CN203792326U - Fruit sorting manipulator - Google Patents
Fruit sorting manipulator Download PDFInfo
- Publication number
- CN203792326U CN203792326U CN201420140294.3U CN201420140294U CN203792326U CN 203792326 U CN203792326 U CN 203792326U CN 201420140294 U CN201420140294 U CN 201420140294U CN 203792326 U CN203792326 U CN 203792326U
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- mechanical arm
- steering wheel
- mechanical
- moving axis
- sorting manipulator
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Abstract
The utility model discloses a fruit sorting manipulator which comprises a rotating support portion, a mechanical arm portion and a mechanical gripper portion. The mechanical arm portion comprises an upper mechanical arm and a lower mechanical arm which are connected through a mechanical arm moving steering engine. The rotating support portion is rotationally connected with the lower mechanical arm in a power manner. The upper mechanical arm is movably connected with the mechanical gripper portion through a movable joint portion. The mechanical gripper portion comprises moving shaft drive steering engines, a moving shaft, mechanical finger components and brace rod components, the moving shaft is movably mounted in the moving shaft drive steering engines, the moving shaft drive steering engines drive the moving shaft to relatively extend or retract, the moving shaft is connected with the brace rod components, and the brace rod components are located inside the mechanical finger components slidably. Provided with multiple sections of driving devices and movable joints, the fruit sorting manipulator has multi-degree-of-freedom control, can flexibly and quickly sort fruits, and better protects the sorted fruits.
Description
Technical field
The utility model relates to fruit mechanization sorting technical field, relates in particular to a kind of fruit sorting manipulator.
Background technology
Nowadays on domestic market, had large-scale fruit sorter, but these fruit sorter volumes are all huger, and price is also very expensive, so just can only be applicable to larger fruit market or Production of fruit or packing factory.Traditional fruit sorter can only or can only classify to the fruit of the large minor radius of a class to a kind of fruit, and classification limitation relatively, cannot accomplish generally during use, and the use field of seriously having limited fruit sorting, cannot be promoted widely.
And traditional fruit sorter is due to complicated in mechanical structure, and its operation is often heavier, dumb, due to it, automatically degree is less, therefore step or the operation of sorter division of labor operation are less, automation, intelligent degree are lower, often easily fruit is damaged, be not easy to sort fruit.
Utility model content
The weak point existing for prior art; the purpose of this utility model is to provide a kind of fruit sorting manipulator; this sorting manipulator is provided with more piece drive unit and turning joint; have multifreedom controlling; can realize flexibly, rapidly fruit sorting, and protect better the fruit being sorted.
The purpose of this utility model is achieved through the following technical solutions:
A kind of fruit sorting manipulator, comprise swinging mounting part, mechanical arm part and mechanical paw part, described mechanical arm partly comprises mechanical arm and lower mechanical arm, described upper mechanical arm and lower mechanical arm move steering wheel by mechanical arm and are flexibly connected (between upper mechanical arm of the present utility model and lower mechanical arm, by mechanical arm, move steering wheel and be connected, mechanical arm moves steering wheel for the mobile power of upper mechanical arm and lower mechanical arm is provided); Described swinging mounting part is connected with lower mechanical arm rotational power, and swinging mounting is partly for driving lower mechanical arm left-right rotation; Described upper mechanical arm is partly flexibly connected by turning joint portion with mechanical paw; described mechanical paw partly comprises that moving axis drives steering wheel, moving axis, mechanical finger assembly and strut assembly; described moving axis is movably installed in moving axis and drives in steering wheel; moving axis drives servo driving moving axis specific elongation or shortens motion; moving axis is connected with strut assembly; strut assembly is slidably positioned at mechanical finger component internal, and strut assembly is used for strutting or closes up mechanical finger assembly.
In order to realize better the utility model, described swinging mounting partly comprises frame bottom disk, supporting revolving shaft and support top disc, frame bottom disk and support top disc are all horizontally disposed with, and described supporting revolving shaft is arranged between frame bottom disk and support top disc; Frame bottom disk bottom is provided with rotation steering wheel, support top disc is provided with the mechanical arm coordinating with rotating rudder mechanomotive force and moves left and right steering wheel, mechanical arm moves left and right steering wheel and is connected with described lower mechanical arm rotational power, for driving lower mechanical arm left-right rotation.
This fruit sorting manipulator also comprises single-chip microcomputer, this single-chip microcomputer is selected 51 single-chip microcomputers, 51 single-chip microcomputers are not the objects of the utility model innovation transformation, and the utility model only adopts 51 traditional single-chip microcomputer hardware devices, this single-chip microcomputer is not carried out to Programmed Design or Programming again.Described single-chip microcomputer respectively with rotate steering wheel, mechanical arm and move left and right that steering wheel, mechanical arm move steering wheel, moving axis drives steering wheel telecommunication to be connected.The utility model utilizes 51 traditional single-chip microcomputers to realize and moves left and right steering wheel, mechanical arm and move the controls such as operation sequencing that steering wheel, moving axis drive steering wheel, dead time, cycle-index rotating steering wheel, mechanical arm, realizes coherent intellectuality, an automation and controls.
The utility model provides a kind of preferred moving axis to drive steering wheel structure technology scheme to be: described moving axis drives steering wheel to be provided with several feed gear wheels, in order to realize the feed motion to moving axis, described moving axis is provided with the moving axis gear with the intermeshing motion of feed gear wheel, and moving axis relies on moving axis gear and feed gear wheel gear motion to realize the motion that elongates or shortens that drives steering wheel with respect to moving axis.
The utility model is preferably gone up mechanical arm structure technology scheme: the upper mechanical arm of described mechanical arm part is provided with the B of arm joint place, the B of this arm joint place provides upper mechanical arm the more free degree, make this sorting manipulator more flexible, sorting operation is more accurate.
The utility model preferably descends mechanical arm structure technology scheme to be: the lower mechanical arm of described mechanical arm part is provided with the A of arm joint place.The A of this arm joint place provides time mechanical arm the more free degree, makes this sorting manipulator more flexible, and sorting operation is more accurate.
As preferably, the frame bottom disk bottom of described swinging mounting part is also provided with several pillars.
As preferably, crutched bottom is arranged on base, and base provides more stable base supports performance.
As preferably, mechanical finger assembly of the present utility model is comprised of at least three mechanical fingers, described strut assembly is comprised of at least three struts, and it is inner that all strut cooperations are installed on all mechanical fingers, and all struts are used for strutting or closing up all mechanical fingers.
As preferably, the quantity of supporting revolving shaft of the present utility model is three, and three supporting revolving shafts are evenly installed between frame bottom disk and support top disc.
The utility model is compared compared with prior art, has the following advantages and beneficial effect:
(1) the utility model totally consists of swinging mounting part, mechanical arm part and mechanical paw part three parts, its structure is comparatively simple, grow up cheap for manufacturing cost, and control the fruit that can sort out different radii according to machinery, there is larger promotional value and market interest.
(2) rotation steering wheel of the present utility model and mechanical arm move left and right steering wheel and control moving left and right of mechanical arm segment or other motion, mechanical arm part is comprised of upper mechanical arm and lower mechanical arm, on it, between mechanical arm and lower mechanical arm, by mechanical arm, moving steering wheel is flexibly connected, it is can be mutually movable and have a free degree to go up like this between mechanical arm and lower mechanical arm, upper mechanical arm is partly flexibly connected by turning joint portion with mechanical arm, goes up like this activity have the free degree mutually of mechanical arm and mechanical arm part; This sample sorting manipulator has the more free degree on large joint, make mechanically actuated more flexible, and the degree of accuracy is higher.
(3) the utility model utilizes single-chip microcomputer to realize to rotating steering wheel, mechanical arm, to move left and right steering wheel, mechanical arm and move the controls such as operation sequencing that steering wheel, moving axis drive steering wheel, dead time, cycle-index, can realize coherent intellectuality, an automation and control.
