CN206690085U - A kind of fruits and vegetables sorting manipulator - Google Patents
A kind of fruits and vegetables sorting manipulator Download PDFInfo
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- CN206690085U CN206690085U CN201720310798.9U CN201720310798U CN206690085U CN 206690085 U CN206690085 U CN 206690085U CN 201720310798 U CN201720310798 U CN 201720310798U CN 206690085 U CN206690085 U CN 206690085U
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- 235000012055 fruits and vegetables Nutrition 0.000 title claims abstract description 22
- 210000000245 forearm Anatomy 0.000 claims abstract description 24
- 238000009434 installation Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 47
- 230000008878 coupling Effects 0.000 claims description 20
- 238000010168 coupling process Methods 0.000 claims description 20
- 238000005859 coupling reaction Methods 0.000 claims description 20
- 238000007789 sealing Methods 0.000 claims description 18
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Abstract
A kind of fruits and vegetables sorting manipulator is the utility model is related to, belongs to Industrial Robot Technology field.The utility model includes base, I shaft drive, II shaft drive, large arm, III shaft drive, forearm, IV shaft drive and graping chaw；I shaft drive is installed in the base, II shaft drive is securedly mounted on the rotation seat of I shaft drive, large arm one end is arranged on II shaft drive, the other end is connected with III shaft drive, III shaft drive is arranged on large arm upper end, and forearm one end is arranged on III shaft drive, the other end and IV shaft drive of installation, graping chaw is arranged on forearm, while is connected with IV shaft drive.The utility model uses 5DOF manipulator, and crawl position can be accurately positioned；Crawl position uses air pressure link robot manipulator, improves crawl accuracy and stability；Capture finger and carry out the anti-skidding design of soft quality, grasp force can be reduced, prevent fruit and vegetable surfaces by mechanical damage.
Description
Technical field
A kind of fruits and vegetables sorting manipulator is the utility model is related to, belongs to Industrial Robot Technology field.
Background technology
In the present age of intelligence manufacture high speed development, accelerate agricultural modernization has turned into China's agricultural with intelligent development process
Develop the important content of 13 planning.Under the overall background of China's agricultural workforce's worsening shortages, people is substituted with intelligent machine
Work is worked, and raising agricultural production efficiency plays the role of very important to social development progress.Instantly, manipulator has been widely used
In the field such as traditional manufacture and emerging Robot industry, it, which can be substituted, is accomplished manually cumbersome repetitive, work effect
Rate is splendid.However, existing manipulator mainly applies to industry, the utilization in terms of agricultural production is very little, daily fruits and vegetables production
The sorting of product is still completed by manual labor, and small income from work, labor intensity are obtained in the case where great number labour puts into
Greatly, efficiency is low, constrains the development of agricultural modernization.
The content of the invention
The technical problems to be solved in the utility model is to provide a kind of fruits and vegetables sorting manipulator, to solve in fruit and vegetable food
Labour puts into high in sort process, the problem of low production efficiency.
The technical solution of the utility model is：A kind of fruits and vegetables sorting manipulator, it is characterised in that：Passed including base 1, I axle
Dynamic device 2, II shaft drive 3, large arm 4, III shaft drive 5, forearm 6, IV shaft drive 7 and graping chaw 8；
I shaft drive 2 is arranged in base 1, and II shaft drive 3 is securedly mounted to turning for I shaft drive 2
On dynamic seat 22, the one end of large arm 4 is arranged on II shaft drive 3, and the other end is connected with III shaft drive 5, III axle transmission dress
To put 5 and be arranged on the upper end of large arm 4, the one end of forearm 6 is arranged on III shaft drive 5, the other end and IV shaft drive 7 of installation,
Graping chaw 8 is arranged on forearm 6, while is connected with IV shaft drive 7.
I described shaft drive 2, it is characterised in that：Including I spindle motor 9, I shaft gear I 10, motor case lid 11, I axle
Gear II 12, oil sealing disk I 13, I axle power transmission shaft 14, I shaft gear III 15, I shaft gear IV 16, I axle main shaft 17, oil sealing disk II 18, I
Axle bearing 19, case lid 20, I axle shaft coupling 21 and rotation seat 22；
I spindle motor 9 is fastened on motor case lid 11, the spindle motor 9 of I shaft gear I 10 I be interference fitted and with I axle
Gear II 12 engages, and I shaft gear II 12 is coaxially installed on the top of I axle power transmission shaft 14, and I shaft gear III 15 is coaxially installed on I axle biography
The bottom of moving axis 14, oil sealing disk I 13 is arranged on the lower end of I axle power transmission shaft 14, while is close to base 1, and I shaft gear IV 16 is coaxially installed on
I axle main shaft 17 and being engaged with I shaft gear III 15, oil sealing disk II 18 is coaxial with I axle main shaft 17 and is arranged on the lower end of I axle main shaft 17,
It is close to base 1 simultaneously, case lid 20 is fastened on base 1, and the one end of I axle shaft coupling 21 is connected with I axle main shaft 17, other end peace
Rotation seat 22 is filled, I axle bearing 19 is arranged on I axle shaft coupling 21 of the lower section of case lid 20.
