CN207460849U - A kind of gravity self-stabilising picking machine - Google Patents

Abstract

The utility model discloses a kind of gravity self-stabilising picking machine, including three-jaw mechanical arm, supporting rod and moving trolley；Three-jaw mechanical arm includes gravity self-stabilization type pedestal and three-jaw clamping device, and gravity self-stabilization type pedestal includes U-shaped pedestal, adjusting rod and clump weight；Three-jaw clamping device includes three-jaw clamping device and rotary electric machine, rotary electric machine is fixed on the outside of U-shaped pedestal, three-jaw clamping device includes rack, three claw robot, transmission component and driver, and driver is fixed in rack, the output shaft rotation connection of rack and rotary electric machine.The utility model is provided with gravity self-stabilization type pedestal, and when not picking picking object, three-jaw mechanical arm center of gravity is on the lower side；After picking is to picking object, picking object is detached with fruit tree, and three-jaw mechanical arm center of gravity is on the upper side at this time, and three-jaw mechanical arm is caused to overturn, and picking object can fall to storage pocket vertically；After picking object is fallen, three-jaw mechanical arm is overturn again, reinstatement state, prepares lower subjob.

Description

A kind of gravity self-stabilising picking machine

Technical field

The utility model is related to a kind of fruits picking mechanical more particularly to a kind of gravity self-stabilising picking machines.

Background technology

Also higher and higher to associated specifications with going from strength to strength for China's agricultural development, agricultural starts gradually to realize Mechanization and intelligence, therefore agricultural machinery cause necessarily rapidly develops.With the development of industrialization society, a large amount of rural laborer's streams Lose, while the problem of China human mortality is aging is increasingly severe, agriculture cost of labor starts to increase, so machine replace it is artificial Operation has become a kind of inevitable trend, and research and development, which lighten one's labor, carry efficient agricultural machinery huge potentiality.

The Apple Culture in China has long history, have be suitable for Apple Growth development advantageously Reason, soil and weather conditions are the industry development areas of ideal apple.Since the 1980s, the water in China Fruit industry achieves quick swift and violent development in quality and quantity, but during agricultural production, still by artificial Picking operation is carried out, picking becomes a link most time-consuming and laborious in production, and the labour put into during harvest accounts for entirely In the process 50% -70%, and picking robot can improve production efficiency, it is ensured that timely collecting solves manpower shortage Problem.When operation is picked, Major Difficulties are：The growing height of apple differs, the crust fragility easy damaged of apple；It is existing Auxiliary picking machinery, most structure is excessively complicated, is mounted with various sensors so that maintenance cost is excessively high, simple machine Structure but easily damages apple pulp, in view of above various problems, situation, therefore study a kind of Novel apple device for picking have it is great Meaning.

Utility model content

The technical problem to be solved by the utility model is to the deficiencies in for the above-mentioned prior art, provide a kind of gravity Self-stabilising picking machine is provided with gravity self-stabilization type pedestal, and when not picking picking object, three-jaw mechanical arm center of gravity is on the lower side； After picking is to picking object, picking object is detached with fruit tree, and three-jaw mechanical arm center of gravity moves up at this time, causes three-jaw mechanical Arm is overturn, and picking object can directly fall to storage pocket；After picking object is fallen, three-jaw mechanical arm center of gravity re-moves back original Position, to overturn again, reinstatement state, prepare lower subjob, balance weight mechanism is set, including adjusting rod and clump weight, is passed through Increase and decrease the weight of clump weight and adjust the length of adjusting rod to achieve the purpose that the center of gravity of adjusting three-jaw mechanical arm, this can be adopted Off-hook can be adapted for the picking object of a variety of weight and specification.

In order to solve the above technical problems, the technical solution adopted in the utility model is：A kind of gravity self-stabilising picking machine, It is characterized in that：Including three-jaw mechanical arm, supporting rod and moving trolley, the supporting rod is mounted in the moving trolley, described Three-jaw mechanical arm is mounted on the top of the supporting rod；The three-jaw mechanical arm includes gravity self-stabilization type pedestal and is fixed on described Three-jaw clamping device on gravity self-stabilization type pedestal, the gravity self-stabilization type pedestal include U-shaped pedestal, are arranged on the U-shaped base Adjusting rod on the outside of setting closed end and the clump weight far from U-shaped pedestal one end on the adjusting rod is arranged on, the supporting rod Top is fixed with U-shaped bar, and the openend both ends of the U-shaped pedestal are rotatably installed in the openend both ends of the U-shaped bar；Described three Pawl clamping device includes three-jaw clamping device and the rotary electric machine for driving the three-jaw clamping device rotation, the rotation electricity Machine is fixed on the outside of the U-shaped pedestal, and the three-jaw clamping device includes rack, three claw robot, transmission component and driving Device, the driver are fixed in the rack, and the rack and the output shaft of the rotary electric machine are rotatablely connected.

A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The rack includes rotating with the rotary electric machine The Holding seat of connection and the lead on the Holding seat, there are three the quantity of the lead, the three-jaw Manipulator is mounted on three leads.

A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The transmission component is included by the drive belts Dynamic screw, the push-plate on the screw and the push rod being hinged on the push-plate, there are three the quantity of the push rod, The other end of the push rod is sequentially connected with the three claw robot, and the push-plate center offers what is coordinated with the screw Threaded hole, the push-plate are connect by prismatic pair with the rack.

A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The three claw robot includes palm pedestal and sets Three mechanical fingers on the palm pedestal are put, the palm pedestal is fixed in the rack, and the mechanical finger includes hinge Pole and being hinged in the finger saves in the finger root pole that is connected on the palm pedestal, the finger being hinged on the finger root pole Finger tip pole on bar, described refer to are hinged with finger root set square at root pole and the hinged position of palm pedestal, the finger root three Gusset is connect with the transmission component, is hinged at the pole position hinged with referring to root pole in the finger and is referred to intermediate cam plate, institute It states to refer to root set square and refer to be hinged between intermediate cam plate and refers to root connecting rod, cut with scissors between the finger intermediate cam plate and the finger tip pole It is connected to connecting rod in finger.

A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The finger tip pole is wedge structure, in the finger Pole, to refer to root pole and refer to middle connecting rod be rectangular parallelepiped structure.

A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The root connecting rod that refers to is decoupling rod, the decoupling rod Including being hinged on the thin bar referred on intermediate cam plate, the compression spring being set in the thin bar and being hinged on the finger root set square Thick bar is provided with the hole for the thin bar that is slidably installed in the thick bar.

A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The supporting rod includes installing the three-jaw machinery The upright bar of the brace of arm, the sliding rail for being fixed on brace lower end and the support brace and sliding rail is provided on the sliding rail and is used for The clamp system of fixed rack position, the clamp system are fixed on by rod base in the upright bar, are pacified on the rod base Equipped with pulley, the sliding rail is mounted on the bar pulley, and the upright bar is rotatably installed in moving trolley.

A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The sliding rail is hollow rod-shaped rail, described hollow Sliding slot is offered in rod-shaped rail along its length, the pulley is by passing through the montant of the sliding slot to be fixed on rod base.

A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The clamp system includes two and is located at institute respectively State the clamping plate of sliding rail both sides and for clamping plate to be driven to clamp the quick-speed jigs of sliding rail, the quick-speed jigs are respectively articulated with including two Clamping bar on two clamping plates and two connecting rods being hinged between two clamping bars, two connecting rod are hinged by gag lever post and L-shaped bar It forms, the limited block for limiting L-shaped bar extreme position is provided on gag lever post, the clamping plate is hinged under the clamping bar End, two connecting rod are hinged on the upper end of the clamping bar, are hinged on rod base in the middle part of the clamping bar.

A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：Storage pocket, the receipts are installed on the supporting rod Bag of receiving is located at the underface of the three-jaw mechanical arm, and the storage pocket bottom is connected with moving trolley.

The utility model has the following advantages compared with prior art：

1st, the utility model is provided with gravity self-stabilization type pedestal, when not picking picking object, three-jaw mechanical arm center of gravity It is on the lower side, maintain stable state；After picking is to picking object, picking object is detached with fruit tree, and three-jaw mechanical arm center of gravity is on the upper side at this time, leads The overturning of three-jaw mechanical arm is caused, picking object can fall to storage pocket vertically；After picking object is fallen, three-jaw mechanical arm turns over again Turn, reinstatement state, prepare lower subjob.

2nd, the utility model setting balance weight mechanism, including adjusting rod and clump weight, by the weight and tune that increase and decrease clump weight The length of adjusting rod is saved to achieve the purpose that the center of gravity of adjusting three-jaw mechanical arm, can be adapted for the picking machine a variety of heavy The picking object of amount and specification.

3rd, the utility model setting supporting rod, operator realize three-jaw mechanical arm in a certain range by manipulating supporting rod It is mobile, so as to which picking object be made to be located within the clamping range of the three-jaw mechanical arm.

4th, the utility model is provided with moving trolley, and convenient in orchard, picking machine is moved, and is avoided in picking process In, operating personnel is needed to hold act picking machine for a long time.

5th, the utility model is provided with clamp system, and sliding rail is made temporarily to fix, and operating personnel can temporarily unclamp manipulator Handle, the three-jaw mechanical arm will not fall on the ground, and avoid damage mechanical part.

In conclusion the utility model is provided with gravity self-stabilization type pedestal, and when not picking picking object, three-jaw machinery Arm center of gravity is on the lower side, maintains stable state；After picking is to picking object, picking object is detached with fruit tree, at this time three-jaw mechanical arm center of gravity It is on the upper side, three-jaw mechanical arm is caused to overturn, picking object can fall to storage pocket vertically；After picking object is fallen, three-jaw machinery Arm is overturn again, reinstatement state, is prepared lower subjob, is set balance weight mechanism, including adjusting rod and clump weight, is matched by increase and decrease The weight of pouring weight and the length of adjusting rod is adjusted to achieve the purpose that adjust the center of gravity of three-jaw mechanical arm, can make the picking machine can To be suitable for the picking object of a variety of weight and specification.

Below by drawings and examples, the technical solution of the utility model is described in further detail.

Description of the drawings

Fig. 1 is the structure diagram of the utility model.

Fig. 2 is the mounting structure schematic diagram of the utility model three-jaw mechanical arm.

Fig. 3 is the structure diagram of the utility model three-jaw clamping device.

Fig. 4 is the structure diagram of the utility model three claw robot (lacking an activation lacking mechanical to refer to).

Fig. 5 is the structure diagram of the utility model supporting rod.

Fig. 6 is the structure diagram of the utility model sliding rail.

Fig. 7 is the mounting structure schematic diagram of the utility model clamp system.

Fig. 8 is the structure diagram of the utility model clamp system.

Reference sign:

1-moving trolley；2-pedestal；3-clump weight；

4-adjusting rod；5-finger tip pole；6-refer to middle pole；

7-refer to root pole；8-palm pedestal；9-1-refer to intermediate cam plate；

9-2-refer to root set square；The middle connecting rod of 10-1-refer to；10-2-refer to root connecting rod；

11-1-rotary electric machine；11-2-driver；12-screw；

13-push-plate；14-push rod；15-Holding seat；

16-lead；17-brace；18-sliding rail；

19-upright bar；20-clamping plate；21-clamping bar；

22-rod base；23-gag lever post；24-L-shaped bar；

25-storage pocket；26-pulley；27-montant；

28-torsional spring；29-thin bar；30-compression spring；

31-thick bar.

Specific embodiment

As shown in Figure 1, Figure 2 and Figure 3, the utility model includes three-jaw mechanical arm, supporting rod and moving trolley 1, the branch Strut is mounted in the moving trolley 1, and the three-jaw mechanical arm is mounted on the top of the supporting rod；The three-jaw mechanical arm Including gravity self-stabilization type pedestal and the three-jaw clamping device being fixed on the gravity self-stabilization type pedestal, the gravity self-stabilization type bottom Seat includes U-shaped pedestal 2, the adjusting rod 4 being arranged on the outside of 2 blind end of U-shaped pedestal and is arranged on separate on the adjusting rod 4 The clump weight 3 of 2 one end of U-shaped pedestal, the top of the supporting rod are fixed with U-shaped bar, and the openend both ends of the U-shaped pedestal 2 turn The dynamic openend both ends for being mounted on the U-shaped bar；The three-jaw clamping device is described including three-jaw clamping device and for driving The rotary electric machine 11-1 of three-jaw clamping device rotation, the rotary electric machine 11-1 is fixed on the outside of the U-shaped pedestal 2, described Three-jaw clamping device includes rack, three claw robot, transmission component and driver 11-2, the driver 11-2 and is fixed on described In rack, the rack is fixed on the output shaft of the rotary electric machine 11-1.

The three-jaw mechanical arm is designed according to bionic principle according to human hand picking action, and effect is to replace people Hand carries out picking action to picking object, and according to the analysis acted to human hand acquisition, to complete once to pick at least needs two Action, is first clamped picking object, then clamps picking object and is rotated, picking object is made to be detached from tree, complete Acted into picking, in the present embodiment, three-jaw mechanical arm, which needs to meet, at least completes two different actions, including gripping action and Rotational action, the present embodiment use three-jaw mechanical arm, and the picking action of reproduction human hand that can be vivid uses rationally reliable, institute The effect for stating supporting rod is the working range for picking object being made to be located at the three-jaw mechanical arm three-jaw mechanical arm movement Interior, the moving trolley, which facilitates, drives the three-jaw mechanical arm to be moved on the ground, avoids in picking process, needs to grasp Make personnel and hold act picking machine for a long time.The three-jaw mechanical arm is after the picking object is clamped, if directly by the picking Object release falls picking object, and the picking object can be caused to be touched in dropping process with the three-jaw mechanical arm It hits, the picking object is made to be damaged, three-jaw mechanical arm described in the present embodiment includes gravity self-stabilization type pedestal and is fixed on Three-jaw clamping device on the gravity self-stabilization type pedestal, the operation principle of the gravity self-stabilization type pedestal are：When the three-jaw When mechanical arm is in blank state, the center of gravity of the three-jaw mechanical arm is on the lower side, and three-jaw mechanical arm upward, facilitates and carries out clamping acquisition Action；When the three-jaw mechanical arm picks picking object, since three-jaw mechanical arm is clamped with picking object, cause whole The center of gravity of body is on the upper side, and three-jaw mechanical arm is made to drive picking object overturning downward, the picking object is facilitated to fall, and avoids described adopt Object is plucked to collide with the three-jaw mechanical arm in dropping process；Treat that picking object is put down in the three-jaw mechanical arm release Afterwards, center of gravity comes back to original position, and the three-jaw mechanical arm is made to be flipped back to original position again.Due to different pickings Object has different density and quality, and similar picking object also tends to size and is not quite similar, therefore the gravity self-stabilization type bottom Seat includes U-shaped pedestal 2, the adjusting rod 4 being arranged on the outside of 2 blind end of U-shaped pedestal and is arranged on separate on the adjusting rod 4 The clump weight 3 of 2 one end of U-shaped pedestal, can be before carrying out picking work and carrying out, with smaller picking object and larger picking Object respectively tests the three-jaw mechanical arm, adjusts the weight of the clump weight 3 and the length synthesis of the adjusting rod 4 The center of gravity of the three-jaw mechanical arm is adjusted, ensures that the three-jaw mechanical arm in the smaller picking object and larger can be adopted Gravity can be realized from steady by plucking within the mass range of object, the top of the supporting rod is fixed with U-shaped bar, the U-shaped pedestal 2 Openend both ends be rotatably installed in the openend both ends of the U-shaped bar, in the present embodiment, it is only necessary to by 2 turns of the U-shaped pedestal The dynamic top mounted on the supporting rod spins upside down the U-shaped pedestal 2, can pass through various structures and form It realizes, one end of U-shaped pedestal 2 can be hinged on the supporting bar top, the both ends of U-shaped pedestal 2 can also be respectively articulated with On the supporting rod, but the problem of both the above fixing means is poor there are structural strength, and kinetic stability is low, the present embodiment In, U-shaped bar is fixed on the top of the supporting rod, the openend both ends of the U-shaped pedestal 2 are rotatably installed in the U-shaped The openend both ends of bar, structural strength is higher, motion stabilization.The three-jaw clamping device is used for realizing the three-jaw mechanical arm Picking acts, and the picking action includes clamping and rotating two independent actions, and a motor driving may be used, pass through biography Motivation structure will move separately transmission, can also be respectively driven using two driving motors, and the present embodiment uses Dual-motors Driving, save The part of componental movement in transmission mechanism is gone to, structure is simpler, and the three-jaw clamping device includes three-jaw clamping device and use It is realized after clamping picking object in driving the rotary electric machine 11-1, the rotary electric machine 11-1 of the three-jaw clamping device rotation Rotational action, the three-jaw clamping device include rack, three claw robot, transmission component and driver 11-2, three claw clip The action that mechanism is used for realizing clamping picking object is held, the driver 11-2 is fixed in the rack, and the rack is fixed On the output shaft of the rotary electric machine 11-1, the rotary electric machine 11-1 is fixed on the outside of the U-shaped pedestal 2, needs Bright, the rotary electric machine 11-1 and driver 11-2 can be respectively positioned on the outside of the U-shaped pedestal 2, can also be respectively positioned on The inside of the U-shaped pedestal 2 can also be located at the outside and inside of the U-shaped pedestal 2, be used in the present embodiment described respectively Driver 11-2 is located at the inside of the U-shaped pedestal 2, and the rotary electric machine 11-1 is located at the outside of the U-shaped pedestal 2, convenient Two motor radiatings, and two motors can be made to be respectively positioned on straight line, facilitate adjustment center of gravity.

In the present embodiment, the rack includes and the rotary electric machine 11-1 Holding seats 15 being rotatablely connected and is mounted on Lead 16 on the Holding seat 15, there are three the quantity of the lead 16, and the three claw robot is mounted on three On the lead 16.

The Holding seat 15 is used to install the driver 11-2 and supports the entire three-jaw clamping device, the folder It holds the pedestal 15 and rotary electric machine 11-1 to be rotatablely connected, in the specific implementation, the Holding seat 15 can pass through speed reducer Structure is connected with the output shaft of the rotary electric machine 11-1.The rotary electric machine 11-1 is by driving the rotation of Holding seat 15 to make Entire three-jaw clamping device rotation, realizes rotational action, and the lead 16 is used to fix the palm pedestal of the three claw robot 8, in the present embodiment, the lead 16 is driven for accessory drive component for three claw robot, and the lead 16 has three A, structure is more stable.

In the present embodiment, the transmission component includes the screw 12 being rotatablely connected with the driver 11-2, mounted on institute The push rod 14 stated push-plate 13 on screw 12 and be hinged on the push-plate 13, the quantity of the push rod 14 there are three and and institute Three claw robot drive connection is stated, the push-plate 13 is provided centrally with the threaded hole coordinated with the screw 12, the push-plate 13 It is connect by prismatic pair with the rack.

The output shaft of the driver 11-2 is fixedly connected with the screw 12, is opened the driver 11-2 and is driven screw 12 rotations, drive moving up and down for the push-plate 13, when the push-plate 13 moves up, push rod 14 are driven to push the three-jaw machine Tool hand is closed, and picking object is clamped, and when the push-plate 13 moves down, push rod 14 is driven to pull the three claw robot It opens, picking object is loosened, the quantity of the push rod 14 is three, respectively three fingers of promotion three claw robot, three The push rod 14 is hinged on the push-plate 13, can be synchronized simultaneously and be pushed the activation lacking mechanical fingering row holding action, The thrust of push-plate 13 is effectively passed to three fingers of three claw robot.The push-plate 13 is oriented to by prismatic pair and three Column 16 connects, and the lead 16 can ensure that the various pieces of push-plate 13 generate identical displacement each along the direction of motion, prevent Thrust button 13 generates inclination, and the displacement difference of various pieces causes three mechanical fingers closure degree of three claw robot to differ, makes Situation about being loosened into clamping.

As shown in Figure 2, Figure 3 and Figure 4, in the present embodiment, the three claw robot includes palm pedestal 8 and is arranged on described Three mechanical fingers on palm pedestal 8, the palm pedestal 8 are fixed in the rack, and the mechanical finger includes being hinged on institute The finger root pole 7 on palm pedestal 8 is stated, pole 6 in the finger referred on root pole 7 is hinged on and is hinged on pole in the finger Finger tip pole 5 on 6, the finger root pole 7 refer to root set square 9-2, the finger with being hinged at the hinged position of palm pedestal 8 Root set square 9-2 is connect with the transmission component, is hinged in finger at the position hinged with referring to root pole 7 of pole 6 in the finger Set square 9-1, the finger root set square 9-2 and refer to be hinged between intermediate cam plate 9-1 and refer to root connecting rod 10-2, the finger intermediate cam Connecting rod 10-1 in finger is hinged between plate 9-1 and the finger tip pole 5.

The palm pedestal 8 of the three claw robot is fixed on the top of three leads 16, imitates the structure of human hand, The three claw robot includes palm pedestal 8 and three mechanical fingers being arranged on the palm pedestal 8, and the mechanical finger includes It pole 6 and is hinged on described in the finger root pole 7 that is hinged on the palm pedestal 8, the finger being hinged on the finger root pole 7 Finger tip pole 5 in finger on pole 6, in the present embodiment, the finger tip pole 5 in referring to being provided at the hinged position of pole 6 Torsional spring 28 is provided with torsional spring 28 in the finger at the position hinged with referring to root pole 7 of pole 6, and the torsional spring 28 can be to described Finger root pole 5 forms counter-force with pole 6 in finger, facilitates the finger root pole 5 and pole 6 in finger when three claw robot loosens, It can open as possible, avoid colliding with picking object, picking object is made to be damaged.The mechanical finger of the present embodiment drives to owe Dynamic mechanical finger, the finger tip pole 5 refer to middle pole 6, refer to intermediate cam plate 9-1 and refer to middle connecting rod 10-1 by pin to rotate Pair connection one four-bar mechanism of composition, the finger intermediate cam plate 9-1, refers to root pole 7, refers to root set square 9-2 and refers to root connecting rod 10-2 forms a four-bar mechanism by pin with revolute pair connection, and two four-bar mechanisms mutually link composition one A activation lacking mechanical refers to, which possesses the degree of freedom of 3 and a driving, i.e. every activation lacking mechanical of push rod 14 refer to Unique driving force, which, which refers to, to be used to avoid since machine driving makes mechanical finger during picking object is clamped Power is too quickly to cause picking object to be damaged.The finger intermediate cam plate 9-1 and finger root set square 9-2 can make the finger that activation lacking mechanical refers to Part is angled always in root portion and finger, the activation lacking mechanical is avoided to refer to when not driven, activation lacking mechanical refers to State it is uncontrolled, so easily in driving, shape errors that activation lacking mechanical is caused to refer to, it is difficult to carry out holding action.

In the present embodiment, the finger tip pole 5 is wedge structure, and pole 6 in the finger refers to root pole 7 and refers to middle connecting rod 10-1 is rectangular-shape bar.

Pole during major part one end of the finger tip pole 5 of the wedge structure is connected separately with connecting rod 10-1 in the finger and refers to 6, the other end light weight of the finger tip pole 5 of the wedge structure is easily controlled, and shape is similar to human hand finger end, tool There is certain bionic principle, pole 6 in the finger, to refer to root pole 7 and refer to middle connecting rod 10-1 be rectangular-shape bar, easy to process Manufacture, is also convenient for clamping picking object.Pole 6 in the finger of the rectangular parallelepiped structure refers to root pole 7 and refers to middle connecting rod 10-1 is easy to process and manufactures, and facilitate installation, convenient that picking object is clamped.

In the present embodiment, the finger root connecting rod 10-2 is decoupling rod, and the decoupling rod, which includes being hinged on, refers to intermediate cam plate 9-1 On thin bar 29, the compression spring 30 that is set in the thin bar 29 and the thick bar 31 being hinged on the finger root set square 9-2, it is described The hole for the thin bar 29 that is slidably installed is provided in thick bar 31.

In the present embodiment, the activation lacking mechanical that is set as of the decoupling rod refers to and increases one degree of freedom, Ke Yijin One step buffering refer to root pole 7 it is driven after to the power of picking object, it is relatively near apart from the push rod 14 due to referring to root pole 7, During transmission, the power being subject to is also larger, therefore the finger root connecting rod 10-2 is set as decoupling rod, it is possible to prevente effectively from referring to root pole 7 generate damage in clamping process to the picking object.The decoupling rod includes being hinged on the thin bar referred on intermediate cam plate 9-1 29th, the compression spring 30 that is set in the thin bar 29 and the thick bar 31 being hinged on the finger root set square 9-2, in the thick bar 31 It is provided with the hole for the thin bar 29 that is slidably installed.The decoupling rod is simple in structure, using spring to mechanical force into row buffering.

As shown in Fig. 5, Fig. 7 and Fig. 8, in the present embodiment, the supporting rod includes the brace for installing the three-jaw mechanical arm 17th, the upright bar 19 of the sliding rail 18 and the support brace 17 and sliding rail 18 of 17 lower end of brace is fixed on, is set on the sliding rail 18 The clamp system of 18 position of fixed rack is useful for, the clamp system is fixed on by rod base 22 in the upright bar 19, institute It states and pulley 26 is installed on rod base 22, the sliding rail 18 is mounted on the bar pulley 26, and the upright bar 19 is rotatably installed in In moving trolley 1.

The three-jaw mechanical arm is mounted on the top of the brace 17, and the three-jaw mechanical arm is driven by brace 17, described The lower end of brace 17 is fixed with sliding rail 18, and the sliding rail 18 is mounted on the bar pulley 26, and sliding rail 18 passes through in pulley 26 Movement drives the brace 17 to move, and including advancing up, retreats and is rotated in vertical plane downwards, the sliding rail 18 passes through folder The relative position of the sliding rail 18 and pulley 26 is fixed by tight mechanism, then can operate the three-jaw mechanical arm and be clamped Action, the pulley 26 are mounted on by rod base 22 in upright bar 19, and the upright bar 19 is rotatably installed in the moving trolley 2 On, the rotation of upright bar 19 can drive the rod base 22, pulley 26, sliding rail 18, brace 17 and the three-jaw mechanical arm, When specifically used, moving trolley 2 is first moved to the ground near picking object, then rotate upright bar 19 and adjusts sliding rail 18 Position makes the three-jaw mechanical arm be fixed sliding rail 18 by clamping device, then carry out picking work close to the picking object.

As shown in fig. 6, in the present embodiment, the sliding rail 18 is hollow rod-shaped rail, and the hollow rod-shaped rail upper edge is long Degree direction offers sliding slot 18-1, and the pulley 26 is by passing through the montant 27 of the sliding slot 18-1 to be fixed on rod base 22.

The hollow rod-shaped rail is rectangular, is to coordinate the pulley 26, enables the pulley 26 in the cunning It is rotated inside rail 18 with the movement of sliding rail 18, in the present embodiment, the end two sides of the sliding slot 18 offer to fix Mounting hole 18-2, pin may be used or screw is fixed.Pulley 26 described in the sliding rail 18 is mounted on montant 27, can With the height of lifting tackle 26, make the rotational angle bigger of sliding rail 18, anti-anti-slip track 18 and the collision limitation sliding rail 18 of rod base 22 Rotational angle.

In the present embodiment, the clamp system includes two clamping plates 20 for being separately positioned on 18 both sides of sliding rail and is used for Clamping plate 20 is driven to clamp the quick-speed jigs of sliding rail 18, the quick-speed jigs include two folders being respectively hinged on two clamping plates 20 Bar 21 and two connecting rods being hinged between two clamping bars 21, two connecting rod are hingedly formed by gag lever post 23 and L-shaped bar 24, limiting The limited block for limiting 24 extreme position of L-shaped bar is provided on bar 23, the clamping plate 20 is hinged on the lower end of the clamping bar 21, Two connecting rod is hinged on the upper end of the clamping bar 21, and the middle part of the clamping bar 21 is hinged on rod base 22.

