CN205394586U - Novel mechanical hand of apple letter sorting - Google Patents

Abstract

The utility model discloses a novel apple sorting manipulator, which comprises a hydraulic device and a plurality of Y-shaped claws. The hydraulic device comprises a piston sleeve and a telescopic piston rod arranged in the piston sleeve. The front end of the piston rod is provided with a A suction cup, the rear end of the piston sleeve is provided with a threaded connecting rod, one short branch of the two short ends of each Y-shaped gripper is hinged with the piston sleeve through the connecting rod, and the other short branch is hinged with the middle part of the piston rod. The long end of each Y-shaped claw bends inwards to form an arc-shaped imitation hook. When the piston rod is in a retracted state, the arc-shaped imitation hooks at the long ends of the multiple Y-shaped claws are in an inwardly retracted state, which is different from the traditional Compared with the finishing robot, the utility model adopts the advantages of the combination of the suction cup and the Y-shaped gripper, so that the advantages of the traditional sucker type and the gripper type are combined into one, which greatly improves the efficiency, and has a simple structure and is easy to operate.

Description

A new type of apple sorting manipulator

technical field

The utility model relates to a manipulator, in particular to a novel apple sorting manipulator. It is suitable for sorting and sorting apples, which brings great convenience to shopping malls, supermarkets, logistics, etc., and effectively saves manpower and time.

Background technique

Now there are some sorting-related robots in the domestic market, but in comparison, they are all multi-type sorting, not very professional, and low in marketability.

In recent years, scholars at home and abroad have conducted in-depth research on transfer robots. For example, the domestic patent "Fruit Sorting Manipulator" (ZL201420140294.3) discloses a robot specifically for fruit sorting. This invention sorts fruits through the cooperation of three parts: the mechanical arm, the hand claw, and the rotating bracket. Although the robot is simple to operate, it only relies on claws to grasp the fruit, and the stability is not high, so fruit sorting cannot be effectively realized.

Utility model content

The purpose of the utility model is to design an innovative sorting manipulator combined with a suction cup and a claw to solve the problems of the existing sorting robot with complex structure, low professionalism and low market availability.

In order to achieve the above object, the utility model adopts the following scheme:

A new type of apple sorting manipulator, characterized in that it includes a hydraulic device and a plurality of Y-shaped grippers, the hydraulic device includes a piston sleeve and a retractable piston rod arranged in the piston sleeve, and a suction cup is provided at the front end of the piston rod , the rear end of the piston sleeve is provided with a threaded connecting rod, one short branch of the two short ends of each Y-shaped gripper is hinged with the piston sleeve through the connecting rod, and the other short branch is hinged with the middle part of the piston rod. The long branch end of a Y-shaped claw bends inward to form an arc-shaped imitation hook, and when the piston rod is in a contracted state, the arc-shaped imitation hooks at the long branch ends of the multiple Y-shaped claws are in a state of inward retraction.

As an improvement, the arc of the arc-like hook at the long end of the Y-shaped claw is 115°-125°, and the diameter of the suction cup is 8cm-12cm, which increases the contact area with the apple and is professional. High work efficiency, strong stability and so on.

As an improvement, the arc-like hook at the long end of the Y-shaped claw is flat, and its width is greater than its thickness. There are 2-4 Y-shaped claws.

The beneficial effect of the utility model is: compared with the traditional sorting robot, the utility model adopts the advantages of the combination of the suction cup and the Y-shaped claw, so that the advantages of the traditional suction cup type and the claw type are combined into one, which greatly improves the Efficiency, simple structure and easy operation.

Description of drawings

Fig. 1 is a structural representation of the utility model.

Fig. 2 is a schematic diagram of the structure of the Y-shaped gripper of the present invention.

Fig. 3 is a schematic diagram of the structure of the Y-shaped claw of the utility model after it is opened.

Fig. 4 is a schematic diagram of the structure of the utility model after the Y-shaped claw is closed.

Wherein, the names corresponding to the reference signs in the accompanying drawings are:

1-threaded connecting rod, 2-connecting rod, 3-Y type claw, 4-pin, 5-piston rod, 6-suction cup, 7-piston sleeve.

detailed description

In order to further illustrate the technical scheme of the utility model, now specifically say in conjunction with the accompanying drawings with marks

A new type of apple sorting manipulator, including a hydraulic device and a plurality of Y-shaped grippers 3, the hydraulic device includes a piston sleeve 7 and a telescopic piston rod 5 arranged in the piston sleeve 7, the front end of the piston rod 5 is provided with Suction cup 6, the rear end of the piston sleeve 7 is provided with a threaded connecting rod 1, a short branch of the two short ends of each Y-shaped claw 3 is hinged with the piston sleeve 7 through the connecting rod 2, and the other short branch is connected to the piston sleeve 7. The middle part of the rod 5 is hinged, and the long ends of each of the Y-shaped claws 3 are bent inwards to form an arc-shaped imitation hook. The imitation hook is in the state of drawing inwards.

The arc of the Y-shaped claw 3 long branch end arc imitation hook is 115°-125°. The present embodiment adopts 120°, and the diameter of the sucker is 8cm-12cm, and the utility model adopts 10cm.

The curved imitation hook of the long end of the Y-shaped claw 3 is flat, and its width is greater than its thickness. There are 2-4 pieces of the Y-shaped claw 3, and 3 are used in this embodiment.

The usage method of the utility model, as shown in Figure 2, under the action of the hydraulic device, the Y-shaped hand claw 3 is opened to a suitable position to push the suction cup 6 outward by 20 cm, and contacts with the surface of the apple to suck the apple, reaching the first stage of sorting. One step, pull back the piston rod 5 of the hydraulic device, and the suction cup 6 drives the apple back under the action of the piston rod 5. At this time, the Y-shaped claw 3 is closed, and the Y-shaped claw 3 adopts a 120° hook design. The retraction of the Y-shaped claws 3 can hold the apples tightly to reach the second step of sorting. In this way, under the double action of the Y-shaped claws 3 and the suction cup 6, the apples can be sorted effectively and stably. In this way, periodic The labor can achieve the purpose of apple sorting. It greatly reduces the situation of apples being damaged on the ground due to unstable grasping of apples during the sorting process, and reduces the loss of apples.

Claims (3)

1. a Novel apple sorting manipulator, it is characterized in that: include hydraulic means and multiple Y type paw (3), described hydraulic means includes piston bush (7) and is located in piston bush (7) telescopic piston rod (5), described piston rod (5) front end is provided with sucker (6), described piston bush (7) rear end is provided with whorl brace rod (1), one short of (3) two short Zhi Duan of each Y type paw described is hinged by connecting rod (2) and piston bush (7), another short hinged with piston rod (5) middle part, the end of drawing money on credit of each Y type paw (3) described curves inwardly the imitative hook of camber, when piston rod (5) is in contraction state, the draw money on credit imitative hook of arc of end of the plurality of Y type paw (3) is in inward collapsible state.

2. a kind of Novel apple sorting manipulator as claimed in claim 1, it is characterised in that: described Y type paw (3) is drawn money on credit and held the radian that arc imitates hook place is 115 °-125 °, and the diameter of described sucker (6) is 8cm-12cm.

3. a kind of Novel apple sorting manipulator as claimed in claim 2, it is characterised in that: the imitative hook of arc of the end of drawing money on credit of described Y type paw (3) is flat, and its width is more than thickness, and described Y type paw (3) has 2-4.