(4) moving axis of the present utility model drive in steering wheel, be provided with can relative sliding moving axis; moving axis drives steering wheel just can drive moving axis specific elongation or shortens motion like this; because strut assembly is slidably positioned at mechanical finger component internal; strut assembly just can reach the object that struts or close up mechanical finger assembly thus, the similar staff of this activity unclasp or grasp operation.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of mechanical paw part in Fig. 1.
Wherein, the corresponding name of the Reference numeral in accompanying drawing is called:
1-base, 2-pillar, 3-frame bottom disk, 4-support top disc, 5-rotates steering wheel, and 6-mechanical arm moves left and right steering wheel, 7-mechanical arm moves steering wheel, and 8-moving axis drives steering wheel, the 9-arm joint A of place, the 10-arm joint B of place, 11-turning joint portion, 12-feed gear wheel, 13-moving axis, 14-mechanical finger assembly, 15-strut assembly, 16-single-chip microcomputer, 17-supporting revolving shaft, 131-moving axis gear.
The specific embodiment
Below in conjunction with embodiment, the utility model is described in further detail:
Embodiment
As shown in Fig. 1～Fig. 2, a kind of fruit sorting manipulator, comprise swinging mounting part, mechanical arm part and mechanical paw part, mechanical arm partly comprises mechanical arm and lower mechanical arm, upper mechanical arm and lower mechanical arm move steering wheel 7 by mechanical arm and are flexibly connected (between the upper mechanical arm of the present embodiment and lower mechanical arm, by mechanical arm, move steering wheel 7 and be connected, mechanical arm moves steering wheel 7 for the mobile power of upper mechanical arm and lower mechanical arm is provided); Swinging mounting part is connected with lower mechanical arm rotational power, and swinging mounting is partly for driving lower mechanical arm left-right rotation; Upper mechanical arm is partly flexibly connected by turning joint portion 11 with mechanical paw; mechanical paw partly comprises that moving axis drives steering wheel 8, moving axis 13, mechanical finger assembly 14 and strut assembly 15; moving axis 13 is movably installed in moving axis and drives in steering wheel 8; moving axis drives steering wheel 8 to drive moving axis 13 specific elongations or shortens motion; moving axis 13 is connected with strut assembly 15; strut assembly 15 is slidably positioned at mechanical finger assembly 14 inside, and strut assembly 15 is for strutting or closing up mechanical finger assembly 14.In use, by this fruit sorting manipulator external power supply, after energising, swinging mounting partly gyrates, and drive lower mechanical arm to rotate, lower mechanical arm drives upper mechanical arm to rotate, and regular mechanical movement can be done after energising by turning joint portion 11, be that mechanical paw part can be by turning joint portion 11 around the regular rotation in mechanical arm part junction or other motion, moving axis drives steering wheel 8 after energising, drive moving axis 13 to do the motion that elongates or shortens that drives steering wheel 8 with respect to moving axis, so just drive 15 motions of strut assembly, drive strut assembly 15 just ceaselessly to strut or close up mechanical finger assembly 14, mechanical finger assembly 14 just plays the operation of people's grasped fruit like this, thereby realize the object of sorting fruit.
As shown in Figure 1, swinging mounting partly comprises frame bottom disk 3, supporting revolving shaft 17 and support top disc 4, and frame bottom disk 3 is all horizontally disposed with support top disc 4, and supporting revolving shaft 17 is arranged between frame bottom disk 3 and support top disc 4.Frame bottom disk 3 bottoms are provided with rotates steering wheel 5, support top disc 4 is provided with and rotates the mechanical arm that steering wheel 5 power coordinate and move left and right steering wheel 6, mechanical arm moves left and right steering wheel 6 and is connected with lower mechanical arm rotational power, for driving lower mechanical arm left-right rotation.Rotate steering wheel 5 and mechanical arm and move left and right steering wheel 6 mating reactions, mechanical arm part is moved left and right above swinging mounting part or other motion, to complete the part procedures of sorting.
As shown in Figure 1, this fruit sorting manipulator also comprises single-chip microcomputer 16, single-chip microcomputer 16 respectively with rotate steering wheel 5, mechanical arm and move left and right that steering wheel 6, mechanical arm move steering wheel 7, moving axis drives steering wheel 8 telecommunications to be connected.Single-chip microcomputer 16 of the present utility model only adopts 51 traditional single-chip microcomputer hardware devices, this single-chip microcomputer is not carried out to Programmed Design or Programming again.The utility model utilizes 51 traditional single-chip microcomputers to realize and moves left and right steering wheel 6, mechanical arm and move the controls such as operation sequencing that steering wheel 7, turning joint portion 11, moving axis drive steering wheel 8, dead time, cycle-index rotating steering wheel 5, mechanical arm, realizes coherent intellectuality, an automation and controls.
Refer to Fig. 1, Fig. 2, according to an embodiment of the present utility model, moving axis drives steering wheel 8 to be provided with several feed gear wheels 12, moving axis 13 is provided with the moving axis gear 131 with feed gear wheel 12 intermeshing motions, and moving axis 13 relies on moving axis gear 131 and feed gear wheel 12 gear motions to realize the motion that elongates or shortens that drives steering wheel 8 with respect to moving axis.The mode of gear gear motion that adopts the utility model realizes moving axis 13 and drives the motion that elongates or shortens on steering wheel 8 at moving axis; moving axis drives the feed gear wheel 12 of steering wheel 8 to drive moving axis gear 131 motions of moving axis 13; thereby make moving axis 13 drive steering wheel 8 to elongate or shorten motion with respect to moving axis; moving axis 13 just drives 15 motions of strut assembly like this; drive strut assembly 15 just ceaselessly to strut or close up mechanical finger assembly 14; mechanical finger assembly 14 just plays the operation of people's grasped fruit like this, thereby realizes the object of sorting fruit.
According to an embodiment of the present utility model, the upper mechanical arm of mechanical arm part is provided with the B10 of arm joint place, and the B10 of this arm joint place provides upper mechanical arm the more free degree, makes this sorting manipulator more flexible, and sorting operation is more accurate.
According to an embodiment of the present utility model, the lower mechanical arm of mechanical arm part is provided with the A9 of arm joint place, and the A9 of this arm joint place provides time mechanical arm the more free degree, makes this sorting manipulator more flexible, and sorting operation is more accurate.
As shown in Figure 1, frame bottom disk 3 bottoms of swinging mounting part are also provided with several pillars 2; The bottom of all pillars 2 is arranged on base 1.Base 1 provides more stable base supports performance, and pillar 2 partly supports certain altitude by swinging mounting, has improved service life and the operating efficiency of this fruit sorting manipulator.
According to an embodiment of mechanical finger assembly 14 in the utility model, mechanical finger assembly 14 is comprised of at least three mechanical fingers, strut assembly 15 is comprised of at least three struts, it is inner that all strut cooperations are installed on all mechanical fingers, and all struts are used for strutting or closing up all mechanical fingers.
According to supporting revolving shaft in the utility model 17 embodiment, the quantity of supporting revolving shaft 17 is three, and three supporting revolving shafts 17 are evenly installed between frame bottom disk 3 and support top disc 4.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (10)
1. a fruit sorting manipulator, it is characterized in that: comprise swinging mounting part, mechanical arm part and mechanical paw part, described mechanical arm partly comprises mechanical arm and lower mechanical arm, between described upper mechanical arm and lower mechanical arm, by mechanical arm, move steering wheel (7) and be connected, mechanical arm moves steering wheel (7) for the mobile power of upper mechanical arm and lower mechanical arm is provided, described swinging mounting part is connected with lower mechanical arm rotational power, and swinging mounting is partly for driving lower mechanical arm left-right rotation, described upper mechanical arm is partly flexibly connected by turning joint portion (11) with mechanical paw, described mechanical paw partly comprises that moving axis drives steering wheel (8), moving axis (13), mechanical finger assembly (14) and strut assembly (15), described moving axis (13) is movably installed in moving axis and drives in steering wheel (8), moving axis drives steering wheel (8) to drive moving axis (13) specific elongation or shortens motion, moving axis (13) is connected with strut assembly (15), strut assembly (15) is slidably positioned at mechanical finger assembly (14) inside, strut assembly (15) is for strutting or closing up mechanical finger assembly (14).
