CN118024305A - Agricultural foreign trade article loading manipulator - Google Patents
Agricultural foreign trade article loading manipulator Download PDFInfo
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- CN118024305A CN118024305A CN202410430476.2A CN202410430476A CN118024305A CN 118024305 A CN118024305 A CN 118024305A CN 202410430476 A CN202410430476 A CN 202410430476A CN 118024305 A CN118024305 A CN 118024305A
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- 125000006850 spacer group Chemical group 0.000 claims description 13
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000000452 restraining effect Effects 0.000 claims 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012856 packing Methods 0.000 description 1
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Abstract
The invention discloses an agricultural foreign trade article loading manipulator, which relates to the technical field of carrying manipulators, and comprises a bottom base, a rotary upright post, an upward lifting cylinder assembly, a support arm assembly and a clamping mechanism; the bottom of the lifting cylinder assembly is connected with the outer wall of the rotary upright post; the clamping mechanism comprises a hanging bracket assembly, a clamping cylinder, a lower support adjusting assembly and two clamping executing assemblies, and when the support arm assembly rotates around the joint of the support arm assembly and the connecting frame, the hanging bracket assembly always keeps a vertical state; the clamping cylinder is arranged between the two clamping execution assemblies and is used for adjusting the distance between the two clamping execution assemblies in a telescopic mode, and the lower support adjusting assembly can drive the two clamping execution assemblies to move to the bottom of the article towards the downward end and support the bottom edge of the article. The invention has simple structure, can hold up the article from the bottom and clamp the article firmly, can move in the original state to avoid tilting, and has strong practicability.
Description
Technical Field
The invention relates to the technical field of carrying manipulators, in particular to an agricultural foreign trade article loading manipulator.
Background
Robots play an extremely important role in the field of modern manufacturing technology, and have multiple degrees of freedom that can be used to handle objects to accomplish work in various environments. Industrial manipulators are widely used in various fields; the agricultural product transaction center is a bridge for communicating and dispersing farmers and markets, and is a circulation hub for connecting surrounding areas. The invisible hand in the market plays an important role in optimizing resource allocation and regulating economic development, and a real foundation and a platform are built for the later-town adjustment industry structure.
The agricultural products are stored in the article boxes in a packing mode and then are carried by a loading manipulator so as to realize logistics loading and unloading; the prior loading manipulator clamps the articles in the following modes: the manipulator sucks or clamps the side wall of the static article from the top of the article; hoisting the article in a friction manner; which tends to result in heavy items falling off.
Disclosure of Invention
The invention aims to provide an agricultural foreign trade article loading manipulator which aims to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The utility model provides an agricultural trade article shipment manipulator that is involved, includes bottom base, rotation stand, lift cylinder subassembly, support arm subassembly and fixture, rotation stand is established on the bottom base and rotation stand can be on the bottom base; the top of the rotary upright post is provided with a connecting frame, one end part of the support arm assembly is rotationally connected with the connecting frame, and the clamping mechanism is arranged at the end part of the support arm assembly far away from the connecting frame; the lifting cylinder assembly is arranged on the side part of the rotating upright post, the bottom of the lifting cylinder assembly is connected with the outer wall of the rotating upright post, the top of the lifting cylinder assembly is connected with the end part of the support arm assembly, which is far away from the clamping mechanism, and the lifting cylinder assembly can drive the support arm assembly to rotate around the joint of the support arm assembly and the connecting frame in a telescopic manner; the clamping mechanism comprises a hanging bracket assembly, a clamping cylinder, a lower support adjusting assembly and two clamping executing assemblies, wherein the hanging bracket assembly is rotationally connected with the end part of the support arm assembly, and the hanging bracket assembly always keeps a vertical state when the support arm assembly rotates around the connection part with the connecting frame; the two clamping execution assemblies are respectively arranged at the bottom of the hanger assembly in a symmetrical mode, one end of each clamping execution assembly is connected with the bottom of the hanger assembly in a sliding mode, and the clamping execution assemblies clamp the side wall of an article in a cross-shaped contact mode; the clamping cylinder is arranged between the two clamping execution assemblies and is used for adjusting the distance between the two clamping execution assemblies in a telescopic mode, the lower support adjusting assembly is arranged on the hanger assembly and is connected with the two clamping execution assemblies, and the lower support adjusting assembly can drive the two clamping execution assemblies to move towards the downward end parts to the bottom of the article and support the bottom edge of the article.
Based on the technical scheme, the invention also provides the following optional technical schemes:
In one alternative: the clamping execution assembly comprises a sliding seat, a clamping support arm rod, a cross clamping part and two movable clamping units, wherein the sliding seat is in sliding connection with the bottom of the hanger assembly, one end of the clamping support arm rod is connected with the cross clamping part, the other end of the clamping support arm rod is connected with the sliding seat, a push-pull sleeve body capable of sliding on the clamping support arm rod is further arranged on the clamping support arm rod, the two movable clamping units are respectively arranged at the upper end and the lower end of the cross clamping part, the two movable clamping units are connected with an inclined connecting rod, the end part of the inclined connecting rod, far away from the movable clamping unit, is hinged with the push-pull sleeve body, and the movable clamping unit is in rolling contact with the outer wall of an article and can move to the upper side and the lower side of the article; the lower support adjusting assembly can push the two push-pull sleeve bodies to synchronously and in the same direction on the two clamping support arm rods respectively, and two ends of the clamping cylinder are connected with the two push-pull sleeve bodies respectively.
In one alternative: the movable clamping unit comprises an extending sliding seat, a limiting plate, an extending support arm and at least one limiting roller, wherein the extending sliding seat is arranged on the cross clamping part and can move up or down along the cross clamping part; the limiting plate is arranged on one side of the extending slide seat and is provided with a connecting convex column on the outer wall of the limiting plate, the connecting convex column is hinged with the end part of the oblique connecting rod, which is far away from the push-pull sleeve body, one end of the extending support arm is rotationally connected with the extending slide seat, the other end of the extending support arm is provided with a fixed shaft, the limiting roller is rotationally arranged on the fixed shaft, and the extending support arm is connected with the limiting plate through a spring piece.
In one alternative: the clamping execution assembly further comprises a clamping spacer, the clamping spacer is cross-shaped and is arranged on the end face of the cross clamping part, which faces towards the article, and the diameter of the limiting roller is larger than the sum of the thickness of the cross clamping part and the thickness of the clamping spacer.
In one alternative: the lower support adjusting assembly comprises an adjusting screw rod, an adjusting screw seat, an adjusting connecting rod and an adjusting motor, wherein the upper end and the lower end of the adjusting screw rod are rotationally connected with the hanging bracket assembly, the adjusting screw seat is slidably arranged on the hanging bracket assembly, the adjusting screw rod penetrates through the adjusting screw seat in a spiral fit mode, one end of the adjusting connecting rod is hinged to the adjusting screw seat, the other end of the adjusting connecting rod is hinged to the middle of the clamping cylinder, and the adjusting motor is arranged at the top of the hanging bracket assembly and the output end of the adjusting motor is connected with the top of the adjusting screw rod.
In one alternative: the support arm assembly comprises an upper U-shaped support arm, a lower U-shaped support arm and a tail rod piece, the upper U-shaped support arm and the lower U-shaped support arm are parallel, the end parts of the upper U-shaped support arm and the lower U-shaped support arm, which face the connecting frame, are all rotated with the connecting frame, the end parts of the upper U-shaped support arm and the lower U-shaped support arm, which are far away from the connecting frame, are connected through limiting connecting rods, the two ends of the limiting connecting rods are respectively hinged with the end parts of the upper U-shaped support arm and the end parts of the lower U-shaped support arm, and the tail rod piece is arranged at one end of the upper U-shaped support arm and is connected with the lifting cylinder assembly; the top of the hanging bracket component is connected with the upper U-shaped support arm and the lower U-shaped support arm, and the connecting line between the hanging bracket component and the connecting position of the hanging bracket component and the connecting line is parallel to the limiting connecting rod.
In one alternative: the inner side of the upper U-shaped support arm and the inner side of the lower U-shaped support arm are respectively provided with a connecting part, one end of each adjusting cylinder is connected with the connecting part on the upper U-shaped support arm, each connecting part comprises a rotating shaft and two movable seats, each movable seat is in sliding connection with a supporting rod of the upper U-shaped support arm or the lower U-shaped support arm, two ends of each rotating shaft are respectively fixedly connected with the two movable seats, each upper U-shaped support arm is further provided with an adjusting cylinder, each hanging bracket assembly comprises a vertical frame body, a sliding guide rail and two connecting sleeves, each two connecting sleeves are respectively and rotatably sleeved on the corresponding two rotating shafts, each vertical frame body is fixedly connected with the corresponding two connecting sleeves, and each sliding guide rail is arranged at the bottom of each vertical frame body and is in sliding connection with the corresponding two sliding seats.
In one alternative: the tail rod piece is provided with a through hole along the length direction of the tail rod piece and the lifting cylinder assembly comprises a lifting cylinder and a rotary connecting column, the bottom of the lifting cylinder is fixedly connected with the outer wall of the rotary upright column, the top of the lifting cylinder is provided with a U-shaped frame, the rotary connecting column is arranged on the U-shaped frame, and the diameter of the rotary connecting column is the same as the width of the through hole after passing through the through hole.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the two clamping execution assemblies clamp the side wall of the article in a cross contact manner, so that the clamping range of the side wall of the article and the clamping execution assemblies can be increased, the clamping firmness is improved, and the movable clamping unit can extend to the bottom and the top of the article, thereby supporting the article and limiting the article from vibrating and effectively preventing the article from falling off during carrying.
2. According to the invention, when the support arm assembly rotates around the joint of the support arm assembly and the connecting frame, the hanging bracket assembly always keeps a vertical state, so that an object always keeps an original state when the object is grabbed and moved.
3. The invention has simple structure, can hold up the article from the bottom and stably clamp the article, can move in the original state to avoid tilting, and has strong practicability.
Drawings
Fig. 1 is a schematic view of the overall structure of the loading manipulator according to an embodiment of the present invention.
Fig. 2 is a schematic view of a clamping mechanism according to an embodiment of the present invention.
Fig. 3 is a schematic view of a movable clamping unit according to an embodiment of the present invention.
Fig. 4 is an enlarged schematic view of the structure at A0 in fig. 3.
FIG. 5 is a schematic diagram of an arm assembly according to one embodiment of the present invention.
Reference numerals annotate: the base 100, the rotating column 200, the link 300, the lifting cylinder assembly 400, the lifting cylinder 410, the U-shaped frame 420, the swing link 430, the arm assembly 500, the upper U-shaped arm 510, the lower U-shaped arm 520, the tail piece 530, the movable seat 540, the swing shaft 550, the adjusting cylinder 560, the limiting link 580, the hanger assembly 600, the vertical frame body 610, the sliding guide 620, the connecting sleeve 630, the gripping actuator 700, the sliding seat 710, the gripping arm lever 720, the cross gripping portion 730, the gripping spacer 740, the movable gripping unit 750, the extending slide 751, the limiting plate 752, the connecting boss 753, the extending arm 754, the fixing shaft 755, the upper limiting roller 756, the push-pull sleeve 760, the diagonal connecting rod 770, the gripping cylinder 800, the lower supporting adjusting assembly 900, the adjusting screw 910, the adjusting screw seat 920, the adjusting link 930, and the adjusting motor 940.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples; in the drawings or description, similar or identical parts are provided with the same reference numerals, and in practical applications, the shape, thickness or height of each part may be enlarged or reduced. The examples set forth herein are intended to be illustrative of the invention and are not intended to limit the scope of the invention. Any obvious modifications or alterations to the invention, as would be apparent, are made without departing from the spirit and scope of the present invention.
In one embodiment, as shown in fig. 1-4, an agricultural foreign trade item loading manipulator comprises a base 100, a rotary upright 200, an elevating cylinder assembly 400, a support arm assembly 500 and a clamping mechanism, wherein the rotary upright 200 is arranged on the base 100, and the rotary upright 200 can rotate on the base 100; the top of the rotary upright 200 is provided with a connecting frame 300, one end of the support arm assembly 500 is rotatably connected with the connecting frame 300, and the clamping mechanism is arranged at the end of the support arm assembly 500 far away from the connecting frame 300; the lifting cylinder assembly 400 is arranged at the side part of the rotary upright post 200, the bottom of the lifting cylinder assembly 400 is connected with the outer wall of the rotary upright post 200, the top of the lifting cylinder assembly 400 is connected with the end part of the support arm assembly 500, which is far away from the clamping mechanism, and the lifting cylinder assembly 400 can drive the support arm assembly 500 to rotate around the joint with the connecting frame 300 in a telescopic manner; the clamping mechanism comprises a hanging bracket assembly 600, a clamping cylinder 800, a lower support adjusting assembly 900 and two clamping executing assemblies 700, wherein the hanging bracket assembly 600 is rotationally connected with the end part of the support arm assembly 500, and when the support arm assembly 500 rotates around the joint with the connecting frame 300, the hanging bracket assembly 600 always keeps a vertical state; the two clamping execution assemblies 700 are respectively arranged at the bottom of the hanger assembly 600 in a symmetrical mode, one end of each clamping execution assembly 700 is in sliding connection with the bottom of the hanger assembly 600, and the clamping execution assemblies 700 clamp the side wall of an article in a cross-shaped contact mode; the clamping cylinder 800 is arranged between the two clamping execution assemblies 700, the clamping cylinder 800 is used for adjusting the distance between the two clamping execution assemblies 700 in a telescopic mode, the lower support adjusting assembly 900 is arranged on the hanger assembly 600, the lower support adjusting assembly 900 is connected with the two clamping execution assemblies 700, and the lower support adjusting assembly 900 can drive the downward end parts of the two clamping execution assemblies 700 to move to the bottom of an article and support the bottom edge of the article.
In the embodiment of the present invention, the rotation of the rotating upright 200 adjusts the orientation and position of the clamping mechanism and makes the clamping mechanism be located at the upper side of the position where the article is located, and the clamping cylinder 800 adjusts the distance between the two clamping executing assemblies 700 and makes the distance between the two clamping executing assemblies 700 be greater than the width of the article; the lifting cylinder assembly 400 drives the support arm assembly 500 to rotate around the connection part with the connecting frame 300, so that the clamping mechanism gradually moves downwards, the two clamping execution assemblies 700 are respectively positioned on two sides of an article, the clamping cylinder 800 again adjusts the distance between the two clamping execution assemblies 700, and the two clamping execution assemblies 700 gradually clamp the side wall of the article in a cross-shaped contact mode; the lower support adjusting assembly 900 drives the downward end part of the clamping executing assembly 700 to move downwards, the downward end part of the lower support adjusting assembly 900 is gradually contacted with the base for supporting the article, the downward end part of the lower support adjusting assembly 900 can play a supporting role and support the article, after the article is supported, the downward end part of the lower support adjusting assembly 900 moves to the bottom side of the article, so that the article is supported from the bottom, and the firmness of clamping the article during carrying is ensured.
In one embodiment, as shown in fig. 1 to 4, the clamping execution assembly 700 includes a sliding seat 710, a clamping arm rod 720, a cross clamping part 730, and two movable clamping units 750, the sliding seat 710 is slidably connected with the bottom of the hanger assembly 600, one end of the clamping arm rod 720 is connected with the cross clamping part 730, the other end is connected with the sliding seat 710, a push-pull sleeve 760 capable of sliding on the clamping arm rod 720 is further provided on the clamping arm rod 720, the two movable clamping units 750 are respectively provided on the upper end and the lower end of the cross clamping part 730, the two movable clamping units 750 are connected with oblique connecting rods 770, the ends of the oblique connecting rods 770 away from the movable clamping units 750 are hinged with the push-pull sleeve 760, the movable clamping units 750 are in rolling contact with the outer wall of the article, and the movable clamping units 750 can move to the upper side and the lower side of the article; the lower support adjusting assembly 900 can push the two push-pull sleeve bodies 760 to move synchronously and in the same direction on the two clamping arm rods 720, and two ends of the clamping cylinder 800 are connected with the two push-pull sleeve bodies 760 respectively; in the embodiment of the present invention, the clamping cylinder 800 adjusts the distance between the two clamping arm rods 720 in a telescopic manner, and when the two cross clamping portions 730 are respectively contacted with two sides of an article and generate clamping force, the lower support adjusting assembly 900 drives the two push-pull sleeve bodies 760 to move along the clamping arm rods 720 towards the cross clamping portions 730, and the push-pull sleeve bodies 760 push the corresponding movable clamping units 750 to move towards the upper end or the lower end of the article; when the push-pull sleeve 760 moves to the side of the article away from the end of the cross clamping portion 730, the movable clamping unit 750 at the lower side generates pressure with the base or the ground where the article is located, so that the article can be gradually separated from the base or the ground, and finally the end of the movable clamping unit 750 can rotate to the upper side and the lower side of the article in a manner of rotating around the joint with the cross clamping portion 730, the end of the movable clamping unit 750 at the bottom side of the article supports the article, and the end of the movable clamping unit 750 at the upper side of the article can limit the article from vibrating up and down.
In one embodiment, as shown in fig. 1-4, the movable clamping unit 750 includes an extension slide 751, a limiting plate 752, an extension arm 754, and at least one limiting roller 756, the extension slide 751 being provided on the cross clamping part 730 and the extension slide 751 being capable of moving up or down along the cross clamping part 730; the limiting plate 752 is arranged on one side of the extending slide seat 751, a connecting convex column 753 is arranged on the outer wall of the limiting plate 752, the connecting convex column 753 is hinged with the end part of the inclined connecting rod 770 far away from the push-pull sleeve body 760, one end of the extending support arm 754 is rotatably connected with the extending slide seat 751, a fixed shaft 755 is arranged at the other end of the extending support arm 754, the limiting roller 756 is rotatably arranged on the fixed shaft 755, and the extending support arm 754 is connected with the limiting plate 752 through a spring member 757; in the embodiment of the present invention, when the cross clamping portion 730 contacts the side wall of the article, the limiting roller 756 is pressed against the side wall of the article in a rolling contact manner, the push-pull sleeve 760 is driven by the lower support adjusting assembly 900 to move towards the cross clamping portion 730, the push-pull sleeve 760 pushes the extension slide 751 and the limiting plate 752 to move along the pointed end of the cross clamping portion 730 through the inclined connecting rod 770, so that the limiting roller 756 moves towards the upper side or the lower side of the article, and when the limiting roller 756 moves to the side of the article, the extension support arm 754 rotates and the limiting roller 756 rotates to the upper side or the lower side of the article under the elastic force of the spring member 757.
In one embodiment, as shown in fig. 1-4, the gripping assembly 700 further includes a gripping spacer 740, the gripping spacer 740 is cross-shaped and the gripping spacer 740 is disposed on the end surface of the cross-shaped gripping portion 730 facing the article, and the diameter of the limiting roller 756 is greater than the sum of the thickness of the cross-shaped gripping portion 730 and the thickness of the gripping spacer 740; in the embodiment of the present invention, the clamping spacer 740 increases the friction between the cross clamping portion 730 and the sidewall of the article, so as to improve the clamping firmness, and the diameter of the push-pull sleeve 760 is greater than the sum of the thickness of the cross clamping portion 730 and the thickness of the clamping spacer 740, so that the push-pull sleeve 760 can be positioned on the upper surface or the bottom surface of the article.
In one embodiment, as shown in fig. 1 to 4, the lower support adjusting assembly 900 includes an adjusting screw rod 910, an adjusting screw seat 920, an adjusting connecting rod 930 and an adjusting motor 940, wherein the upper end and the lower end of the adjusting screw rod 910 are both rotatably connected with the hanger assembly 600, the adjusting screw seat 920 is slidably arranged on the hanger assembly 600, the adjusting screw rod 910 penetrates through the adjusting screw seat 920 in a screw fit manner, one end of the adjusting connecting rod 930 is hinged with the adjusting screw seat 920, the other end of the adjusting connecting rod 930 is hinged with the middle part of the clamping cylinder 800, the adjusting motor 940 is arranged at the top of the hanger assembly 600, and the output end of the adjusting motor 940 is connected with the top of the adjusting screw rod 910; in the embodiment of the present invention, the adjusting motor 940 drives the adjusting screw 910 to rotate and the rotating adjusting screw 910 drives the adjusting screw 920 to move up or down, the adjusting screw 920 pushes and pulls the clamping cylinder 800 through the adjusting connecting rod 930, and the clamping cylinder 800 drives the two push-pull sleeve bodies 760 to move along the corresponding clamping arm rods 720 respectively.
In one embodiment, as shown in fig. 1-5, the arm assembly 500 includes an upper U-shaped arm 510, a lower U-shaped arm 520, and a tail 530, where the upper U-shaped arm 510 and the lower U-shaped arm 520 are parallel, and the ends of the upper U-shaped arm 510 and the lower U-shaped arm 520 facing the connection frame 300 are both rotated with the connection frame 300, the ends of the upper U-shaped arm 510 and the lower U-shaped arm 520 far from the connection frame 300 are connected by a limiting link 580, two ends of the limiting link 580 are hinged with the ends of the upper U-shaped arm 510 and the ends of the lower U-shaped arm 520, respectively, and the tail 530 is disposed at one end of the upper U-shaped arm 510, and the tail 530 is connected with the lifting cylinder assembly 400; the top of the hanger component 600 is connected with the upper U-shaped support arm 510 and the lower U-shaped support arm 520, and the connecting line between the hanger component 600 and the connecting place of the two is parallel to the limiting connecting rod 580; in the embodiment of the present invention, when the lifting cylinder assembly 400 drives the upper U-shaped support arm 510 to rotate around the connection point with the connecting frame 300 through the tail rod 530, since the upper U-shaped support arm 510 and the lower U-shaped support arm 520 are in a parallel state and are connected through the limiting connecting rod 580, the lower U-shaped support arm 520 can rotate around the connection point with the connecting frame 300, and the upper U-shaped support arm 510 and the lower U-shaped support arm 520 can synchronously rotate in a parallel state; so that the hanger assembly 600 always maintains a vertical state, and thus the articles gripped by the gripping mechanism are not inclined and smoothly moved while being carried.
In one embodiment, as shown in fig. 1-5, the inner sides of the upper U-shaped support arm 510 and the inner sides of the lower U-shaped support arm 520 are respectively provided with a connecting part, one end of an adjusting cylinder 560 is connected with the connecting part on the upper U-shaped support arm 510, the connecting part comprises a rotating shaft 550 and two movable seats 540, the movable seats 540 are slidably connected with the struts of the upper U-shaped support arm 510 or the lower U-shaped support arm 520, two ends of the rotating shaft 550 are fixedly connected with the two movable seats 540 respectively, the upper U-shaped support arm 510 is further provided with an adjusting cylinder 560, the hanger assembly 600 comprises a vertical frame body 610, a sliding guide rail 620 and two connecting sleeves 630, the two connecting sleeves 630 are respectively sleeved on the two rotating shafts 550 in a rotating way, the vertical frame body 610 is fixedly connected with the two connecting sleeves 630, the sliding guide rail 620 is arranged at the bottom of the vertical frame body 610, and the vertical frame body 610 is slidably connected with the two sliding seats 710; in the embodiment of the present invention, the adjusting cylinder 560 can push and pull the movable seat 540 in a telescopic manner, so as to adjust the position of the connecting component on the upper U-shaped support arm 510, so as to adjust the position of the hanger assembly 600 on the support arm assembly 500, and further, adjust the position of the clamping mechanism on the support arm assembly 500, so as to adapt to the distance between the article clamping and the article placing.
In one embodiment, as shown in fig. 1 to 5, the tail rod 530 is provided with a through hole along the length direction thereof, and the lifting cylinder assembly 400 includes a lifting cylinder 410 and a rotary connecting column 430, the bottom of the lifting cylinder 410 is fixedly connected with the outer wall of the rotary upright 200, the top of the lifting cylinder 410 is provided with a U-shaped frame 420, the rotary connecting column 430 is arranged on the U-shaped frame 420, the rotary connecting column 430 passes through the through hole, and the diameter of the rotary connecting column 430 is the same as the width of the through hole; in the embodiment of the present invention, the lifting cylinder 410 drives the U-shaped frame 420 to move up or down by means of expansion and contraction, and the U-shaped frame 420 pushes and pulls the tail rod member 530 through the rotary connecting column 430 and makes the upper U-shaped arm 510 rotate around the connection point with the connecting frame 300.
The above embodiment provides an agricultural foreign trade item loading manipulator, wherein the rotation of the rotary upright 200 adjusts the orientation and position of the clamping mechanism and makes the clamping mechanism at the upper side of the location of the item, and the clamping cylinder 800 adjusts the distance between the two clamping execution assemblies 700 and makes the distance between the two clamping execution assemblies 700 larger than the width of the item; the lifting cylinder assembly 400 drives the support arm assembly 500 to rotate around the connection part with the connecting frame 300, so that the clamping mechanism gradually moves downwards, the two clamping execution assemblies 700 are respectively positioned on two sides of an article, the clamping cylinder 800 again adjusts the distance between the two clamping execution assemblies 700, and the two clamping execution assemblies 700 gradually clamp the side wall of the article in a cross-shaped contact mode; the lower support adjusting assembly 900 drives the downward end part of the clamping executing assembly 700 to move downwards, the downward end part of the lower support adjusting assembly 900 is gradually contacted with the base for supporting the article, the downward end part of the lower support adjusting assembly 900 can play a supporting role and support the article, after the article is supported, the downward end part of the lower support adjusting assembly 900 moves to the bottom side of the article, so that the article is supported from the bottom, and the firmness of clamping the article during carrying is ensured.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides an agricultural trade article shipment manipulator that is involved, includes bottom base, rotation stand, lift cylinder subassembly, support arm subassembly and fixture, its characterized in that, rotation stand is established on the bottom base and rotation stand can be on the bottom base rotation;
The top of the rotary upright post is provided with a connecting frame, one end part of the support arm assembly is rotationally connected with the connecting frame, and the clamping mechanism is arranged at the end part of the support arm assembly far away from the connecting frame;
The lifting cylinder assembly is arranged on the side part of the rotating upright post, the bottom of the lifting cylinder assembly is connected with the outer wall of the rotating upright post, the top of the lifting cylinder assembly is connected with the end part of the support arm assembly, which is far away from the clamping mechanism, and the lifting cylinder assembly can drive the support arm assembly to rotate around the joint of the support arm assembly and the connecting frame in a telescopic manner;
The clamping mechanism comprises a hanging bracket assembly, a clamping cylinder, a lower support adjusting assembly and two clamping executing assemblies;
The hanging bracket component is rotationally connected with the end part of the support arm component, and the hanging bracket component always keeps a vertical state when the support arm component rotates around the connection part with the connecting frame;
The two clamping execution assemblies are respectively arranged at the bottom of the hanger assembly in a symmetrical mode, one end of each clamping execution assembly is connected with the bottom of the hanger assembly in a sliding mode, and the clamping execution assemblies clamp the side wall of an article in a cross-shaped contact mode;
the clamping cylinder is arranged between the two clamping execution assemblies and is used for adjusting the distance between the two clamping execution assemblies in a telescopic manner;
The lower support adjusting assembly is arranged on the hanging bracket assembly and is connected with the two clamping executing assemblies, and the lower support adjusting assembly can drive the two clamping executing assemblies to move to the bottom of the article towards the downward end part and support the bottom edge of the article.
2. The agricultural exotic trade item loading manipulator according to claim 1, wherein the gripping actuator assembly includes a slide base, a gripping arm bar, a cross gripping portion, and two movable gripping units;
the sliding seat is in sliding connection with the bottom of the hanging bracket assembly, one end of the clamping support arm rod is connected with the cross clamping part, the other end of the clamping support arm rod is connected with the sliding seat, and the clamping support arm rod is also provided with a push-pull sleeve body capable of sliding on the clamping support arm rod;
The two movable clamping units are respectively arranged at the upper end and the lower end of the cross clamping part, the two movable clamping units are connected with oblique connecting rods, the ends of the oblique connecting rods, which are far away from the movable clamping units, are hinged with the push-pull sleeve body, the movable clamping units are in rolling contact with the outer wall of the article, and the movable clamping units can move to the upper side and the lower side of the article;
The lower support adjusting assembly can push the two push-pull sleeve bodies to synchronously and in the same direction on the two clamping support arm rods respectively, and two ends of the clamping cylinder are connected with the two push-pull sleeve bodies respectively.
3. The agricultural exotic trade item loading manipulator according to claim 2, wherein said movable gripping unit includes an extension slide, a restrictor plate, an extension arm, and at least one restrictor roller;
The extending sliding seat is arranged on the cross clamping part and can move up or down along the cross clamping part; the limiting plate is arranged on one side of the extending sliding seat, the outer wall of the limiting plate is provided with a connecting convex column, and the connecting convex column is hinged with the end part of the inclined connecting rod, which is far away from the push-pull sleeve body;
One end of the extending support arm is rotationally connected with the extending slide seat, a fixed shaft is arranged at the other end of the extending support arm, the limiting roller is rotationally arranged on the fixed shaft, and the extending support arm is connected with the limiting plate through a spring piece.
4. An agricultural foreign trade article loading manipulator according to claim 3, wherein the gripping actuator assembly further comprises a gripping spacer, the gripping spacer is cross-shaped and disposed on an end face of the cross-shaped gripping portion facing the article, and the diameter of the restraining roller is greater than the sum of the thickness of the cross-shaped gripping portion and the thickness of the gripping spacer.
5. The agricultural exotic trade item loading manipulator according to claim 2, wherein the lower support adjustment assembly comprises an adjustment screw, an adjustment screw seat, an adjustment link, and an adjustment motor;
The upper end and the lower end of the adjusting screw rod are both rotationally connected with the hanging bracket assembly, the adjusting screw seat is arranged on the hanging bracket assembly in a sliding manner, and the adjusting screw rod penetrates through the adjusting screw seat in a screw fit manner;
one end of the adjusting connecting rod is hinged with the adjusting screw seat, the other end of the adjusting connecting rod is hinged with the middle part of the clamping cylinder, the adjusting motor is arranged at the top of the hanging bracket assembly, and the output end of the adjusting motor is connected with the top of the adjusting screw rod.
6. An agricultural exotic trade item loading manipulator according to claim 5, wherein said arm assembly includes an upper U-shaped arm, a lower U-shaped arm and a tail rod member;
the upper U-shaped support arm and the lower U-shaped support arm are parallel, and the end parts of the upper U-shaped support arm and the lower U-shaped support arm, which face the connecting frame, are both rotated with the connecting frame;
The end parts of the upper U-shaped support arm and the lower U-shaped support arm, which are far away from the connecting frame, are connected through a limiting connecting rod, the two ends of the limiting connecting rod are respectively hinged with the end parts of the upper U-shaped support arm and the lower U-shaped support arm, and the tail rod piece is arranged at one end of the upper U-shaped support arm and is connected with the lifting cylinder assembly;
The top of the hanging bracket component is connected with the upper U-shaped support arm and the lower U-shaped support arm, and the connecting line between the hanging bracket component and the connecting position of the hanging bracket component and the connecting line is parallel to the limiting connecting rod.
7. The agricultural foreign trade item loading manipulator according to claim 6, wherein the inner sides of the upper U-shaped support arm and the lower U-shaped support arm are respectively provided with a connecting member and one end of the adjusting cylinder is connected with the connecting member on the upper U-shaped support arm;
the connecting part comprises a rotating shaft and two movable seats, the movable seats are in sliding connection with a supporting rod of an upper U-shaped supporting arm or a lower U-shaped supporting arm, two ends of the rotating shaft are respectively and fixedly connected with the two movable seats, and an adjusting cylinder is further arranged on the upper U-shaped supporting arm;
the hanger assembly comprises a vertical frame body, a sliding guide rail and two connecting sleeves;
The two connecting sleeves are respectively sleeved on the two rotary shafts in a rotating mode, the vertical frame body is fixedly connected with the two connecting sleeves, and the sliding guide rail is arranged at the bottom of the vertical frame body and is in sliding connection with the two sliding seats.
8. The agricultural foreign trade article loading manipulator according to claim 7, wherein the tail rod member is provided with a through hole along a length direction thereof and the lifting cylinder assembly comprises a lifting cylinder and a rotary connecting column, the bottom of the lifting cylinder is fixedly connected with the outer wall of the rotary upright column, the top of the lifting cylinder is provided with a U-shaped frame, the rotary connecting column is arranged on the U-shaped frame, and the diameter of the rotary connecting column is the same as the width of the through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202410430476.2A CN118024305A (en) | 2024-04-11 | 2024-04-11 | Agricultural foreign trade article loading manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410430476.2A CN118024305A (en) | 2024-04-11 | 2024-04-11 | Agricultural foreign trade article loading manipulator |
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| CN202410430476.2A Pending CN118024305A (en) | 2024-04-11 | 2024-04-11 | Agricultural foreign trade article loading manipulator |
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Citations (5)
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| CN103950037A (en) * | 2014-05-09 | 2014-07-30 | 广州市番禺科腾工业有限公司 | Manipulator clamp and robot with manipulator clamp |
| CN108818597A (en) * | 2018-08-25 | 2018-11-16 | 陈明亮 | A kind of column lithium ion battery is intelligent to clamp system and its clamping processing method |
| WO2022134460A1 (en) * | 2020-12-25 | 2022-06-30 | 广东智源机器人科技有限公司 | Gripping device and food making apparatus |
| CN217534576U (en) * | 2022-06-17 | 2022-10-04 | 天津盛源鸿达自动化设备有限公司 | Manipulator that pile up neatly machine was used |
| CN115432429A (en) * | 2022-08-23 | 2022-12-06 | 江苏徐工工程机械研究院有限公司 | Multifunctional clamping device for tunnel and control system and control method thereof |
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2024
- 2024-04-11 CN CN202410430476.2A patent/CN118024305A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950037A (en) * | 2014-05-09 | 2014-07-30 | 广州市番禺科腾工业有限公司 | Manipulator clamp and robot with manipulator clamp |
| CN108818597A (en) * | 2018-08-25 | 2018-11-16 | 陈明亮 | A kind of column lithium ion battery is intelligent to clamp system and its clamping processing method |
| WO2022134460A1 (en) * | 2020-12-25 | 2022-06-30 | 广东智源机器人科技有限公司 | Gripping device and food making apparatus |
| CN217534576U (en) * | 2022-06-17 | 2022-10-04 | 天津盛源鸿达自动化设备有限公司 | Manipulator that pile up neatly machine was used |
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