II described shaft drive 3, it is characterised in that：Including II spindle motor 23, II shaft gear I 24, II shaft gear II
25th, II axle power transmission shaft 26, casing 27, II shaft gear III 28, II axle driven shaft 29, closing case lid 30, II axle front end end cap 31, II
End bearing 32, II shaft rear end bearing 33 and II shaft rear end end cap 34 before axle；
The casing 27 is fixedly mounted on rotation seat 22, and II spindle motor 23 is fixed on rotation seat 22, and is located at casing
27 lower sections, II shaft gear I 24 are arranged on II spindle motor 23, and II axle power transmission shaft 26 is installed on the middle part of casing 27, II shaft gear II
25 are installed on II axle power transmission shaft 26, and are engaged with II shaft gear I 24, and II axle driven shaft 29 is installed on casing 27 and passes through envelope
Closed box lid 30 positions, and II shaft gear III 28 is installed on II axle driven shaft 29, and is engaged with II shaft gear II 25, and closing case lid 30 is logical
Cross screw to be fixedly mounted on casing 27, II axle front end end cap 31 and II axle driven shaft 29 are co-axially mounted and are fixedly mounted on casing
27 front ends, the coaxial cooperation of 32 and II axle driven shaft of end bearing 29 and be installed on II axle driven shaft 29 before II axle, bearing surface with
Casing 27 is bonded, and II shaft rear end bearing 33 and the coaxial cooperation of II axle driven shaft 29 and is installed on II axle driven shaft 29, bearing table
Face is bonded with casing 27, and II shaft rear end end cap 34 and II axle driven shaft 29 are co-axially mounted and are fixedly mounted on the rear end of casing 27, greatly
Arm 4 is fixedly connected with II axle driven shaft 29.
III described shaft drive 5, it is characterised in that：Including steering connections 35, III spindle motor mounting seat 36, III axle electricity
Machine 37, screw I 38, screw II 39, terminal pad 40, screw III 41, III axle shaft coupling 42 and connecting shaft 43；
III spindle motor 37 is arranged on inside III spindle motor mounting seat 36 by screw I 38, III spindle motor mounting seat 36
It is fixedly installed in by screw II 39 in steering connections 35, terminal pad 40 is close to steering connections 35 by screw III 41 and connect, and III
The one end of axle shaft coupling 42 is connected with III spindle motor 37, and the other end is connected with connecting shaft 43, and connecting shaft 43 is fixedly mounted in large arm 4
Portion.
IV described shaft drive 7, it is characterised in that：Including IV spindle motor 44, bevel gear I 45, IV axle power transmission shaft 46
With bevel gear II 47；
IV spindle motor 44 is fastened on the front end of forearm 6, and IV axle power transmission shaft 46 is arranged on the front lower portion of forearm 6, cone
Gear I 45 is installed on IV axle power transmission shaft 46, and bevel gear II 47 is connected with IV spindle motor 44 and bevel gear II 47 and bevel gear II
47 engagements.
Described graping chaw 8, it is characterised in that：It is gentle including manipulator seat 48, manipulator support 49, mechanical paw 50
Pressure control device 51；
The Pneumatic controller 51 is arranged on inside the lower end of manipulator seat 48, and manipulator support 49 is securedly mounted to machinery
On hand seat 48, manipulator paw 50 is connected through the hinge on manipulator support 49 and Pneumatic controller 51.
Described Pneumatic controller 51, it is characterised in that：Including pneumatic cylinder 52, finger slide 53, air pressure cylinder rod 54
With attachment screw 55；The pneumatic cylinder 52 is fastened on installation manipulator seat 48 by attachment screw 55, air pressure cylinder rod 54 and gas
Cylinder pressure 52 is slidably matched use, and finger slide 53 connects with the lower end of air pressure cylinder rod 54 interference fit.
Described mechanical paw 50, it is characterised in that：Including manipulator finger I 56, manipulator finger II 57, manipulator hand
Refer to III 58 and manipulator finger IV 59；
The manipulator finger I 56 is connected by hinge with manipulator support 49 and finger slide 53, manipulator finger II
57 are connected by hinge with manipulator support 49 and finger slide 53, and manipulator finger III 58 passes through hinge and manipulator support 49
Connected with finger slide 53, manipulator finger IV 59 is connected by hinge with manipulator support 49 and finger slide 53.
Described manipulator finger I 56, it is characterised in that：Including manipulator connecting rod I 60, manipulator connecting rod II 61, machinery
Hand connecting rod III 62, manipulator connecting rod IV 63 and anti-skidding crawl block 64；
Described its both ends of manipulator connecting rod I 60 pass through hinge and the lower end of manipulator support 49 and manipulator connecting rod II 61 respectively
Middle part is connected, and manipulator connecting rod II 61 is connected with finger slide 53 and manipulator connecting rod IV 63 respectively by its both ends of hinge, machine
Tool hand connecting rod III 62 is connected with finger slide 53 and manipulator connecting rod IV 63 respectively by its both ends of hinge, manipulator connecting rod IV 63
It is connected by hinge with manipulator connecting rod II 61 and manipulator connecting rod III 62, anti-skidding crawl block 64 is arranged on manipulator connecting rod IV 63
Lower end.
Described mechanical paw 50, it is characterised in that：Manipulator finger II 57, manipulator finger III 58 and manipulator finger
IV 59 structure is identical with the structure of manipulator finger I 56.
Operation principle of the present utility model is：Manipulator is arranged on agricultural sorting production line entirely through base 1, is completed
Sorting task；I spindle motor starts, by between I shaft gear I 10 and I shaft gear II 12, I axle power transmission shaft 14 and I shaft gear III 15
Engaged transmission passes to power on I axle main shaft 17, and the motion of first free degree is completed so as to drive rotation seat 22 to rotate；II spindle motor
23 startups deliver power to II axle by the engaged transmission between II shaft gear I 24, II shaft gear II 25 and II shaft gear III 28
Driven shaft 29, and then drive large arm 4 to complete second free degree and rotate；III spindle motor 37 is fixed due to coupled connecting shaft 43
In in large arm 4, by relative motion, its own drives forearm 6 to complete Three Degree Of Freedom and rotated；Bevel gear I 45 and bevel gear II 47
Coordinate and the electronic-controlled power steering of IV spindle motor 44 is transferred to IV axle power transmission shaft 46, so as to drive graping chaw 8 to complete four-degree-of-freedom
Rotate；Graping chaw 8 is overall to be arranged on by the upper end of manipulator seat 48 on the manipulator of industrial robot, completed overall dynamic
Make；The change realized crawl position and capture angle can be rotated by control by manipulator seat 48 after installation；This machinery on hand, leads to
Cross Pneumatic controller 51 to control so that air pressure cylinder rod 54 can move in pneumatic cylinder 52, so as to drive finger slide 53 real
Now being moved along air pressure cylinder rod direction, the anti-skidding crawl block 64 of linkage control for being further driven to four fingers completes folding,
Realize crawl function；Anti-skidding crawl block 64 uses the anti-skidding design of soft quality, can be with increasing friction force, simultaneously when carrying out grasping movement
Reduce crawl chucking power, crawl object surface is protected.
The beneficial effects of the utility model are：
1st, using 5DOF manipulator, crawl position can be accurately positioned；
2nd, crawl position uses air pressure link robot manipulator, improves crawl accuracy and stability；
3rd, capture finger and carry out the anti-skidding design of soft quality, grasp force can be reduced, prevent fruit and vegetable surfaces by mechanical damage；
4th, global design is rational in infrastructure, can have a wide range of application, practical.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the shaft drive internal structure profile of the utility model I；
Fig. 3 is the shaft drive structure front view of the utility model II；
Fig. 4 is the shaft drive inside configuration structure sectional view of the utility model II；
Fig. 5 is the shaft drive structure partial sectional view of the utility model III；
Fig. 6 is the shaft drive structural representation of the utility model IV；
Fig. 7 is the shaft drive structure upward view of the utility model IV；
Fig. 8 is the utility model mechanical paw structure schematic diagram；
Fig. 9 is the structural representation of the utility model mechanical paw pneumatic shuttle installation；
Figure 10 is the utility model mechanical paw claw structural representation；
Figure 11 is the utility model mechanical paw finger structure schematic diagram.
In figure：1- bases, the shaft drives of 2- I, the shaft drives of 3- II, 4- large arm, the shaft drives of 5- III, 6- are small
Arm, the shaft drives of 7- IV, 8- graping chaws, the spindle motors of 9- I, the shaft gears I of 10- I, 11- motors case lid, the shaft gears II of 12- I,
13- oil sealings disk I, the axle power transmission shafts of 14- I, the shaft gears III of 15- I, the shaft gears IV of 16- I, the axle main shafts of 17- I, 18- oil sealings disk II, 19- I
Axle bearing, 20- case lids, the axle shaft couplings of 21- I, 22- rotation seats, the spindle motors of 23- II, the shaft gears I of 24- II, the shaft gears II of 25- II,
26 II axle power transmission shafts, 27- casings, the shaft gears III of 28- II, the axle driven shafts of 29- II, 30- closing case lid, the axle front end end caps of 31- II,
End bearing, the shaft rear end bearings of 33- II, the shaft rear end end caps of 34- II, 35- steering connections, the installation of the spindle motors of 36- III before the axles of 32- II
Seat, the spindle motors of 37- III, 38- screws I, 39- screws II, 40- terminal pads, 41- screws III, the axle shaft couplings of 42- III, 43- connections
Axle, the spindle motors of 44- IV, 45- bevel gears I, the axle power transmission shafts of 46- IV, 47- bevel gears II, 48- manipulator seats, 49- manipulator branch
Frame, 50- mechanical paws, 51- Pneumatic controllers, 52- pneumatic cylinders, 53- finger slides, 54- air pressure cylinder rod, 55- connection spiral shells
Nail, 56 manipulator fingers I, 57- manipulator fingers II, 58- manipulator fingers III, 59- manipulator fingers IV, 60- manipulators connect
Bar I, 61- manipulators connecting rod II, 62- manipulators connecting rod III, 63- manipulators connecting rod IV, 64 finger non-slipping blocks.
Embodiment
With reference to the accompanying drawings and detailed description, the utility model is described in further detail.
Embodiment 1：As shown in figs. 1-11, a kind of fruits and vegetables sorting manipulator, it is characterised in that：It is driven including base 1, I axle
Device 2, II shaft drive 3, large arm 4, III shaft drive 5, forearm 6, IV shaft drive 7 and graping chaw 8；
I shaft drive 2 is arranged in base 1, and II shaft drive 3 is securedly mounted to turning for I shaft drive 2
On dynamic seat 22, the one end of large arm 4 is arranged on II shaft drive 3, and the other end is connected with III shaft drive 5, III axle transmission dress
To put 5 and be arranged on the upper end of large arm 4, the one end of forearm 6 is arranged on III shaft drive 5, the other end and IV shaft drive 7 of installation,
Graping chaw 8 is arranged on forearm 6, while is connected with IV shaft drive 7.
I described shaft drive 2, it is characterised in that：Including I spindle motor 9, I shaft gear I 10, motor case lid 11, I axle
Gear II 12, oil sealing disk I 13, I axle power transmission shaft 14, I shaft gear III 15, I shaft gear IV 16, I axle main shaft 17, oil sealing disk II 18, I
Axle bearing 19, case lid 20, I axle shaft coupling 21 and rotation seat 22；
I spindle motor 9 is fastened on motor case lid 11, the spindle motor 9 of I shaft gear I 10 I be interference fitted and with I axle
Gear II 12 engages, and I shaft gear II 12 is coaxially installed on the top of I axle power transmission shaft 14, and I shaft gear III 15 is coaxially installed on I axle biography
The bottom of moving axis 14, oil sealing disk I 13 is arranged on the lower end of I axle power transmission shaft 14, while is close to base 1, and I shaft gear IV 16 is coaxially installed on
I axle main shaft 17 and being engaged with I shaft gear III 15, oil sealing disk II 18 is coaxial with I axle main shaft 17 and is arranged on the lower end of I axle main shaft 17,
It is close to base 1 simultaneously, case lid 20 is fastened on base 1, and the one end of I axle shaft coupling 21 is connected with I axle main shaft 17, other end peace
Rotation seat 22 is filled, I axle bearing 19 is arranged on I axle shaft coupling 21 of the lower section of case lid 20.
II described shaft drive 3, it is characterised in that：Including II spindle motor 23, II shaft gear I 24, II shaft gear II
25th, II axle power transmission shaft 26, casing 27, II shaft gear III 28, II axle driven shaft 29, closing case lid 30, II axle front end end cap 31, II
End bearing 32, II shaft rear end bearing 33 and II shaft rear end end cap 34 before axle；
The casing 27 is fixedly mounted on rotation seat 22, and II spindle motor 23 is fixed on rotation seat 22, and is located at casing
27 lower sections, II shaft gear I 24 are arranged on II spindle motor 23, and II axle power transmission shaft 26 is installed on the middle part of casing 27, II shaft gear II
25 are installed on II axle power transmission shaft 26, and are engaged with II shaft gear I 24, and II axle driven shaft 29 is installed on casing 27 and passes through envelope
Closed box lid 30 positions, and II shaft gear III 28 is installed on II axle driven shaft 29, and is engaged with II shaft gear II 25, and closing case lid 30 is logical
Cross screw to be fixedly mounted on casing 27, II axle front end end cap 31 and II axle driven shaft 29 are co-axially mounted and are fixedly mounted on casing
27 front ends, the coaxial cooperation of 32 and II axle driven shaft of end bearing 29 and be installed on II axle driven shaft 29 before II axle, bearing surface with
Casing 27 is bonded, and II shaft rear end bearing 33 and the coaxial cooperation of II axle driven shaft 29 and is installed on II axle driven shaft 29, bearing table
Face is bonded with casing 27, and II shaft rear end end cap 34 and II axle driven shaft 29 are co-axially mounted and are fixedly mounted on the rear end of casing 27, greatly
Arm 4 is fixedly connected with II axle driven shaft 29.
III described shaft drive 5, it is characterised in that：Including steering connections 35, III spindle motor mounting seat 36, III axle electricity
Machine 37, screw I 38, screw II 39, terminal pad 40, screw III 41, III axle shaft coupling 42 and connecting shaft 43；
III spindle motor 37 is arranged on inside III spindle motor mounting seat 36 by screw I 38, III spindle motor mounting seat 36
It is fixedly installed in by screw II 39 in steering connections 35, terminal pad 40 is close to steering connections 35 by screw III 41 and connect, and III
The one end of axle shaft coupling 42 is connected with III spindle motor 37, and the other end is connected with connecting shaft 43, and connecting shaft 43 is fixedly mounted in large arm 4
Portion.
IV described shaft drive 7, it is characterised in that：Including IV spindle motor 44, bevel gear I 45, IV axle power transmission shaft 46
With bevel gear II 47；
IV spindle motor 44 is fastened on the front end of forearm 6, and IV axle power transmission shaft 46 is arranged on the front lower portion of forearm 6, cone
Gear I 45 is installed on IV axle power transmission shaft 46, and bevel gear II 47 is connected with IV spindle motor 44 and bevel gear II 47 and bevel gear II
47 engagements.
Described graping chaw 8, it is characterised in that：It is gentle including manipulator seat 48, manipulator support 49, mechanical paw 50
Pressure control device 51；
The Pneumatic controller 51 is arranged on inside the lower end of manipulator seat 48, and manipulator support 49 is securedly mounted to machinery
On hand seat 48, manipulator paw 50 is connected through the hinge on manipulator support 49 and Pneumatic controller 51.
Described Pneumatic controller 51, it is characterised in that：Including pneumatic cylinder 52, finger slide 53, air pressure cylinder rod 54
With attachment screw 55；The pneumatic cylinder 52 is fastened on installation manipulator seat 48 by attachment screw 55, air pressure cylinder rod 54 and gas
Cylinder pressure 52 is slidably matched use, and finger slide 53 connects with the lower end of air pressure cylinder rod 54 interference fit.
Described mechanical paw 50, it is characterised in that：Including manipulator finger I 56, manipulator finger II 57, manipulator hand
Refer to III 58 and manipulator finger IV 59；
The manipulator finger I 56 is connected by hinge with manipulator support 49 and finger slide 53, manipulator finger II
57 are connected by hinge with manipulator support 49 and finger slide 53, and manipulator finger III 58 passes through hinge and manipulator support 49
Connected with finger slide 53, manipulator finger IV 59 is connected by hinge with manipulator support 49 and finger slide 53.
Described manipulator finger I 56, it is characterised in that：Including manipulator connecting rod I 60, manipulator connecting rod II 61, machinery
Hand connecting rod III 62, manipulator connecting rod IV 63 and anti-skidding crawl block 64；
Described its both ends of manipulator connecting rod I 60 pass through hinge and the lower end of manipulator support 49 and manipulator connecting rod II 61 respectively
Middle part is connected, and manipulator connecting rod II 61 is connected with finger slide 53 and manipulator connecting rod IV 63 respectively by its both ends of hinge, machine
Tool hand connecting rod III 62 is connected with finger slide 53 and manipulator connecting rod IV 63 respectively by its both ends of hinge, manipulator connecting rod IV 63
It is connected by hinge with manipulator connecting rod II 61 and manipulator connecting rod III 62, anti-skidding crawl block 64 is arranged on manipulator connecting rod IV 63
Lower end.
Described mechanical paw 50, it is characterised in that：Manipulator finger II 57, manipulator finger III 58 and manipulator finger
IV 59 structure is identical with the structure of manipulator finger I 56.
Embodiment 2：As shown in figs. 1-11, a kind of fruits and vegetables sorting manipulator, including base 1, I shaft drive 2, II axle pass
Dynamic device 3, large arm 4, III shaft drive 5, forearm 6, IV shaft drive 7 and graping chaw 8；
I shaft drive 2 is arranged in base 1, and II shaft drive 3 is securedly mounted to the rotation seat of I shaft drive 2
On 22, the one end of large arm 4 is arranged on II shaft drive 3, and the other end is connected with III shaft drive 5, and III shaft drive 5 is pacified
Mounted in the upper end of large arm 4, the one end of forearm 6 is arranged on III shaft drive 5, the other end and IV shaft drive 7 of installation, captures hand
Pawl 8 is arranged on forearm 6, while is connected with IV shaft drive 7.
I shaft drive 2 include I spindle motor 9, I shaft gear I 10, motor case lid 11, I shaft gear II 12, oil sealing disk I 13,
I axle power transmission shaft 14, I shaft gear III 15, I shaft gear IV 16, I axle main shaft 17, oil sealing disk II 18, I axle bearing 19, case lid 20, I axle
Shaft coupling 21 and rotation seat 22；
I spindle motor 9 is fastened on motor case lid 11, the spindle motor 9 of I shaft gear I 10 I be interference fitted and with I shaft gear
II 12 engagements, I shaft gear II 12 are coaxially installed on the top of I axle power transmission shaft 14, and I shaft gear III 15 is coaxially installed on I axle power transmission shaft
14 bottoms, oil sealing disk I 13 is arranged on the lower end of I axle power transmission shaft 14, while is close to base 1, and I shaft gear IV 16 is coaxially installed on I axle
Main shaft 17 and engaged with I shaft gear III 15, oil sealing disk II 18 is coaxial with I axle main shaft 17 and is arranged on the lower end of I axle main shaft 17, simultaneously
It is close to base 1, case lid 20 is fastened on base 1, and the one end of I axle shaft coupling 21 is connected with I axle main shaft 17, and other end installation turns
Dynamic seat 22, I axle bearing 19 are arranged on I axle shaft coupling 21 of the lower section of case lid 20.
II shaft drive 3 includes II spindle motor 23, II shaft gear I 24, II shaft gear II 25, II axle power transmission shaft 26, case
End bearing 32, II axle before body 27, II shaft gear III 28, II axle driven shaft 29, closing case lid 30, II axle front end end cap 31, II axle
The shaft rear end end cap 34 of rear end bearing 33 and II；
Casing 27 is fixedly mounted on rotation seat 22, and II spindle motor 23 is fixed on rotation seat 22, and under casing 27
Side, II shaft gear I 24 are arranged on II spindle motor 23, and II axle power transmission shaft 26 is installed on the middle part of casing 27, II shaft gear II 25 peace
Loaded on II axle power transmission shaft 26, and engaged with II shaft gear I 24, II axle driven shaft 29 is installed on casing 27 and passes through fully sheathed case
Lid 30 positions, and II shaft gear III 28 is installed on II axle driven shaft 29, and is engaged with II shaft gear II 25, and closing case lid 30 passes through spiral shell
Nail is fixedly mounted on casing 27, before II axle front end end cap 31 and II axle driven shaft 29 are co-axially mounted and are fixedly mounted on casing 27
End, the coaxial cooperation of 32 and II axle driven shaft of end bearing 29 and it is installed on II axle driven shaft 29, bearing surface and casing before II axle
27 fittings, II shaft rear end bearing 33 and the coaxial cooperation of II axle driven shaft 29 and are installed on II axle driven shaft 29, bearing surface and
Casing 27 is bonded, and II shaft rear end end cap 34 and II axle driven shaft 29 are co-axially mounted and are fixedly mounted on the rear end of casing 27, large arm 4 with
II axle driven shaft 29 is fixedly connected.
III shaft drive 5 includes steering connections 35, III spindle motor mounting seat 36, III spindle motor 37, screw I 38, screw
II 39, terminal pad 40, screw III 41, III axle shaft coupling 42 and connecting shaft 43；
III spindle motor 37 is arranged on inside III spindle motor mounting seat 36 by screw I 38, III spindle motor mounting seat 36 passes through
Screw II 39 is fixedly installed in steering connections 35, and terminal pad 40 is close to steering connections 35 by screw III 41 and connect, III axle connection
The one end of axle device 42 is connected with III spindle motor 37, and the other end is connected with connecting shaft 43, and connecting shaft 43 is fixedly mounted on the top of large arm 4.
IV shaft drive 7 includes IV spindle motor 44, bevel gear I 45, IV axle power transmission shaft 46 and bevel gear II 47；
IV spindle motor 44 is fastened on the front end of forearm 6, and IV axle power transmission shaft 46 is arranged on the front lower portion of forearm 6, bevel gear I
45 are installed on IV axle power transmission shaft 46, and bevel gear II 47 is connected with IV spindle motor 44 and bevel gear II 47 nibbles with bevel gear II 47
Close.
Graping chaw 8 includes manipulator seat 48, manipulator support 49, mechanical paw 50 and Pneumatic controller 51；
Pneumatic controller 51 is arranged on inside the lower end of manipulator seat 48, and manipulator support 49 is securedly mounted to manipulator seat
On 48, manipulator paw 50 is connected through the hinge on manipulator support 49 and Pneumatic controller 51.
Specific embodiment of the present utility model is explained in detail above in association with accompanying drawing, but the utility model is not
It is limited to above-mentioned embodiment, in those of ordinary skill in the art's possessed knowledge, this practicality can also be not being departed from
Various changes can be made on the premise of new objective.
Claims (10)
- A kind of 1. fruits and vegetables sorting manipulator, it is characterised in that：Including base（1）, I shaft drive（2）, II shaft drive （3）, large arm（4）, III shaft drive（5）, forearm（6）, IV shaft drive（7）And graping chaw（8）；I shaft drive（2）Installed in base（1）In, II shaft drive（3）It is securedly mounted to I shaft drive（2） Rotation seat（22）On, large arm（4）One end is arranged on II shaft drive（3）The upper, other end and III shaft drive（5）Even Connect, III shaft drive（5）Installed in large arm（4）Upper end, forearm（6）One end is arranged on III shaft drive（5）The upper, other end With installing IV shaft drive（7）, graping chaw（8）Installed in forearm（6）It is upper at the same with IV shaft drive（7）Connection.
- 2. fruits and vegetables sorting manipulator according to claim 1, it is characterised in that：I shaft drive（2）Including I axle Motor（9）, I shaft gear I（10）, motor case lid（11）, I shaft gear II（12）, oil sealing disk I（13）, I axle power transmission shaft（14）, I axle Gear III（15）, I shaft gear IV（16）, I axle main shaft（17）, oil sealing disk II（18）, I axle bearing（19）, case lid（20）, I axle connection Axle device（21）And rotation seat（22）；I spindle motor（9）It is fastened on motor case lid（11）On, I shaft gear I（10）With I spindle motor（9）Interference fit and With I shaft gear II（12）Engagement, I shaft gear II（12）It is coaxially installed on I axle power transmission shaft（14）Top, I shaft gear III（15）Together Axle is installed on I axle power transmission shaft（14）Bottom, oil sealing disk I（13）Installed in I axle power transmission shaft（14）Lower end while it is close to base（1）, I shaft gear IV（16）It is coaxially installed on I axle main shaft（17）And with I shaft gear III（15）Engagement, oil sealing disk II（18）With I axle main shaft （17）It is coaxial and be arranged on I axle main shaft（17）Lower end while it is close to base（1）, case lid（20）It is fastened on base（1）On, I Axle shaft coupling（21）One end and I axle main shaft（17）It is connected, other end installation rotation seat（22）, I axle bearing（19）Installed in case lid （20）I axle shaft coupling of lower section（21）On.
- 3. fruits and vegetables sorting manipulator according to claim 1, it is characterised in that：II shaft drive（3）Including II Spindle motor（23）, II shaft gear I（24）, II shaft gear II（25）, II axle power transmission shaft（26）, casing（27）, II shaft gear III （28）, II axle driven shaft（29）, closing case lid（30）, II axle front end end cap（31）, end bearing before II axle（32）, II shaft rear end axle Hold（33）With II shaft rear end end cap（34）；The casing（27）It is fixedly mounted on rotation seat（22）On, II spindle motor（23）It is fixed on rotation seat（22）Above and it is located at Casing（27）Lower section, II shaft gear I（24）Installed in II spindle motor（23）On, II axle power transmission shaft（26）It is installed on casing（27）In Portion, II shaft gear II（25）It is installed on II axle power transmission shaft（26）It is upper and with II shaft gear I（24）Engagement, II axle driven shaft（29） It is installed on casing（27）Above and by closing case lid（30）Positioning, II shaft gear III（28）It is installed on II axle driven shaft（29）And With II shaft gear II（25）Engagement, close case lid（30）Casing is fixedly mounted on by screw（27）On, II axle front end end cap （31）With II axle driven shaft（29）It is co-axially mounted and is fixedly mounted on casing（27）Front end, end bearing before II axle（32）With II axle from Moving axis（29）Coaxial cooperation and it is installed on II axle driven shaft（29）On, bearing surface and casing（27）Fitting, II shaft rear end bearing （33）With II axle driven shaft（29）Coaxial cooperation and it is installed on II axle driven shaft（29）On, bearing surface and casing（27）Fitting, II shaft rear end end cap（34）With II axle driven shaft（29）It is co-axially mounted and is fixedly mounted on casing（27）Rear end, large arm（4）With II Axle driven shaft（29）It is fixedly connected.
- 4. fruits and vegetables sorting manipulator according to claim 1, it is characterised in that：III shaft drive（5）Including turning To joint（35）, III spindle motor mounting seat（36）, III spindle motor（37）, screw I（38）, screw II（39）, terminal pad（40）, spiral shell Nail III（41）, III axle shaft coupling（42）And connecting shaft（43）；III spindle motor（37）Pass through screw I（38）Installed in III spindle motor mounting seat（36）Internal, III spindle motor mounting seat （36）Pass through screw II（39）It is fixedly installed in steering connections（35）It is interior, terminal pad（40）Pass through screw III（41）With steering connections （35）It is close to and connects, III axle shaft coupling（42）One end and III spindle motor（37）Connection, the other end and connecting shaft（43）Connection, connecting shaft （43）It is fixedly mounted on large arm（4）Top.
- 5. fruits and vegetables sorting manipulator according to claim 1, it is characterised in that：IV shaft drive（7）Including IV Spindle motor（44）, bevel gear I（45）, IV axle power transmission shaft（46）With bevel gear II（47）；IV spindle motor（44）It is fastened on forearm（6）Front end, IV axle power transmission shaft（46）Installed in forearm（6）Under front end Portion, bevel gear I（45）It is installed on IV axle power transmission shaft（46）On, bevel gear II（47）With IV spindle motor（44）Connected and bevel gear II （47）With bevel gear II（47）Engagement.
- 6. fruits and vegetables sorting manipulator according to claim 1, it is characterised in that：The graping chaw（8）Including manipulator Seat（48）, manipulator support（49）, mechanical paw（50）And Pneumatic controller（51）；The Pneumatic controller（51）Installed in manipulator seat（48）Inside lower end, manipulator support（49）It is securedly mounted to machine Tool hand seat（48）On, manipulator paw（50）It is connected through the hinge and is arranged on manipulator support（49）With Pneumatic controller（51） On.
- 7. fruits and vegetables sorting manipulator according to claim 6, it is characterised in that：The Pneumatic controller（51）Including gas Cylinder pressure（52）, finger slide（53）, air pressure cylinder rod（54）And attachment screw（55）；The pneumatic cylinder（52）Pass through attachment screw（55）Fasten installation manipulator seat（48）On, air pressure cylinder rod（54）With air pressure Cylinder（52）Be slidably matched use, finger slide（53）With air pressure cylinder rod（54）Lower end interference fit connection.
- 8. fruits and vegetables sorting manipulator according to claim 6, it is characterised in that：The manipulator paw（50）Including machinery Hand finger I（56）, manipulator finger II（57）, manipulator finger III（58）With manipulator finger IV（59）；The manipulator finger I（56）Pass through hinge and manipulator support（49）And finger slide（53）Connection, manipulator finger Ⅱ（57）Pass through hinge and manipulator support（49）And finger slide（53）Connection, manipulator finger III（58）Pass through hinge and machine Tool hand support（49）And finger slide（53）Connection, manipulator finger IV（59）Pass through hinge and manipulator support（49）And finger Sliding block（53）Connection.
- 9. fruits and vegetables sorting manipulator according to claim 8, it is characterised in that：The manipulator finger I（56）Including machine Tool hand connecting rod I（60）, manipulator connecting rod II（61）, manipulator connecting rod III（62）, manipulator connecting rod IV（63）With anti-skidding crawl block （64）；The manipulator connecting rod I（60）Both ends pass through hinge and manipulator support respectively（49）Lower end and manipulator connecting rod II（61） Middle part connects, manipulator connecting rod II（61）Both ends pass through hinge and finger slide respectively（53）And manipulator connecting rod IV（63）Even Connect, manipulator connecting rod III（62）Both ends by hinge respectively with finger slide（53）With manipulator connecting rod IV（63）Connection, machinery Hand connecting rod IV（63）Pass through hinge and manipulator connecting rod II（61）With manipulator connecting rod III（62）Connection, anti-skidding crawl block（64）Peace Mounted in manipulator connecting rod IV（63）Lower end.
- 10. fruits and vegetables sorting manipulator according to claim 8, it is characterised in that：Manipulator finger II（57）, manipulator hand Refer to III（58）With manipulator finger IV（59）Structure and manipulator finger I（56）Structure is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720310798.9U CN206690085U (en) | 2017-03-28 | 2017-03-28 | A kind of fruits and vegetables sorting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720310798.9U CN206690085U (en) | 2017-03-28 | 2017-03-28 | A kind of fruits and vegetables sorting manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206690085U true CN206690085U (en) | 2017-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720310798.9U Expired - Fee Related CN206690085U (en) | 2017-03-28 | 2017-03-28 | A kind of fruits and vegetables sorting manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN206690085U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454732A (en) * | 2018-03-23 | 2018-08-28 | 江苏理工学院 | A kind of junked-auto green stereo rotary disassembling apparatus |
| CN113021388A (en) * | 2021-03-09 | 2021-06-25 | 浙江理工大学 | Multifunctional flexible claw mechanical arm with gas-magnetic switching function |
-
2017
- 2017-03-28 CN CN201720310798.9U patent/CN206690085U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454732A (en) * | 2018-03-23 | 2018-08-28 | 江苏理工学院 | A kind of junked-auto green stereo rotary disassembling apparatus |
| CN113021388A (en) * | 2021-03-09 | 2021-06-25 | 浙江理工大学 | Multifunctional flexible claw mechanical arm with gas-magnetic switching function |
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