CN206923314U - A kind of easy-to-dismount fruit and vegetable picking machinery hand - Google Patents
A kind of easy-to-dismount fruit and vegetable picking machinery hand Download PDFInfo
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- CN206923314U CN206923314U CN201720870976.3U CN201720870976U CN206923314U CN 206923314 U CN206923314 U CN 206923314U CN 201720870976 U CN201720870976 U CN 201720870976U CN 206923314 U CN206923314 U CN 206923314U
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- circular
- outside
- groove
- welded
- circular groove
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Abstract
The utility model discloses a kind of easy-to-dismount fruit and vegetable picking machinery hand, including robotic arm, one end of the mechanical arm offers circular groove, connecting pole is installed in circular groove, and one end of connecting pole is extended to outside circular groove, one end that connecting pole is located in circular groove symmetrically offers two circular holes, push rod is slidably fitted with circular hole, and one end of push rod is extended to outside circular hole, the one end of two push rods outside two circular holes is installed on side inwall of the circular groove away from circular groove opening, circular hole is welded with the first spring on the side inwall away from circular hole opening, it is welded and fixed between first spring and push rod, the both sides of circular groove are arranged with two fixed blocks being welded on mechanical arm, side of the fixed block away from mechanical arm offers square groove, and the both sides of square groove are opening.The utility model can disassembly robot pawl easily and fast, improve the replacing efficiency of mechanical paw, extend the service life of manipulator.
Description
Technical field
It the utility model is related to manipulator technical field, more particularly to a kind of easy-to-dismount fruit and vegetable picking machinery hand.
Background technology
Manipulator includes mechanical arm and mechanical paw, in life now, under the progress of Science and Technology Day crescent benefit, machine
Tool hand and maximum distinguish of the arm of the mankind are that flexibility ratio and resistance to dynamics, that is, the sharpest edges of manipulator are recursive
Doing same action will not always feel tired under normal circumstances in machinery, so the application of mechanical arm also will be more and more wider
General, it is also utilized extensively in terms of agriculture fruit and vegetable picking, and the manipulator currently used for fruit and vegetable picking is generally required according to fruit
The mechanical paw of the size shape selection different specification size of vegetable is plucked to it, but mechanical paw majority is to pass through spiral shell at present
Silk is fixedly mounted on mechanical arm, is needed frequently to dismount screw when changing mechanical paw, is not only easily caused screw stripped thread shadow
Manipulator service life is rung, and changes the less efficient of mechanical paw.
Utility model content
The purpose of this utility model is to solve shortcoming present in prior art, and is proposed a kind of easy-to-dismount
Fruit and vegetable picking machinery hand.
To achieve these goals, the utility model employs following technical scheme：
A kind of easy-to-dismount fruit and vegetable picking machinery hand, including robotic arm, one end of the mechanical arm offer circle
Groove, connecting pole is installed in circular groove, and one end of connecting pole is extended to outside circular groove, one end that connecting pole is located in circular groove is symmetrically opened
Provided with two circular holes, push rod is slidably fitted with circular hole, and one end of push rod is extended to outside circular hole, two push rods are located at two circles
One end outside hole is installed on side inwall of the circular groove away from circular groove opening, and circular hole welds on the side inwall away from circular hole opening
The first spring is connected to, is welded and fixed between the first spring and push rod, the both sides of circular groove, which are arranged with, to be welded on mechanical arm
Two fixed blocks, side of the fixed block away from mechanical arm offers square groove, and the both sides of square groove are to be open, and the two of connecting pole
Side is symmetrically welded with two card columns, and the one end of card column away from connecting pole is through square groove and extends to outside square groove, in the side of square groove
Through hole is offered on wall, kelly is slidably fitted with through hole, and the both ends of kelly are all extended to outside through hole, kelly is located in square groove
One end be arranged in square groove on the side inwall away from through hole, and kelly is in contact with card column, and kelly is located at outside fixed block
One end is welded with the first fixture block.
Preferably, two locating slots are symmetrically offered on the both sides inwall of the circular groove, the both sides of connecting pole are symmetrically welded
There are two locating pieces, locating piece is slidably mounted in locating slot.
Preferably, two stopper slots are symmetrically offered on the both sides inwall of the circular hole, the both sides of push rod are symmetrically welded with
Two limited blocks, limited block are slidably mounted in stopper slot.
Preferably, two necks are symmetrically offered on side inwall of the circular groove away from circular groove opening, are provided with neck
Circular fixture block, and the side of circular fixture block is extended to outside neck, one end that push rod is located at outside circular hole is welded on circular fixture block and is located at
On side outside neck.
Preferably, one end that the connecting pole is located at outside circular groove is installed with mechanical paw, and arc is offered on kelly
Groove, card column is arranged in arc groove, and the side of card column is extended to outside arc groove.
Preferably, the fixed block is welded with the second fixture block close to the side of the first fixture block, and the second fixture block is slidably located in
Outside kelly, the second spring being welded on the first fixture block is arranged with outside kelly, is welded and fixed between second spring and the second fixture block.
Compared with prior art, the beneficial effects of the utility model are：
In the utility model, by mechanical arm, circular groove, connecting pole, circular hole, push rod, the first spring, fixed block, square groove,
Card column, through hole, kelly, the first fixture block, mechanical paw construct a kind of easy-to-dismount fruit and vegetable picking machinery hand jointly, pass through machine
Tool arm, circular groove, connecting pole provide installation pedestal for mechanical paw, by, fixed block, square groove, card column, through hole, kelly, first
Connecting pole is stuck in circular groove by fixture block, applies pressure to connecting pole by circular hole, push rod, the first spring, so that connecting pole card
Tightly in circular groove, the utility model can disassembly robot pawl easily and fast, improve the replacing efficiency of mechanical paw, extend
The service life of manipulator.
Brief description of the drawings
Fig. 1 be the utility model proposes a kind of easy-to-dismount fruit and vegetable picking machinery hand face sectional structure signal
Figure；
Fig. 2 be the utility model proposes a kind of sectional structure signal overlooked of easy-to-dismount fruit and vegetable picking machinery hand
Figure；
Fig. 3 be the utility model proposes a kind of easy-to-dismount fruit and vegetable picking machinery hand in the sectional structure of part A show
It is intended to.
In figure：1 mechanical arm, 2 circular grooves, 3 connecting poles, 4 circular holes, 5 push rods, 6 first springs, 7 fixed blocks, 8 square grooves, 9 cards
Post, 10 through holes, 11 kellies, 12 first fixture blocks.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.
Reference picture 1-3, a kind of easy-to-dismount fruit and vegetable picking machinery hand, including robotic arm 1, one end of mechanical arm 1
Circular groove 2 is offered, connecting pole 3 is installed in circular groove 2, and one end of connecting pole 3 is extended to outside circular groove 2, connecting pole 3 is located at circular groove
One end in 2 symmetrically offers two circular holes 4, push rod 5 is slidably fitted with circular hole 4, and one end of push rod 5 extends to circular hole 4
Outside, the one end of two push rods 5 outside two circular holes 4 is installed on the side inwall that circular groove 2 is open away from circular groove 2, circular hole 4
The first spring 6 is welded with the side inwall being open away from circular hole 4, is welded and fixed between the first spring 6 and push rod 5, circular groove 2
Both sides are arranged with two fixed blocks 7 being welded on mechanical arm 1, side offer side of the fixed block 7 away from mechanical arm 1
Groove 8, and the both sides of square groove 8 are opening, the both sides of connecting pole 3 are symmetrically welded with two card columns 9, and card column 9 is away from connecting pole 3
One end is through square groove 8 and extends to outside square groove 8, and through hole 10 is offered on the side inwall of square groove 8, is slidably fitted with through hole 10
Kelly 11, and the both ends of kelly 11 are all extended to outside through hole 10, it is remote in square groove 8 that kelly 11 is located at one end in square groove 8
From on the side inwall of through hole 10, and kelly 11 is in contact with card column 9, and one end that kelly 11 is located at outside fixed block 7 is welded with
One fixture block 12, symmetrically offers two locating slots on the both sides inwall of circular groove 2, the both sides of connecting pole 3 be symmetrically welded with two it is fixed
Position block, locating piece is slidably mounted in locating slot, symmetrically offers two stopper slots on the both sides inwall of circular hole 4, and the two of push rod 5
Side is symmetrically welded with two limited blocks, and limited block is slidably mounted in stopper slot, the side inwall that circular groove 2 is open away from circular groove 2
On symmetrically offer two necks, is provided with circular fixture block in neck, and the side of circular fixture block is extended to outside neck, push rod 5
In on the side that one end outside circular hole 4 is welded on that circular fixture block is located at outside neck, one end that connecting pole 3 is located at outside circular groove 2 is fixed
Mechanical paw is installed, arc groove is offered on kelly 11, card column 9 is arranged in arc groove, and the side extension of card column 9
To outside arc groove, fixed block 7 is welded with the second fixture block close to the side of the first fixture block 12, and the second fixture block is slidably located in kelly
Outside 11, the second spring being welded on the first fixture block 12 is arranged with outside kelly 11, is welded between second spring and the second fixture block solid
It is fixed.
When manipulator needs to change various sizes of mechanical paw, the manipulator of the mechanical script on hand of dismounting is needed first
Pawl, i.e., connecting pole 3 is pressed into circular groove 2, card column 9 is departed from arc groove, then pull the first fixture block 12, the first fixture block 12 drives
Kelly 11, kelly 11 is moved to outside square groove 8, now stop pressing connecting pole 3, connecting pole 3 is by the elastic force work of the first spring 6
A segment distance is moved to outside circular groove 2 with lower, so that card column 9 removes out of square groove 8, you can by connecting pole 3 together with mechanical paw
Together dismantle, only need to be by the locating slot in the positioning block alignment circular groove 2 on connecting pole 3 during installation manipulator pawl, then will connection
Post 3 is sticked into circular groove 2, and the circular fixture block on push rod 5 will be sticked into neck, continues to press connecting pole 3, push rod 5 will be into circular hole 4
Slide and compress the first spring 6, now pull the first fixture block 12 kelly 11 is departed from square groove 8, second spring will be stretched, card column
9 will enter in square groove 8, when card column 9 is sticked into square groove 8 and is moved to the position being adapted with kelly 11, unclamp the first fixture block
12, under the active force of second spring, kelly 11 is sticked into square groove 8, stops pressing connecting pole 3, in the active force of the first spring 6
Under, card column 9 will be sticked into the arc groove on kelly 11, you can connecting pole 3 is clamped in circular groove 2, completes mechanical paw
Installation.
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art is in the technical scope that the utility model discloses, according to this practicality
New technical scheme and its utility model design are subject to equivalent substitution or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (6)
1. a kind of easy-to-dismount fruit and vegetable picking machinery hand, including robotic arm (1), it is characterised in that the mechanical arm (1)
One end offer circular groove (2), connecting pole (3) is installed in circular groove (2), and one end of connecting pole (3) extends to circular groove (2)
Outside, one end that connecting pole (3) is located in circular groove (2) symmetrically offers two circular holes (4), and push rod is slidably fitted with circular hole (4)
(5), and one end of push rod (5) extends to circular hole (4) outside, and two push rods (5) are located at the one end of two circular holes (4) outside and are installed in
On side inwall of the circular groove (2) away from circular groove (2) opening, circular hole (4) is welded with the on the side inwall away from circular hole (4) opening
One spring (6), it is welded and fixed between the first spring (6) and push rod (5), the both sides of circular groove (2), which are arranged with, is welded on manipulator
Two fixed blocks (7) on arm (1), side of the fixed block (7) away from mechanical arm (1) offer square groove (8), and square groove (8)
Both sides be opening, the both sides of connecting pole (3) are symmetrically welded with two card columns (9), card column (9) away from connecting pole (3) one
End is through square groove (8) and extends to square groove (8) outside, and through hole (10) is offered on the side inwall of square groove (8), is slided in through hole (10)
It is dynamic that kelly (11) is installed, and the both ends of kelly (11) all extend to through hole (10) outside, kelly (11) is located at one in square groove (8)
End is arranged in square groove (8) on the side inwall away from through hole (10), and kelly (11) is in contact with card column (9), kelly (11)
The first fixture block (12) is welded with positioned at the one end of fixed block (7) outside.
A kind of 2. easy-to-dismount fruit and vegetable picking machinery hand according to claim 1, it is characterised in that the circular groove (2)
Both sides inwall on symmetrically offer two locating slots, the both sides of connecting pole (3) are symmetrically welded with two locating pieces, and locating piece is slided
It is dynamic to be arranged in locating slot.
A kind of 3. easy-to-dismount fruit and vegetable picking machinery hand according to claim 1, it is characterised in that the circular hole (4)
Both sides inwall on symmetrically offer two stopper slots, the both sides of push rod (5) are symmetrically welded with two limited blocks, and limited block slides
In stopper slot.
A kind of 4. easy-to-dismount fruit and vegetable picking machinery hand according to claim 1, it is characterised in that the circular groove (2)
Two necks are symmetrically offered on side inwall away from circular groove (2) opening, are provided with circular fixture block in neck, and circular fixture block
Side is extended to outside neck, and push rod (5) is located at the one end of circular hole (4) outside and is welded on the side that circular fixture block is located at outside neck.
A kind of 5. easy-to-dismount fruit and vegetable picking machinery hand according to claim 1, it is characterised in that the connecting pole
(3) mechanical paw is installed with positioned at the one end of circular groove (2) outside, arc groove, card column (9) installation is offered on kelly (11)
In arc groove, and the side of card column (9) is extended to outside arc groove.
A kind of 6. easy-to-dismount fruit and vegetable picking machinery hand according to claim 1, it is characterised in that the fixed block
(7) the second fixture block is welded with close to the side of the first fixture block (12), the second fixture block is slidably located in kelly (11) outside, kelly (11)
The second spring being welded on the first fixture block (12) is arranged with outside, is welded and fixed between second spring and the second fixture block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720870976.3U CN206923314U (en) | 2017-07-18 | 2017-07-18 | A kind of easy-to-dismount fruit and vegetable picking machinery hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720870976.3U CN206923314U (en) | 2017-07-18 | 2017-07-18 | A kind of easy-to-dismount fruit and vegetable picking machinery hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206923314U true CN206923314U (en) | 2018-01-26 |
Family
ID=61355783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720870976.3U Expired - Fee Related CN206923314U (en) | 2017-07-18 | 2017-07-18 | A kind of easy-to-dismount fruit and vegetable picking machinery hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206923314U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381427A (en) * | 2018-05-02 | 2018-08-10 | 中山市勤峰电器有限公司秋浦分公司 | A kind of appliance component production clamping device |
| CN109127933A (en) * | 2018-07-16 | 2019-01-04 | 安徽智森电子科技有限公司 | A kind of automatic stamping manipulator |
| CN112791998A (en) * | 2020-12-25 | 2021-05-14 | 浙江德源智能科技股份有限公司 | Flexible production line system based on machine vision material identification |
| US11014226B2 (en) | 2018-10-26 | 2021-05-25 | Toyota Motor Engineering & Manufacturing North America, Inc. | Automated pick and place apparatuses with object alignment systems |
-
2017
- 2017-07-18 CN CN201720870976.3U patent/CN206923314U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381427A (en) * | 2018-05-02 | 2018-08-10 | 中山市勤峰电器有限公司秋浦分公司 | A kind of appliance component production clamping device |
| CN108381427B (en) * | 2018-05-02 | 2023-12-22 | 中山市勤峰电器有限公司秋浦分公司 | Clamping device is used in electrical components and parts production |
| CN109127933A (en) * | 2018-07-16 | 2019-01-04 | 安徽智森电子科技有限公司 | A kind of automatic stamping manipulator |
| US11014226B2 (en) | 2018-10-26 | 2021-05-25 | Toyota Motor Engineering & Manufacturing North America, Inc. | Automated pick and place apparatuses with object alignment systems |
| CN112791998A (en) * | 2020-12-25 | 2021-05-14 | 浙江德源智能科技股份有限公司 | Flexible production line system based on machine vision material identification |
| CN112791998B (en) * | 2020-12-25 | 2022-05-31 | 浙江德源智能科技股份有限公司 | Flexible production line system based on machine vision material identification |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180126 Termination date: 20200718 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |