the support rod; the three-jaw mechanical arm comprises a gravity self-stabilization base and a three-jaw clamping device fixed on the gravity self-stabilization base, the gravity self-stabilization base comprises a U-shaped base (2), an adjusting rod arranged on the outer side of the closed end of the U-shaped base (2) and a balancing weight (3) arranged on the adjusting rod and far away from one end of the U-shaped base (2), a U-shaped rod is fixed at the top end of the supporting rod, and two ends of the opening end of the U-shaped base (2) are rotatably arranged at two ends of the opening end of the U-shaped rod; the three-jaw clamping device comprises a three-jaw clamping mechanism and a rotating motor (11-1) for driving the three-jaw clamping mechanism to rotate, the rotating motor (11-1) is fixed on the outer side of the U-shaped base (2), the three-jaw clamping mechanism comprises a frame, a three-jaw manipulator, a transmission assembly and a driver (11-2), the driver (11-2) is fixed on the frame, and the frame is rotationally connected with an output shaft of the rotating motor (11-1);
the support rod comprises an inclined rod (17) for mounting the three-jaw mechanical arm, a sliding rail (18) fixed at the lower end of the inclined rod (17) and a vertical rod (19) for supporting the inclined rod (17) and the sliding rail (18), a clamping mechanism for fixing the position of the sliding rail (18) is arranged on the sliding rail (18), the clamping mechanism is fixed on the vertical rod (19) through a rod base (22), a pulley (26) is mounted on the rod base (22), the sliding rail (18) is mounted on the pulley (26), and the vertical rod (19) is rotatably mounted on the mobile trolley (1);
the clamping mechanism comprises two clamping plates (20) which are respectively positioned at two sides of the sliding rail (18) and a quick clamp for driving the clamping plates (20) to clamp the sliding rail (18), the quick clamp comprises two clamping rods (21) which are respectively hinged to the two clamping plates (20) and two connecting rods which are hinged between the two clamping rods (21), each two connecting rods is formed by hinging a limiting rod (23) and an L-shaped rod (24), a limiting block for limiting the limiting position of the L-shaped rod (24) is arranged on each limiting rod (23), the clamping plates (20) are hinged to the lower ends of the corresponding clamping rods (21), the corresponding two connecting rods are hinged to the upper ends of the corresponding clamping rods (21), and the middle parts of the corresponding clamping rods (21) are hinged to the corresponding rod bases (22);
the clamping plate (20) is provided with a plurality of hemispherical rubber protrusions.
2. A gravity self-stabilizing picking machine as claimed in claim 1 and wherein: the machine frame comprises a clamping base (15) which is rotationally connected with the rotating motor (11-1) and guide posts (16) which are arranged on the clamping base (15), wherein the number of the guide posts (16) is three, and the three-jaw manipulator is arranged on the three guide posts (16).
3. A gravity self-stabilizing picking machine as claimed in claim 1 and wherein: the transmission assembly comprises a screw rod (12) driven by the driver (11-2), a pushing disc (13) arranged on the screw rod (12) and pushing rods (14) hinged to the pushing disc (13), wherein the number of the pushing rods (14) is three, the other ends of the pushing rods (14) are all in transmission connection with the three-jaw manipulator, a threaded hole matched with the screw rod (12) is formed in the center of the pushing disc (13), and the pushing disc (13) is connected with the frame through a moving pair.
4. A gravity self-stabilizing picking machine as claimed in claim 1 and wherein: the three-jaw mechanical hand comprises a palm base (8) and three mechanical fingers arranged on the palm base (8), wherein the palm base (8) is fixed on the frame, the mechanical fingers comprise a middle joint rod (7) hinged on the palm base (8), a middle joint rod (6) hinged on the middle joint rod (7) and a finger tip joint rod (5) hinged on the middle joint rod (6), a finger root triangle (9-2) is hinged at the position where the middle joint rod (7) is hinged with the palm base (8), the finger root triangle (9-2) is connected with the transmission assembly, a middle joint triangle (9-1) is hinged at the position where the middle joint rod (6) is hinged with the middle joint rod (7), a finger joint connecting rod (10-2) is hinged between the middle joint triangle (9-2) and the middle joint triangle (9-1), and a middle joint connecting rod (10-1) is hinged between the middle joint triangle (9-1) and the finger tip connecting rod (5).
5. A gravity self-stabilizing picking machine as claimed in claim 4 and wherein: the finger tip joint rod (5) is of a wedge-shaped structure, and the middle finger joint rod (6), the finger root joint rod (7) and the middle finger connecting rod (10-1) are of cuboid structures.
6. A gravity self-stabilizing picking machine as claimed in claim 4 and wherein: the finger root connecting rod (10-2) is a shock absorption rod, the shock absorption rod comprises a thin rod (29) hinged to a finger middle triangle (9-1), a pressure spring (30) sleeved on the thin rod (29) and a thick rod (31) hinged to the finger root triangle (9-2), and the thick rod (31) is provided with a hole for slidably mounting the thin rod (29).
7. A gravity self-stabilizing picking machine as claimed in claim 1 and wherein: the sliding rail (18) is a hollow rod-shaped guide rail, a sliding groove (18-1) is formed in the hollow rod-shaped guide rail along the length direction, and the pulley (26) is fixed on the rod base (22) through a vertical rod (27) penetrating through the sliding groove (18-1).
8. A gravity self-stabilizing picking machine as claimed in claim 1 and wherein: the storage bag (25) is arranged on the support rod, the storage bag (25) is located right below the three-jaw mechanical arm, and the bottom of the storage bag (25) is communicated with the travelling trolley (1).
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| CN201711190436.1A CN107736131B (en) | 2017-11-24 | 2017-11-24 | Gravity self-stabilizing picking machine |
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| CN201711190436.1A CN107736131B (en) | 2017-11-24 | 2017-11-24 | Gravity self-stabilizing picking machine |
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| CN107736131A CN107736131A (en) | 2018-02-27 |
| CN107736131B true CN107736131B (en) | 2024-01-16 |
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