2. according to fruit sorting manipulator claimed in claim 1, it is characterized in that: described swinging mounting partly comprises frame bottom disk (3), supporting revolving shaft (17) and support top disc (4), frame bottom disk (3) is all horizontally disposed with support top disc (4), and described supporting revolving shaft (17) is arranged between frame bottom disk (3) and support top disc (4); Frame bottom disk (3) bottom is provided with rotates steering wheel (5), support top disc (4) is provided with and rotates the mechanical arm that steering wheel (5) power coordinates and move left and right steering wheel (6), mechanical arm moves left and right steering wheel (6) and is connected with described lower mechanical arm rotational power, for driving lower mechanical arm left-right rotation.
3. according to fruit sorting manipulator claimed in claim 2, it is characterized in that: also comprise single-chip microcomputer (16), described single-chip microcomputer (16) respectively with rotate steering wheel (5), mechanical arm and move left and right that steering wheel (6), mechanical arm move steering wheel (7), moving axis drives steering wheel (8) telecommunication to be connected.
4. according to the fruit sorting manipulator described in claim 1 or 3, it is characterized in that: described moving axis drives steering wheel (8) to be provided with several feed gear wheels (12), and described moving axis (13) is provided with the moving axis gear (131) with the intermeshing motion of feed gear wheel (12).
5. according to fruit sorting manipulator claimed in claim 1, it is characterized in that: the upper mechanical arm of described mechanical arm part is provided with the B(10 of arm joint place).
6. according to the fruit sorting manipulator described in claim 1 or 5, it is characterized in that: the lower mechanical arm of described mechanical arm part is provided with the A(9 of arm joint place).
7. according to fruit sorting manipulator claimed in claim 2, it is characterized in that: frame bottom disk (3) bottom of described swinging mounting part is also provided with several pillars (2).
8. according to fruit sorting manipulator claimed in claim 7, it is characterized in that: the bottom of all pillars (2) is arranged on base (1).
9. according to fruit sorting manipulator claimed in claim 1, it is characterized in that: described mechanical finger assembly (14) is comprised of at least three mechanical fingers, described strut assembly (15) is comprised of at least three struts, and it is inner that all strut cooperations are installed on all mechanical fingers.
10. according to fruit sorting manipulator claimed in claim 2, it is characterized in that: the quantity of described supporting revolving shaft (17) is three, three supporting revolving shafts (17) are evenly installed between frame bottom disk (3) and support top disc (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420140294.3U CN203792326U (en) | 2014-03-26 | 2014-03-26 | Fruit sorting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420140294.3U CN203792326U (en) | 2014-03-26 | 2014-03-26 | Fruit sorting manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203792326U true CN203792326U (en) | 2014-08-27 |
Family
ID=51374591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420140294.3U Expired - Fee Related CN203792326U (en) | 2014-03-26 | 2014-03-26 | Fruit sorting manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203792326U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976102A (en) * | 2017-05-12 | 2017-07-25 | 陈汉元 | A kind of fruit high efficiency automatic sorting machine people |
| CN108555898A (en) * | 2018-04-25 | 2018-09-21 | 阜阳盛东智能制造技术研发有限公司 | A kind of fruit sorting manipulator |
-
2014
- 2014-03-26 CN CN201420140294.3U patent/CN203792326U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976102A (en) * | 2017-05-12 | 2017-07-25 | 陈汉元 | A kind of fruit high efficiency automatic sorting machine people |
| CN106976102B (en) * | 2017-05-12 | 2019-05-07 | 陈汉元 | A kind of fruit high efficiency automatic sorting machine people |
| CN108555898A (en) * | 2018-04-25 | 2018-09-21 | 阜阳盛东智能制造技术研发有限公司 | A kind of fruit sorting manipulator |
| CN108555898B (en) * | 2018-04-25 | 2020-08-21 | 安徽省砀山兴达罐业食品有限公司 | Fruit sorting manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140827 Termination date: 20160326 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |