CN109015718A

CN109015718A - A kind of binder part

Info

Publication number: CN109015718A
Application number: CN201811099152.6A
Authority: CN
Inventors: 王步熬
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-09-20
Filing date: 2018-09-20
Publication date: 2018-12-18

Abstract

It the present invention relates to a kind of binder part, is used for crab pressure on the support surface, including pressure head portion and mounting portion, the pressure head portion are pressed on the dorsal shield of crab, the outer profile in pressure head portion is in hat shape.Above-mentioned binder part can be reliably fixed before manipulator clamps live crab.

Description

A kind of binder part

Technical field

The present invention relates to crab packaging facilities fields, and in particular to a kind of manipulator.

Background technique

Crab is a kind of food that depth is liked by Chinese, and crab needs to carry out it using jag before being sold to market Binding, in order to transport and prevent crab from break foot, but there is binding low efficiency, take time and effort, is easy by Grab clamp in which The problems such as hand.To solve the above problems, being manufactured that a kind of crab cutting ferrule, cutting ferrule is ring-groove-type structure, by crab clip in card In set, the efficiency of tradition binding can be effectively improved, but still there are problems that needing manual operation, be easy to by clamp hand, because It is necessary to be solved for above-mentioned for this.

Summary of the invention

The object of the present invention is to provide a kind of manipulator, it can be used for grabbing folder crab automatically.

The technical solution adopted by the present invention is that:

A kind of manipulator, it is characterised in that: the manipulator has mechanical finger and finger on manipulator for grabbing folder crab Component is adjusted, finger adjusts component regulation mechanical finger and is in two states；

One are as follows: each mechanical finger is enclosed in the clamping position that the periphery of crab clamps crab；

Secondly are as follows: each mechanical finger is opened so that crab is able to enter the evacuation position of the clamping zone of manipulator；

When mechanical finger is in clamping position, crab is in A condition in manipulator, and A condition is that the foot of crab and pincers move back Contracting sticks on the state on crab body periphery, and mechanical finger is used to pick up the crab of A condition and prevents the foot of crab and pincers from opening.

It is specific:

The region shape that mechanical finger encloses is consistent with figure A, the chamfered shape phase one of figure A and the crab of A condition It causes, mechanical finger is slidably installed on a robotic arm along direction a, and direction a is horizontal direction.

There is clamping part, clamping part includes the elastic clip that the elastic material of the strip of vertical shape arrangement is constituted on mechanical finger The lower end of piece, elastic clip is extended to the middle bent of manipulator.

Lift is slidably mounted on mechanical finger elastic clip along the vertical direction.

The center of mechanical finger is located at the point A on figure A, and direction A coincides with the normal at point A.

There is the fingerstall of vertical shape arrangement, fingerstall slidable fit on a robotic arm, pacify by elastic clip lift on mechanical finger In fingerstall, the lower end of elastic clip can be extend out to outside the lower end of fingerstall, and it includes adjusting fingerstall water that finger, which adjusts component, The vertical adjusting component that the dynamic Level tune component of translation and adjusting elastic clip are gone up and down.

Level tune component includes horizontally disposed adjustable plate, the shape phase one of the outer contour shape and figure B of adjustable plate Cause, figure A and figure B are similar fitgures, and each mechanical finger is arranged around the periphery of adjustable plate, adjustable plate periphery be provided with The drive link of each corresponding arrangement of mechanical finger, the skewed arrangement of drive link, one end of drive link and the side of adjustable plate Portion's articulated connection, the other end of drive link are connected with fingerstall, and mechanical finger, direction a, drive link are in same plane On, adjustable plate is connected with lifters, and lifters drive adjustable plate to be gone up and down.

The upper end of elastic clip is connected with the rack gear that vertical shape is arranged, rack gear is slidably mounted in fingerstall along vertical direction, Adjusting component includes respectively arranged perpendicular between adjustment gear and adjustment gear and each rack gear above adjustable plate vertically Straight to adjust unit, the vertical unit piece that adjusts includes the driving gear being engaged with rack, and driving gear is mounted in gear installation set, Gear installation set is slidably mounted in gear drive shaft, and gear installation set and gear drive shaft rotate synchronously, in gear installation set It is also arranged with rolling bearing, the outer ring of rolling bearing is connected with fingerstall by connector, is slidably installed by gear installation set In gear drive shaft, gear drive shaft arrangement parallel with direction a, gear drive shaft turns are installed on a robotic arm, gear The outer end of drive shaft is equipped with the first tapered gear, and the first angular wheel is meshed with the second angular wheel, the second conical tooth Wheel with transition gear arranged concentric and be fixedly connected with, the center line of transition gear is in vertical direction arrangement, each vertical adjusting unit Transition gear be distributed in the periphery of driving gear and engage connection with transition gear respectively, driving gear and driving motor A phase Connection.

The thickness direction of elastic clip is consistent with direction a, and the lower end exit of fingerstall is provided with two guide rollers, elasticity The delivery of two guide roller of lower end of intermediate plate extends to the outside of fingerstall.

There is the first mounting plate, the second mounting plate, the first mounting plate, the second mounting plate parallel arrangement, fingerstall on manipulator It is mounted between the first mounting plate, the second mounting plate, the first guide groove is set on the first mounting plate, is arranged on the second mounting plate Two guide grooves, the both ends of fingerstall constitute slide-and-guide with the first guide groove, the second guide groove respectively and connect cooperation, the first guiding Slot, the flute length direction of the second guide groove and direction a are consistent.

The both ends of gear drive shaft are rotatably installed on the first mounting plate, and the first mounting plate is located at adjustment gear and the second peace Between loading board, adjustable plate between the first mounting plate, the second mounting plate, adjustment gear, the first mounting plate, the second mounting plate, The center of adjustable plate is on same straight line.

Also there is guide post, guide post and adjustable plate arranged concentric, adjustable plate is slidably mounted in guide post on manipulator.

One end installation and adjustment gear of guide post, the other end of guide post are extended on the outside of the plate face of the second mounting plate and are somebody's turn to do End setting for compressing the binder part at crab dorsal shield, binder part along guide post length direction floating mount in guide post On.

Binder part outer profile is in hat shape, and mounting hole is arranged in the end of guide post, and binder part is mounted on installation by spring A1 In hole, spring A1 drives binder part mobile to the side far from guide post.

The lower end of elastic clip is provided with bottom roller, and bottom roller is rotatably installed on elastic clip, and the roll surface of bottom roller protrudes from bullet Property intermediate plate.

Elastic clip is made of the first clamping piece and second intermediate plate arranged above and below, is led between first clamping piece and second intermediate plate Torsional spring connection is crossed, first clamping piece and second intermediate plate are in two states,

One are as follows: first clamping piece and second intermediate plate postpone the nature of arrangement；

Secondly are as follows: rollover states against flip-over of the second intermediate plate by crab body.

The lower end of second intermediate plate is arranged in bottom roller.

There is assembling shell, mechanical finger is mounted in assembling shell, and manipulator is installed on the robotic arm, machine on manipulator Tool arm adjusts manipulator and at least can be moved or be rotated along a dimension.

Lifters are that the electric cylinders A for the vertical shape arrangement being arranged on the second mounting plate is constituted, piston rod and the adjustable plate phase of electric cylinders A Connection, driving motor A are mounted on shell.

Installation set is provided on the upper face of adjustable plate, installation set is slidably mounted on the piston rod of electric cylinders A, installation set and Spring A2 is provided between piston rod, spring A2 drives piston rod to close to the movement of the side of adjustable plate.

The lower end of guide post is provided with rotary head, and rotary head and guide post are rotatably assorted connection, and binder part is mounted in rotary head.

Guide post includes fixed section arranged up and down and telescopic segment, and adjustable plate, which is arranged, to be mounted on fixed section, rotary head installation In the lower end of telescopic segment.

The present invention also provides a kind of mechanical finger, there is clamping part on mechanical finger, clamping part includes that vertical shape is arranged The lower end of the elastic clip that the elastic material of strip is constituted, elastic clip is extended to the middle bent of manipulator.

Specific: lift is slidably mounted on mechanical finger elastic clip along the vertical direction.

There is the fingerstall of vertical shape arrangement, elastic clip lift is mounted in fingerstall, under elastic clip on mechanical finger End can be extend out to outside the lower end of fingerstall.

The lower end of second intermediate plate is arranged in bottom roller.

Mechanical finger is slidably installed on a robotic arm along direction a, and direction a is horizontal direction, the region that mechanical finger encloses Shape is consistent with figure A, and figure A is consistent with the chamfered shape of the crab of A condition.

The upper end of elastic clip is connected with the rack gear that vertical shape is arranged, rack gear is slidably mounted in fingerstall along vertical direction, Rack gear is meshed with driving gear.

The present invention also provides a kind of binder parts, it is characterised in that: is used for crab pressure on the support surface, including pressure head portion And mounting portion, the pressure head portion are pressed on the dorsal shield of crab, the outer profile in pressure head portion is in hat shape.

Specific: binder part floating mount is on a robotic arm.

Binder part is mounted in rotary head, and rotary head is rotatably assorted with manipulator and connect.

The mounting hole of closing is provided in rotary head, mounting portion is a rod piece, and mounting portion is mounted on installation by spring A1 In hole, spring A1 drives binder part mobile to the side far from rotary head.

Pressure head portion is made of elastic material.

Pressure head portion is made of resilient suction cups, and air hole is offered on sucker.

Pressure head portion is made of the cover that elastic strip forms.

Pressure head portion includes the hemispheric calotte that Open Side Down, and flexible claw is arranged in the oral area of calotte, and elastic claw is in " Pie " font, elastic claw are arranged along the periphery uniform intervals of calotte.

The periphery setting mechanical finger of binder part, mechanical finger are gathered or are opened to binder part.

The present invention also provides a kind of methods for clamping crab, including operating as follows: the position of acquisition crab and court first It to information, adjusts manipulator and is moved at position corresponding with crab and carries out rotation adjusting, so that on manipulator and crab Lower corresponding arrangement and match with the direction of crab, adjust manipulator downlink to crab grab folder be moved to it is scheduled to It puts at position and opens manipulator and unload crab.

Specific: crab is in A condition after manipulator clamping, and A condition is that the foot of crab and pincers shrink back and stick on crab The state on body periphery, the mechanical finger on manipulator are used to pick up the crab of A condition and prevent the foot of crab and pincers from opening.

Before clamping crab, the mechanical finger adjusted on manipulator opens, and manipulator downlink makes binder part pressure on manipulator Firmly crab, rotation manipulator make the direction of manipulator and crab match, and then adjust mechanical finger and move inward, mechanical Finger makes the foot of crab and pincers be folded contraction, and final crab is clamped in A condition.

The setting number and rigging position of mechanical finger, which at least meet in mechanical finger retraction clamping process, can make crab Foot, the pincers of crab are folded contraction and crab and are limited the foot of crab, pincers opening in clamping moving process.

For mechanical finger before carrying out grabbing folder crab, the lower end of elastic clip is moved to the lowest position outside fingerstall.

It when manipulator discharging, first adjusts and moves to the highest position in fingerstall on elastic clip, crab takes off on hand from machinery It falls, adjusts after manipulator moves up certain altitude and adjust mechanical finger opening again.

Before manipulator discharging, the posture for adjusting crab is consistent with required posture.

Adjust the operation that mechanical finger is opened and clamped are as follows: electric cylinders A adjusts adjustable plate and moves down, and each fingerstall is put down inwardly Shifting is clamped, and the driving gear on fingerstall is slided in gear drive shaft by gear installation set；Electric cylinders A is adjusted Plate moves up, and each fingerstall translates outward to be opened,

Adjust the operation that elastic clip moves up and down are as follows: driving motor A, which is forward rotated, drives adjustment gear to rotate, adjusting tooth Wheel drives transition gear rotation, the second angular wheel and the first angular wheel engaged transmission, and gear drive shaft drives driving gear It is rotated, driving gear adjusting gear rack moves up, and moves upwardly so that crab slave to adjust each elastic clip and synchronize Tool is detached from hand；Driving motor A rotates backward each elastic clip of adjusting and moves downward simultaneously.

Binder part is corresponding with the center of crab body to be compressed.

Compared with prior art, the technical effect that the present invention has are as follows:

Above-mentioned technical proposal provided by the invention, the position and orientation for being adapted to crab reliably grab it It takes, crab can be placed in A shape box body, so there is no need to manually bind to the foot of live crab, pincers, realize crab living The reliable packaging of crab reduces labor intensity and improves packaging efficiency.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of manipulator；

Fig. 2 is that the structural schematic diagram after assembling shell is taken out in Fig. 1；

Fig. 3 is the top view of Fig. 2；

Fig. 4 is the A-A cross-sectional view of Fig. 3；

Fig. 5 is the side view of Fig. 2；

Fig. 6 is to remove the structural schematic diagram after the first buck plate, adjustable plate in Fig. 2；

Fig. 7 is to remove the bottom view after the second buck plate in Fig. 2；

Fig. 8 is the top view of Fig. 6；

The B-B cross-sectional view of Fig. 9 bitmap 8；

Figure 10 is the structural schematic diagram of mechanical finger；

Figure 11 is the structural schematic diagram of binder part；

Figure number explanation:

100- manipulator, the first mounting plate of 101-, the second mounting plate of 102-, 110- mechanical finger, 111- elastic clip, 112- rack gear, 113- guide roller, 121- adjustable plate, 122- drive link, 123- electric cylinders A, 131- driving gear, 132- gear drive Moving axis, the first angular wheel of 133-, the second angular wheel of 134-, 135- transition gear, 136- adjustment gear, 137- driving motor A, 140- guide post, 141- binder part, 141a- elasticity claw, 141b- calotte, 141c- mounting portion.

Specific embodiment

In order to which objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments specific It is bright.It should be appreciated that following text is only used to describe one or more of specific embodiments of the invention, not to the present invention The protection scope specifically requested carries out considered critical.

As used in this article, term " parallel ", " vertical " etc. word are not limited to its stringent geometric definition, but Including reasonable for machining or mankind's error and inconsistency tolerance.

Manipulator 100 provided by the invention is primarily to realize that one to crab is grabbed folder effect, is grabbed in clip process, is made The foot and pincers for obtaining crab can retract the periphery for sticking on crab body, so that the crab of the posture of crab and the binding of conventionally employed rope yarn Posture is consistent or close, in the packing box or box body that the crab of the posture is placed to respective shapes in this way, can be realized It is same as the effect of traditional cotton rope crab binding, prevents from fractureing in crab foot and crab claw transportational process, to improve the packaging effect of crab Rate adapts to the listing demand of high-volume crab, specifically uses following scheme.

As shown in Figure 1, 2, a kind of manipulator, the manipulator 100 have manipulator on manipulator 100 for grabbing folder crab Refer to 110 and finger adjusting component, finger adjusts component regulation mechanical finger 110 and is in two states；One are as follows: each mechanical finger The clamping position that 110 peripheries for being enclosed in crab clamp crab；Secondly are as follows: each mechanical finger 110 is opened so that (free shape State) crab be able to enter manipulator 100 clamping zone evacuation position；When mechanical finger 110 is in clamping position, crab is in machine It is in A condition in tool hand 100, A condition is that the foot of crab and clamping shrinks back and sticks on the state on crab body periphery and (tie up with traditional cotton rope The posture of the crab of bundle is consistent), mechanical finger 110 is used to pick up the crab of A condition and prevents the foot of crab and pincers from opening.Machine The region shape that tool finger 110 encloses is consistent with figure A, and figure A is consistent with the chamfered shape of the crab of A condition, mechanical Finger 110 is slidably mounted on manipulator 100 along direction a, and direction a is horizontal direction.There is clamping part on mechanical finger 110, Clamping part includes the elastic clip 111 that the elastic material of the strip of vertical shape arrangement is constituted, and the lower end of elastic clip 111 is to machinery The middle bent of hand 100 is extended.The free state of crab refers to the foot of crab and pincers are according to crab itself wish institute The state put.For mechanical finger 110 in this way when being transformed into clamping position by avoiding position, the foot and pincers that can make crab are by freedom State, which is gradually bound into shrink back, sticks on the state on crab body periphery, to facilitate the packaging of subsequent crab.

The setting number and rigging position of mechanical finger 110 at least meet that mechanical finger 110 bounces back can be in clamping process So that the foot of crab, pincers are folded, contraction and crab are limited the foot of crab in clamping moving process, pincers open.Specifically The number of mechanical finger 110 can be determined according to the type and size of crab, and 3~7 machines such as are arranged in the front side of crab 2~5 mechanical fingers 110 are respectively set in tool finger 110, two sides of crab, and 2~3 mechanical fingers are arranged in the rear side of crab 110.The width of elastic clip 111 can be determined according to specifically used.Those skilled in the art can be according to the present invention Thought goes to choose corresponding number and the mechanical finger 110 of installation site is assembled to adapt to the crab of variety classes and size Clamping.

It being located in due to the crab of clamping in the box body consistent with figure A, the foot of crab and pincers are opened in order to prevent, Therefore open manipulator 100 again after needing crab to be placed in box body to be discharged, therefore in the present invention: elastic clip 111 is along perpendicular Histogram is slidably mounted on mechanical finger 110 to lift.The smaller of box body setting can be passed through in this way and be lifted elastic clip 111 are unloaded crab.

Further, the center of mechanical finger 110 is located at the point A on figure A, and direction A is mutually be overlapped with the normal at point A It closes.There is the fingerstall of vertical shape arrangement, fingerstall is slidedly assemblied on manipulator 100, and elastic clip 111 is gone up and down on mechanical finger 110 Formula is mounted in fingerstall, and the lower end of elastic clip 111 can be extend out to outside the lower end of fingerstall, and it includes adjusting that finger, which adjusts component, The Level tune component and adjust the vertical adjusting component that elastic clip 111 is gone up and down that fingerstall moves horizontally.

Specifically, as shown in figure 3 to figure 7, Level tune component includes horizontally disposed adjustable plate 121, adjustable plate 121 it is outer Chamfered shape is consistent with the shape of figure B, and figure A and figure B are similar fitgures, and each mechanical finger 110 is arranged around tune The periphery of plate 121 is saved, 121 periphery of adjustable plate is provided with the drive link 122 of arrangement corresponding with each mechanical finger 110, drives The edge of the skewed arrangement of connecting rod 122, one end of drive link 122 and adjustable plate 121 is articulated and connected, drive link 122 it is another One end is connected with fingerstall, and mechanical finger 110, direction a, drive link 122 are in the same plane, adjustable plate 121 and lifting Part is connected, and lifters drive adjustable plate 121 to be gone up and down.The upper end of elastic clip 111 is connected with the rack gear 112 that vertical shape is arranged It connects, rack gear 112 is slidably mounted in fingerstall along vertical direction, and the vertical component that adjusts includes the adjusting positioned at 121 top of adjustable plate Respectively arranged vertical adjusting unit between gear 136 and adjustment gear 136 and each rack gear 112, it is vertical to adjust unit piece packet The driving gear 131 engaged with rack gear 112 is included, driving gear 131 is mounted in gear installation set, and gear installation set is slidably installed In gear drive shaft 132, gear installation set and gear drive shaft 132 are rotated synchronously, and are also arranged with rotation in gear installation set The outer ring of bearing, rolling bearing is connected by connector with fingerstall, is slidably mounted on gear drive shaft by gear installation set On 132, the arrangement parallel with direction a of gear drive shaft 132, gear drive shaft 132 is rotatably installed on manipulator 100, gear The outer end of drive shaft 132 is equipped with the first tapered gear, and the first angular wheel 133 is meshed with the second angular wheel 134, the It two angular wheels 134 and 135 arranged concentric of transition gear and being fixedly connected with, the center line of transition gear 135 is arranged along vertical direction, It is each it is vertical adjust unit on transition gear 135 be distributed in driving gear 131 periphery and respectively with 135 company of engagement of transition gear It connects, driving gear 131 is connected with driving motor A (illustrated parts 137).The finger of above structure, which adjusts component, can make machine Tool finger 110 is reliably clamped and is discharged to crab.

Further, as shown in figs. 8-10, the thickness direction of elastic clip 111 is consistent with direction a, under fingerstall End exit is provided with two guide rollers 113, and the delivery of two guide roller 113 of lower end of elastic clip 111 extends to the outer of fingerstall Portion.There is the first mounting plate 101, the second mounting plate 102, the first mounting plate 101, the second mounting plate 102 are parallel on manipulator 100 Arrangement, fingerstall are mounted between the first mounting plate 101, the second mounting plate 102, and the first guide groove is arranged on the first mounting plate 101, Second guide groove is set on the second mounting plate 102, and the both ends of fingerstall constitute sliding and lead with the first guide groove, the second guide groove respectively Cooperate to connection, the first guide groove, the flute length direction of the second guide groove and direction a are consistent.The both ends of gear drive shaft 132 It is rotatably installed on the first mounting plate 101, the first mounting plate 101 is located between adjustment gear 136 and the second mounting plate 102, adjusts Plate 121 is saved between the first mounting plate 101, the second mounting plate 102, adjustment gear 136, the installation of the first mounting plate 101, second Plate 102, adjustable plate 121 center be on same straight line.Also there is guide post 140, guide post 140 and tune on manipulator 100 121 arranged concentric of plate is saved, adjustable plate 121 is slidably mounted in guide post 140.

Further, one end installation and adjustment gear 136 of guide post 140, the other end of guide post 140 extends to the second peace On the outside of the plate face of the loading board 102 and end is arranged for compressing the binder part 141 at crab dorsal shield, and binder part 141 is along guide post 140 length direction floating mount is in guide post 140.The setting of binder part 141 carries out one to crab before can making clamping Fixed covers, so that the position of crab is fixed, picks up crab convenient for manipulator 100.

Specifically, binder part 141 includes that pressure head portion and mounting portion 141c, the pressure head portion are pressed on the dorsal shield of crab, The outer profile in pressure head portion is in hat shape.Binder part 141 is mounted in rotary head, and rotary head is rotatably assorted with manipulator 100 and connect.Rotation peace Dress be in order to enable by the pose adjustment of manipulator 100 and crab towards consistent, after pose adjustment, binder part 141 The mechanical finger 110 of periphery setting is gathered to binder part 141.The mounting hole of closing is provided in rotary head, mounting portion 141c is Bar rod piece, mounting portion 141c are mounted in mounting hole by spring A1, and spring A1 drives binder part 141 to the side far from rotary head It is mobile.Pressure head portion is made of elastic material.The binder part 141 of above structure can prevent crab to be subject to crushing.

Specifically, pressure head portion can be made of resilient suction cups, air hole is offered on sucker.Or pressure head portion is by elastic strip group At cover constitute.It is preferred that being implemented using scheme as shown in figure 11.Pressure head portion includes the hemispheric cap that Open Side Down 141b is covered, flexible claw 141a is arranged in the oral area of calotte 141b, and elastic claw 141a is in " Pie " font, the edge elastic claw 141a The periphery uniform intervals of calotte 141b are arranged.The effect compressed in this way is best.

The lower end of guide post 140 is provided with rotary head, and rotary head and guide post 140 are rotatably assorted connection, and binder part 141 is mounted on In rotary head.Guide post 140 includes fixed section arranged up and down and telescopic segment, and adjustable plate 121, which is arranged, to be mounted on fixed section, rotary head It is mounted on the lower end of telescopic segment.It may be implemented to push effect to crab by moving up and down for telescopic segment.

Detailed, the lower end of elastic clip 111 is provided with bottom roller, and bottom roller is rotatably installed on elastic clip 111, bottom roller Roll surface protrudes from elastic clip 111.Movement when gathering convenient for elastic clip 111.Elastic clip 111 by arrange above and below One intermediate plate and second intermediate plate composition, are connected between first clamping piece and second intermediate plate by torsional spring, to prevent crab from excessively being pressed from both sides Tightly, first clamping piece and second intermediate plate are in two states, one are as follows: first clamping piece and second intermediate plate postpone the natural shape of arrangement State；Secondly are as follows: rollover states against flip-over of the second intermediate plate by crab body.Specifically, second intermediate plate is arranged in bottom roller Lower end.There is assembling shell, mechanical finger 110 is mounted in assembling shell, and manipulator 100 is mounted on machinery on manipulator 100 On arm, mechanical arm adjusts manipulator 100 and at least can be moved or be rotated along a dimension.It such as can be by manipulator 100 It is mounted to can be moved along three dimensions, a dimension is rotated.The rack gear of the upper end of elastic clip 111 and vertical shape arrangement 112 are connected, and rack gear 112 is slidably mounted in fingerstall along vertical direction, and rack gear 112 is meshed with driving gear 131.

Lifters are that the electric cylinders A (illustrated parts 123) for the vertical shape arrangement being arranged on the second mounting plate 102 is constituted, electric cylinders A The piston rod of (illustrated parts 123) is connected with adjustable plate 121, and driving motor A (illustrated parts 137) is mounted on shell.It adjusts It saves and is provided with installation set on the upper face of plate 121, installation set is slidably mounted on the piston rod of electric cylinders A (illustrated parts 123), peace Spring A2 is provided between encapsulation and piston rod, spring A2 drives piston rod to close to the movement of the side of adjustable plate 121.

Using the method for above-mentioned manipulator 100 clamping crab, including operating as follows: acquiring the position and orientation of crab first Information adjusts manipulator 100 and is moved at position corresponding with crab and carries out rotation adjusting, so that manipulator 100 and crab Crab corresponding arrangement and matches up and down with the direction of crab, adjusts 100 downlink of manipulator and carries out grabbing folder to crab and is moved to At scheduled full cock position and opens manipulator 100 and unload crab.

Specific: crab is in A condition after being clamped by manipulator 100, and A condition is that the foot of crab and pincers are shunk back and sticked on The state on crab body periphery, the mechanical finger 110 on manipulator 100 be used to pick up the crab of A condition and prevent crab foot and Pincers open.

Before clamping crab, the mechanical finger 110 adjusted on manipulator 100 opens, and 100 downlink of manipulator makes manipulator Binder part 141 pushes down crab on 100, and rotation manipulator 100 makes manipulator 100 and the direction of crab match, then adjusts Mechanical finger 110 moves inward, and mechanical finger 110 makes the foot of crab and pincers be folded contraction, and final crab is in A condition quilt Clamping.The setting number and rigging position of mechanical finger 110 at least meet in the retraction clamping process of mechanical finger 110 and can make Foot, the pincers of crab are folded contraction and crab and are limited the foot of crab, pincers opening in clamping moving process.Mechanical finger 110 before carrying out grabbing folder crab, and the lower end of elastic clip 111 is moved to the lowest position outside fingerstall.100 discharging of manipulator When, it first adjusts on elastic clip 111 and moves to the highest position in fingerstall, crab falls off from manipulator 100, adjusts manipulator 100 move up and adjust the opening of mechanical finger 110 after certain altitude again.Before 100 discharging of manipulator, the posture of crab and required is adjusted Posture is consistent.Adjust the operation that mechanical finger 110 is opened and clamped are as follows: electric cylinders A (illustrated parts 123) adjusts adjustable plate 121 It moves down, each fingerstall translates be clamped inwardly, and the driving gear 131 on fingerstall is driven by gear installation set in gear It is slided on axis 132；Electric cylinders A (illustrated parts 123) adjusts adjustable plate 121 and moves up, and each fingerstall translates progress outward It opens, adjusts the operation that elastic clip 111 moves up and down are as follows: driving motor A (illustrated parts 137) is forward rotated and driven adjusting tooth 136 rotation of wheel, adjustment gear 136 drive transition gear 135 to rotate, and the second angular wheel 134 is engaged with the first angular wheel 133 Transmission, gear drive shaft 132 drive driving gear 131 to be rotated, and driving 131 adjusting gear rack 112 of gear moves up, thus It adjusts each elastic clip 111 and synchronizes and move upwardly so that crab is detached from from manipulator 100；Driving motor A (illustrated parts 137) Each elastic clip 111 of adjusting is rotated backward to move downward simultaneously.Binder part 141 is corresponding with the center of crab body to be compressed.

The reliable clamping that crab may be implemented using above-mentioned manipulator 100, is directly placed into corresponding box body and is packed, no It needs to be bound using rope yarn, the packaging efficiency of raising or crab, reduce labor intensity and prevents clamp hand and pierced.

The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, without departing from the principle of the present invention, it can also make several improvements and retouch, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims

1. a kind of binder part, it is characterised in that: it is used for crab pressure on the support surface, including pressure head portion and mounting portion, it is described Pressure head portion is pressed on the dorsal shield of crab, and the outer profile in pressure head portion is in hat shape.

2. binder part according to claim 1, it is characterised in that: binder part floating mount is on a robotic arm.

3. binder part according to claim 1 or 2, it is characterised in that: binder part is mounted in rotary head, rotary head and manipulator Be rotatably assorted connection.

4. binder part according to claim 3, it is characterised in that: be provided with the mounting hole of closing, mounting portion in rotary head For a rod piece, mounting portion is mounted in mounting hole by spring A1, and spring A1 drives binder part mobile to the side far from rotary head.

5. binder part according to claim 3, it is characterised in that: pressure head portion elastic material by being made of.

6. binder part according to claim 3, it is characterised in that: pressure head portion is made of resilient suction cups, is offered on sucker Air hole.

7. binder part according to claim 6, it is characterised in that: pressure head portion is made of the cover that elastic strip forms.

8. binder part according to claim 6, it is characterised in that: pressure head portion includes the hemispheric calotte that Open Side Down, Flexible claw is arranged in the oral area of calotte, and elastic claw is in " Pie " font, and elastic claw is arranged along the periphery uniform intervals of calotte.

9. binder part according to claim 1, it is characterised in that: the periphery setting mechanical finger of binder part, mechanical finger Gather or open to binder part.

10. a kind of manipulator, it is characterised in that: including the binder part.