CN111283653A - Grabbing and carrying manipulator for crop straws - Google Patents
Grabbing and carrying manipulator for crop straws Download PDFInfo
- Publication number
- CN111283653A CN111283653A CN202010237806.8A CN202010237806A CN111283653A CN 111283653 A CN111283653 A CN 111283653A CN 202010237806 A CN202010237806 A CN 202010237806A CN 111283653 A CN111283653 A CN 111283653A
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- Prior art keywords
- moving shaft
- bearing fixing
- linear bearing
- grabbing
- fixing block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a grabbing and carrying manipulator for crop straws, which comprises a scissor-type lifting trolley, wherein a placing platform is arranged at the lifting end of the scissor-type lifting trolley, and a fixing plate is arranged on the placing platform; the fixed plate is provided with a first bearing fixed seat and a second bearing fixed seat; a first rotating shaft is arranged in the first bearing fixing seat, a first linear bearing fixing block is arranged at the end part of the first rotating shaft, a first moving shaft is arranged in the first linear bearing fixing block, a shaft sleeve fixing block is arranged at the lower end part of the first moving shaft, and a grabbing device is arranged at the lower end of the shaft sleeve fixing block; the placing platform is provided with an air cylinder, and the air cylinder is connected with an angle-shaped connecting arm; and a second rotating shaft is arranged in the second bearing fixing seat, one end of the second rotating shaft is connected with the angle-shaped connecting arm, the other end of the second rotating shaft is connected with a linear connecting arm, and a third rotating shaft penetrating through the shaft sleeve fixing block is arranged at the end part of the linear connecting arm. The straw carrying device is convenient for people to carry crop straws and has the characteristics of time saving and labor saving.
Description
Technical Field
The invention relates to the field of agricultural instruments, in particular to a grabbing and carrying manipulator for crop straws.
Background
The straw is a general term of stem and leaf parts of mature crops, generally refers to the residual parts of wheat, rice, corn, potatoes, rape, cotton, sugarcane and other crops (generally coarse grain) after seeds are harvested, more than half of the products of crop photosynthesis exist in the straw, and the straw is rich in nitrogen, phosphorus, potassium, calcium, magnesium, organic matters and the like, and is a multipurpose renewable biological resource. In recent years, the strength of burning prohibition and comprehensive utilization of crop straws is increased by the nation and various governments, and the collection and utilization of the crop straws are carried out by investing funds and mechanical equipment. At present, generally adopt artifical the collection to transport, the operation mode of bundling of fixed straw baling press is collected, wherein, need open the carrier to go to ground, carry the straw of bundling to the car again on, the mode of transport adopts manpower transport usually, and because the carriage of carrying goods of carrier is higher, people stoop back and hold up the straw and put into the carriage again, the long-time work of this step can make people's waist soreness back pain, and also waste time and energy, the transport efficiency of serious influence crop straw.
Disclosure of Invention
The invention aims to provide a grabbing and carrying manipulator for crop straws. The semi-air crop straw conveying device can convey crop straws from the ground surface to the air in a 90-degree rotating mode, is convenient for people to put into a carriage for collection and conveyance, saves time and labor, reduces labor consumption of people, and greatly improves working efficiency.
The technical scheme of the invention is as follows: a grabbing and carrying manipulator for crop straws comprises a scissor-type lifting trolley, wherein a placing platform is arranged at the lifting end of the scissor-type lifting trolley, a counterweight placing box is arranged on one side of the placing platform, and an L-shaped fixing plate is arranged on the other side of the placing platform; a first bearing fixing seat and a second bearing fixing seat with bearings are respectively arranged at two ends of the fixing plate; a first rotating shaft is arranged in the first bearing fixing seat, a first linear bearing fixing block is arranged at the end part of the first rotating shaft, a first moving shaft is arranged in the first linear bearing fixing block, a shaft sleeve fixing block is arranged at the lower end part of the first moving shaft, and a grabbing device is arranged at the lower end of the shaft sleeve fixing block; the placing platform is also provided with an air cylinder, and the telescopic end of the air cylinder is connected with an angle-shaped connecting arm through a fisheye joint; the second bearing fixing seat is internally provided with a second rotating shaft, one end of the second rotating shaft is connected with the angle-shaped connecting arm, the other end of the second rotating shaft is connected with the linear connecting arm, the end part of the linear connecting arm is provided with a third rotating shaft, and one end of the third rotating shaft is arranged in the shaft sleeve fixing block in a penetrating mode.
The grabbing device comprises a motor fixing chamber fixedly connected with a shaft sleeve fixing block, and a mounting plate is connected below the motor fixing chamber through a motor mounting frame; the motor mounting frame is provided with a grabbing motor, and the output end of the grabbing motor penetrates through the mounting plate and is provided with a gear; a pair of second linear bearing fixing blocks and a pair of third linear bearing fixing blocks which are symmetrically arranged are arranged on two sides of the bottom of the mounting plate respectively; a second moving shaft penetrates through the second linear bearing fixing block, and a first rack meshed with the gear is arranged on the second moving shaft; a third moving shaft penetrates through the third linear bearing fixing block, and a second rack meshed with the gear is arranged on the third moving shaft; and a left clamping jaw device is fixed at one end of the second moving shaft, and a right clamping jaw device is fixed at one end of the third moving shaft, which is far away from the left clamping jaw device.
According to the grabbing and carrying manipulator for the crop straws, the left clamping jaw device comprises a first connecting plate fixed with the end part of the second moving shaft, and a plurality of first hook claws arranged at intervals are arranged on the first connecting plate; the right clamping jaw device comprises a second connecting plate fixed with the end part of the third moving shaft, and a plurality of second hook claws arranged at intervals are arranged on the second connecting plate; the first hook claw is positioned between the leading second hook claws when the left clamping jaw device and the right clamping jaw device are folded.
The number of the first hook claws is 5-10; the number of the second hook claws is 5-10.
According to the grabbing and carrying manipulator for the crop straws, the supporting pressing plates are further arranged on two sides of the bottom of the mounting plate, the height of each supporting pressing plate is larger than that of the second linear bearing fixing block and that of the third linear bearing fixing block, and the height of each supporting pressing plate is smaller than that of the first hook claw and that of the second hook claw.
According to the grabbing and carrying manipulator for the crop straws, a pair of fourth linear bearing fixing blocks and a pair of fifth linear bearing fixing blocks which are symmetrically arranged are arranged on two sides of the bottom of the mounting plate respectively; a fourth moving shaft penetrates through the fourth linear bearing fixing block, and the end part of the fourth moving shaft is connected with the left clamping jaw device; and a fifth moving shaft penetrates through the fifth linear bearing fixing block, and the end part of the fifth moving shaft is connected with the right clamping jaw device.
According to the grabbing and carrying manipulator for the crop straws, the bottom of the air cylinder is fixedly connected with the placing platform through the bolts, and the upper end of the air cylinder is fixedly connected with the fixing plate.
Compared with the prior art, the invention drives the angle-type connecting arm to rotate anticlockwise through the extension of the air cylinder, the angle-type connecting arm can drive the second rotating shaft in the second bearing fixing seat to rotate when rotating, the second rotating shaft rotates and then drives the linear connecting arm to rotate, the linear connecting arm drives the shaft sleeve fixing block to rotate through the third rotating shaft, at the moment, the first moving rod connected with the upper end of the shaft sleeve fixing block moves upwards in the first linear bearing fixing block and drives the first linear bearing fixing block to rotate, after the linear connecting arm rotates for 45 degrees, the first moving rod finishes the upward movement stroke in the first linear bearing fixing block, then, along with the continuous rotation of the linear connecting arm, the first moving rod moves downwards in the first linear bearing fixing block until the linear connecting arm finishes the rotation of 90 degrees, so that the lower end of the shaft sleeve fixing block is provided with the gripping device to finish the transportation of crop straws from the ground surface to, people can conveniently put into the carriage for collecting and carrying; the invention can save time and labor for people, reduce labor consumption of people and greatly improve working efficiency. In addition, the structure of the grabbing device is further optimized, the grabbing motor is fixed on the mounting plate through the electrode fixing frame by arranging the mounting plate, the gear arranged at the output end of the grabbing motor is respectively meshed with the first rack on the second moving shaft and the second rack on the third moving shaft, then the left clamping jaw device is fixed at one end of the second moving shaft, and the right clamping jaw device is fixed at one end of the third moving shaft, so that in the gear rotating process, the first moving shaft and the second moving shaft are driven to form opposite or opposite operation through the action of the first rack and the second rack, the left clamping jaw device and the right clamping jaw device are matched with each other to grab and release the crop straws, and the grabbing device is simpler and more convenient, and the grabbing device is firmer and cannot easily scatter. Furthermore, the structure of the left clamp-shaped device and the structure of the right clamping jaw device are optimized, and the characteristics of interval arrangement are utilized, so that the first hook claw and the second hook claw can be conveniently inserted into crop straws, and the grabbing capacity is better improved. Furthermore, the supporting pressing plate is arranged, so that on one hand, the crop straws can be prevented from being rolled into the gear to cause faults, and on the other hand, the crop straws can be compacted to be more conveniently grabbed. Furthermore, the pair of fourth linear bearing fixing blocks and the pair of fifth linear bearing fixing blocks are arranged, a fourth moving shaft penetrating through the fourth linear bearing fixing blocks is connected with the left clamping jaw device, a fifth moving shaft penetrating through the fifth linear bearing fixing blocks is connected with the right clamping jaw device, the coordination capacity and the balance capacity between the left clamping jaw device and the right clamping jaw device are improved, and the grabbing stability is further improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of another side of the present invention;
FIG. 3 is a schematic view of the linear link arm of the present invention rotated 45;
FIG. 4 is a schematic view of the linear connecting arm of the present invention rotated 90;
FIG. 5 is a schematic view of the grasping device in FIG. 4;
fig. 6 is a bottom structure view of the grasping apparatus of the invention.
Reference numerals:
1. a scissor lift cart; 2. placing a platform; 3. a counterweight placement box; 4. a fixing plate; 5. a first bearing fixing seat; 6. a second bearing fixing seat; 7. a first rotating shaft; 8. a first linear bearing fixing block; 9. a first moving axis; 10. a shaft sleeve fixing block; 11. a gripping device; 12. a cylinder; 13. a fisheye joint; 14. an angled linking arm; 15. a second rotating shaft; 16. a linear connecting arm; 17. a third rotating shaft; 18. a motor fixing chamber; 19. a motor mounting bracket; 20. mounting a plate; 21. a grabbing motor; 22. a gear; 23. a second linear bearing fixing block; 24. a third linear bearing fixing block; 25. a second moving axis; 26. a first rack; 27. a third moving axis; 28. a second rack; 29. a left jaw apparatus; 30. a right jaw apparatus; 31. a first connecting plate; 32. a first hook claw; 33. a second connecting plate; 34. a second claw; 35. supporting the pressure plate; 36. a fourth linear bearing fixing block; 37. a fifth linear bearing fixing block; 38. a fourth moving axis; 39. a fifth axis of movement.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Example (b): a mechanical arm for grabbing and carrying crop straws is shown in figure 1-2 and comprises a scissor-type lifting trolley 1, wherein the scissor-type lifting trolley 1 is a conventional trolley which can be lifted in a scissor-type manner through a cylinder 12, a hand crank, a motor and the like; a placing platform 2 is arranged at the lifting end of the scissor type lifting trolley 1, a counterweight placing box 3 is arranged on one side of the placing platform 2, and an L-shaped fixing plate 4 is arranged on the other side of the placing platform; the weight placing box 3 can be used for placing articles or carrying out weight balancing for keeping balance; a first BEARING fixing seat 5 and a second BEARING fixing seat 6 with BEARINGs are respectively arranged at two end parts of the fixing plate 4, the models of the first BEARING fixing seat 5 and the second BEARING fixing seat 6 are BGFRBB6004ZZ-45h, and the model of the BEARING is BEARING-6004; a first rotating shaft 7 is arranged in the first bearing fixing seat 5, a first linear bearing fixing block 8 is arranged at the end part of the first rotating shaft 7, a first moving shaft 9 is installed in the first linear bearing fixing block 8 through a flange with a square seat, a shaft sleeve fixing block 10 is fixed at the lower end part of the first moving shaft 9 through a connecting block with the model of SHFT12B, and a grabbing device 11 is arranged at the lower end of the shaft sleeve fixing block 10; the placing platform 2 is further provided with an air cylinder 12, the model of the air cylinder 12 is MF-20X75-CA-TC, the bottom of the air cylinder 12 is fixedly connected with the placing platform 2 through a bolt, the upper end of the air cylinder 12 is fixedly connected with the fixing plate 4, and the telescopic end of the air cylinder 12 is connected with an angle-shaped connecting arm 14 through a fisheye joint 13 with the model of F-M8X 125U; a second rotating shaft 15 is arranged in the second bearing fixing seat 6, one end of the second rotating shaft 15 is connected with an angle-shaped connecting arm 14, the other end of the second rotating shaft is connected with a linear connecting arm 16, a third rotating shaft 17 is arranged at the end part of the linear connecting arm 16, one end of the third rotating shaft 17 is arranged in the shaft sleeve fixing block 10 in a penetrating manner, the invention drives the angle-shaped connecting arm 14 to rotate anticlockwise through the extension of the air cylinder 12, the second rotating shaft 15 in the second bearing fixing seat 6 is driven to rotate when the angle-shaped connecting arm 14 rotates, the second rotating shaft 15 rotates to drive the linear connecting arm 16 to rotate, the linear connecting arm 16 drives the shaft sleeve fixing block 10 to rotate through the third rotating shaft 17, at the moment, a first moving rod connected to the upper end of the shaft sleeve fixing block 10 moves upwards in the first linear bearing fixing block 8 and drives the first linear bearing fixing block 8 to rotate, as shown in figure 3, after the linear connecting arm 16 rotates, then, as the linear connecting arm 16 continues to rotate, the first moving rod moves downwards in the first linear bearing fixing block 8, as shown in fig. 4, until the linear connecting arm 16 completes the rotation of 90 degrees, so that the grabbing device 11 arranged at the lower end of the shaft sleeve fixing block 10 completes the transportation of the crop straws from the ground surface to the middle space in a 90-degree rotation manner, and people can conveniently put the crop straws into the carriage for collection and transportation; the invention can save time and labor for people, reduce labor consumption of people and greatly improve working efficiency. .
Further, as shown in fig. 1, 5 and 6, the gripping device 11 includes a motor fixing chamber 18 fixedly connected to the shaft sleeve fixing block 10, and a mounting plate 20 is connected to a lower portion of the motor fixing chamber 18 through a motor mounting bracket 19; the motor mounting rack 19 is provided with a grabbing motor 21, the model of the grabbing motor 21 is 57HB76 stepping motor, and the output end of the grabbing motor 21 penetrates through the mounting plate 20 and then is provided with a gear 22; a pair of second linear bearing fixing blocks 23 and a pair of third linear bearing fixing blocks 24 which are symmetrically arranged are respectively arranged on two sides of the bottom of the mounting plate 20; a second moving shaft 25 penetrates through the second linear bearing fixing block 23, the second moving shaft 25 is an optical axis and is matched with a linear bearing with the model of LMK16UU, and a first rack 26 meshed with the gear 22 is arranged on the second moving shaft 25; a third moving shaft 27 penetrates through the third linear bearing fixing block 24, the third moving shaft 27 is an optical axis and is matched with a linear bearing with the model of LMK16UU, and a second rack 28 meshed with the gear 22 is arranged on the third moving shaft 27; a left clamping jaw device 29 is fixed at one end of the second moving shaft 25, and a right clamping jaw device 30 is fixed at one end of the third moving shaft 27 far away from the left clamping jaw device 29; the left clamping jaw device 29 comprises a first connecting plate 31 fixed with the end part of the second moving shaft 25, and 7 first hook claws 32 arranged at intervals are arranged on the first connecting plate 31; the right clamping jaw device 30 comprises a second connecting plate 33 fixed with the end part of the third moving shaft 27, and 7 second hook claws 34 arranged at intervals are arranged on the second connecting plate 33; the first hook claw 32 is located between the second hook claws 34 when the left clamping jaw device 29 and the right clamping jaw device 30 are folded, wherein through holes are formed in the first connecting plate 31 and the second connecting plate 33, and when the left clamping jaw device 29 and the right clamping jaw device 30 are folded, the second moving shaft 25 and the third moving shaft 27 respectively penetrate through the corresponding through holes, so that the interference or collision phenomenon cannot be generated. The gear 22 arranged at the output end of the grabbing motor 21 is respectively meshed with the first rack 26 on the second moving shaft 25 and the second rack 28 on the third moving shaft 27, then the left clamping jaw device 29 is fixed at one end of the second moving shaft 25, and the right clamping jaw device 30 is fixed at one end of the third moving shaft 27, so that in the rotating process of the gear 22, the first moving shaft 9 and the second moving shaft 25 are driven to form opposite or opposite operation under the action of the first rack 26 and the second rack 28, the left clamping jaw device 29 and the right clamping jaw device 30 are mutually matched to grab and release crop straws, and the space is utilized to arrange, so that the first hook claw 32 and the second hook claw 34 are conveniently inserted into the crop straws, and the grabbing capacity is better improved.
Further, as shown in fig. 6, two sides of the bottom of the mounting plate 20 are further provided with supporting pressure plates 35, and the height of the supporting pressure plates 35 is greater than that of the second linear bearing fixing block 23 and the third linear bearing fixing block 24 and less than that of the first hook claw 32 and the second hook claw 34; on the one hand, the gear 22 can prevent crop straws from being involved in the gear to cause faults, and on the other hand, the gear can also compact the crop straws to facilitate grabbing.
Further, as shown in fig. 6, a pair of fourth linear bearing fixing blocks 36 and a pair of fifth linear bearing fixing blocks 37 are symmetrically arranged on two sides of the bottom of the mounting plate 20; a fourth moving shaft 38 penetrates through the fourth linear bearing fixing block 36, the fourth moving shaft 38 is an optical axis and is matched with a linear bearing with the model of LMK16UU, and the end part of the fourth moving shaft 38 is connected with the left clamping jaw device 29; a fifth moving shaft 39 penetrates through the fifth linear bearing fixing block 37, the fifth moving shaft 39 is an optical axis and is matched with a linear bearing with the model of LMK16UU, the end part of the fifth moving shaft 39 is connected with the right clamping jaw device 30, similarly, when the left clamping jaw device 29 and the right clamping jaw device 30 are folded, the fourth moving shaft 38 and the fifth moving shaft 39 respectively penetrate through corresponding through holes, so that the interference or collision phenomenon cannot be generated, the coordination capability and the balance capability between the left clamping jaw device 29 and the right clamping jaw device 30 are improved, and the grabbing stability is further improved.
Principle of operation
The angle-type connecting arm 14 is driven to rotate anticlockwise by the extension of the air cylinder 12, when the angle-type connecting arm 14 rotates, the second rotating shaft 15 in the second bearing fixing seat 6 is driven to rotate, the second rotating shaft 15 rotates to drive the linear connecting arm 16 to rotate, the linear connecting arm 16 drives the shaft sleeve fixing block 10 to rotate through the third rotating shaft 17, at the moment, a first moving rod connected to the upper end of the shaft sleeve fixing block 10 moves upwards in the first linear bearing fixing block 8 and drives the first linear bearing fixing block 8 to rotate, as shown in fig. 3, after the linear connecting arm 16 rotates 45 degrees, the upward movement stroke of the first moving rod in the first linear bearing fixing block 8 is finished, then the first moving rod continues to rotate along with the connecting arm 16, the first moving rod moves downwards in the first linear bearing fixing block 8, as shown in fig. 4, until the linear connecting arm 16 completes the rotation of 90 degrees, therefore, the grabbing device 11 arranged at the lower end of the shaft sleeve fixing block 10 completes the transportation of crop straws .
The gear 22 arranged at the output end of the grabbing motor 21 is respectively meshed with the first rack 26 on the second moving shaft 25 and the second rack 28 on the third moving shaft 27, then the left clamping jaw device 29 is fixed at one end of the second moving shaft 25, and the right clamping jaw device 30 is fixed at one end of the third moving shaft 27, so that in the rotating process of the gear 22, the first moving shaft 9 and the second moving shaft 25 are driven to perform opposite or opposite operations under the action of the first rack 26 and the second rack 28, and the left clamping jaw device 29 and the right clamping jaw device 30 are mutually matched to grab and release crop straws.
Claims (7)
1. The utility model provides a mechanical hand of snatching transport of crop straw, includes scissors fork lift shallow (1), its characterized in that: a placing platform (2) is arranged at the lifting end of the scissor type lifting trolley (1), a counterweight placing box (3) is arranged on one side of the placing platform (2), and an L-shaped fixing plate (4) is arranged on the other side of the placing platform; a first bearing fixing seat (5) and a second bearing fixing seat (6) with bearings are respectively arranged at two ends of the fixing plate (4); a first rotating shaft (7) is arranged in the first bearing fixing seat (5), a first linear bearing fixing block (8) is arranged at the end part of the first rotating shaft (7), a first moving shaft (9) is arranged in the first linear bearing fixing block (8), a shaft sleeve fixing block (10) is arranged at the lower end part of the first moving shaft (9), and a grabbing device (11) is arranged at the lower end of the shaft sleeve fixing block (10); the placing platform (2) is also provided with an air cylinder (12), and the telescopic end of the air cylinder (12) is connected with an angle-shaped connecting arm (14) through a fisheye joint (13); be equipped with second pivot (15) in second bearing fixing base (6), the one end and the angle type linking arm (14) of second pivot (15) are connected, and other end (15) are connected with straight line connecting arm (16), and the tip of straight line connecting arm (16) is equipped with third pivot (17), and the one end of third pivot (17) is worn to establish in axle sleeve fixed block (10).
2. The mechanical arm for grabbing and carrying crop straws as claimed in claim 1, is characterized in that: the gripping device (11) comprises a motor fixing chamber (18) fixedly connected with the shaft sleeve fixing block (10), and a mounting plate (20) is connected below the motor fixing chamber (18) through a motor mounting frame (19); a grabbing motor (21) is arranged on the motor mounting rack (19), and a gear (22) is arranged at the output end of the grabbing motor (21) after penetrating through the mounting plate (20); a pair of second linear bearing fixing blocks (23) and a pair of third linear bearing fixing blocks (24) which are symmetrically arranged are respectively arranged on two sides of the bottom of the mounting plate (20); a second moving shaft (25) penetrates through the second linear bearing fixing block (23), and a first rack (26) meshed with the gear (22) is arranged on the second moving shaft (25); a third moving shaft (27) penetrates through the third linear bearing fixing block (24), and a second rack (28) meshed with the gear (22) is arranged on the third moving shaft (27); and a left clamping jaw device (29) is fixed at one end of the second moving shaft (25), and a right clamping jaw device (30) is fixed at one end, far away from the left clamping jaw device (29), of the third moving shaft (27).
3. The mechanical arm for grabbing and carrying crop straws as claimed in claim 2, is characterized in that: the left clamping jaw device (29) comprises a first connecting plate (31) fixed with the end part of the second moving shaft (25), and a plurality of first hook claws (32) arranged at intervals are arranged on the first connecting plate (31); the right clamping jaw device (30) comprises a second connecting plate (33) fixed with the end part of the third moving shaft (27), and a plurality of second hook claws (34) arranged at intervals are arranged on the second connecting plate (33); the first hook claw (32) is positioned between the second hook claws (34) when the left clamping jaw device (29) and the right clamping jaw device (30) are folded.
4. The mechanical arm for grabbing and carrying crop straws as claimed in claim 3, is characterized in that: the number of the first hook claws (32) is 5-10; the number of the second hook claws (34) is 5-10.
5. The mechanical arm for grabbing and carrying crop straws as claimed in claim 3, is characterized in that: the bottom both sides of mounting panel (20) still are equipped with support clamp plate (35), and the height that highly is greater than second linear bearing fixed block (23) and third linear bearing fixed block (24) of support clamp plate (35), and is less than the height that first claw (32) and second colluded claw (34) collude.
6. The mechanical arm for grabbing and carrying crop straws as claimed in claim 2, is characterized in that: a pair of fourth linear bearing fixing blocks (36) and a pair of fifth linear bearing fixing blocks (37) which are symmetrically arranged are respectively arranged on two sides of the bottom of the mounting plate (20); a fourth moving shaft (38) penetrates through the fourth linear bearing fixing block (36), and the end part of the fourth moving shaft (38) is connected with the left clamping jaw device (29); a fifth moving shaft (39) penetrates through the fifth linear bearing fixing block (37), and the end part of the fifth moving shaft (39) is connected with the right clamping jaw device (30).
7. The mechanical arm for grabbing and carrying crop straws as claimed in claim 1, is characterized in that: the bottom of the cylinder (12) is fixedly connected with the placing platform (2) through a bolt, and the upper end of the cylinder (12) is fixedly connected with the fixing plate (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010237806.8A CN111283653A (en) | 2020-03-30 | 2020-03-30 | Grabbing and carrying manipulator for crop straws |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010237806.8A CN111283653A (en) | 2020-03-30 | 2020-03-30 | Grabbing and carrying manipulator for crop straws |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111283653A true CN111283653A (en) | 2020-06-16 |
Family
ID=71017310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010237806.8A Pending CN111283653A (en) | 2020-03-30 | 2020-03-30 | Grabbing and carrying manipulator for crop straws |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111283653A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100225131A1 (en) * | 2009-03-09 | 2010-09-09 | Weber Maschinenbau Gmbh Breidenbach | Product gripper |
| CN106826889A (en) * | 2017-03-23 | 2017-06-13 | 严传玉 | A kind of Power Drive Unit for being applied to manipulator chuck |
| CN206759264U (en) * | 2017-03-23 | 2017-12-15 | 安徽维戈尔智能科技有限公司 | A kind of rocker-arm picks and places material manipulator |
| CN108145700A (en) * | 2018-02-27 | 2018-06-12 | 郑州神盾智能科技有限公司 | A kind of composite intelligent captures robot |
| CN108184473A (en) * | 2018-01-18 | 2018-06-22 | 温州大学激光与光电智能制造研究院 | Tomato side shoot trimming machine cuts people |
| CN109262638A (en) * | 2018-10-26 | 2019-01-25 | 常州市邹区蔬菜产业发展有限公司 | A kind of mechanical grip device |
-
2020
- 2020-03-30 CN CN202010237806.8A patent/CN111283653A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100225131A1 (en) * | 2009-03-09 | 2010-09-09 | Weber Maschinenbau Gmbh Breidenbach | Product gripper |
| CN106826889A (en) * | 2017-03-23 | 2017-06-13 | 严传玉 | A kind of Power Drive Unit for being applied to manipulator chuck |
| CN206759264U (en) * | 2017-03-23 | 2017-12-15 | 安徽维戈尔智能科技有限公司 | A kind of rocker-arm picks and places material manipulator |
| CN108184473A (en) * | 2018-01-18 | 2018-06-22 | 温州大学激光与光电智能制造研究院 | Tomato side shoot trimming machine cuts people |
| CN108145700A (en) * | 2018-02-27 | 2018-06-12 | 郑州神盾智能科技有限公司 | A kind of composite intelligent captures robot |
| CN109262638A (en) * | 2018-10-26 | 2019-01-25 | 常州市邹区蔬菜产业发展有限公司 | A kind of mechanical grip device |
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Application publication date: 20200616 |