In the present embodiment, the clamping plate 20 is arranged on 18 both sides of sliding rail and sliding rail 18 directly can be clamped, can So that operating personnel vacate hand and carry out holding action, in the present embodiment, multiple hemispherical rubbers are provided on the clamping plate 20 Glue protrusion, can be effectively increased the frictional force of sliding rail 18 and clamping plate 20, and the clamping plate 20 is clamped sliding rail 18 by quick-speed jigs Fixed, the quick-speed jigs include two clamping bars 21 being respectively hinged on two clamping plates 20 and are hinged between two clamping bars 21 Two connecting rods, the quick-speed jigs are simple in structure, easy to use quick, the quick-speed jigs when in use, by the L-shaped bar 24 Be pressed downward until the L-shaped bar 24 be in contact with the limited block on the gag lever post 23, by the upper end of two clamping bars 21 to It struts outside, since the middle part of the clamping bar 21 is hinged on the rod base 22, when the upper end of two clamping bars 21 is opened outward When opening, the lower end of two clamping bars 21 inwardly closes up, and the clamping plate 20 is driven to clamp the sliding rail 18, makes sliding rail 18 temporarily solid It is fixed.

In the present embodiment, the lower end of the sliding rail 18 is fixed with handle.

The shape of the sliding rail 18 is rectangular, is unfavorable for operating personnel's gripping, therefore pass through mounting hole 18- in the present embodiment 2 are fixed with handle in the lower end of the sliding rail 18, make operation more comfortably and conveniently, design more hommization.

As shown in Figure 1, in the present embodiment, storage pocket 25 is installed on the supporting rod, the storage pocket 25 is located at described The underface of three-jaw mechanical arm, 25 bottom of storage pocket are connected with moving trolley 1.

The picking object put down by three-jaw clamping limb can be collected by the storage pocket 25, prevent three-jaw mechanical arm high Height is spent, picking object is made to receive damage in dropping process, the bottom end of the storage pocket 25 is connected with the moving trolley 2 It is logical, the picking object for falling into the storage pocket 25 can be allow to fall into moving trolley 2 and stored and carried.

The above is only the preferred embodiment of the utility model, not the utility model imposed any restrictions, every Any simple modification, change and the equivalent structure made according to the utility model technical spirit to above example change, still Belong in the protection domain of technical solutions of the utility model.

Claims (10)

1. a kind of gravity self-stabilising picking machine, it is characterised in that：It is described including three-jaw mechanical arm, supporting rod and moving trolley (1) Supporting rod is mounted in the moving trolley (1), and the three-jaw mechanical arm is mounted on the top of the supporting rod；The three-jaw machine Tool arm includes gravity self-stabilization type pedestal and the three-jaw clamping device that is fixed on the gravity self-stabilization type pedestal, and the gravity is from steady Formula pedestal includes U-shaped pedestal (2), the adjusting rod (4) being arranged on the outside of U-shaped pedestal (2) blind end and is arranged on the tune Clump weight (3) far from U-shaped pedestal (2) one end on pole (4), the top of the supporting rod is fixed with U-shaped bar, the U-shaped base The openend both ends of seat (2) are rotatably installed in the openend both ends of the U-shaped bar；The three-jaw clamping device is clamped including three-jaw Mechanism and the rotary electric machine (11-1) for driving the three-jaw clamping device rotation, the rotary electric machine (11-1) are fixed on institute The outside of U-shaped pedestal (2) is stated, the three-jaw clamping device includes rack, three claw robot, transmission component and driver (11- 2), the driver (11-2) is fixed in the rack, and the rack and the output shaft of the rotary electric machine (11-1) rotate Connection.

2. a kind of gravity self-stabilising picking machine described in accordance with the claim 1, it is characterised in that：The rack includes and described turn The Holding seat (15) and the lead (16) on the Holding seat (15) of dynamic motor (11-1) rotation connection, it is described There are three the quantity of lead (16), and the three claw robot is mounted on three leads (16).

3. a kind of gravity self-stabilising picking machine described in accordance with the claim 1, it is characterised in that：The transmission component is included by institute It states the screw (12) of driver (11-2) drive, the push-plate (13) on the screw (12) and be hinged on the push-plate (13) push rod (14) on, there are three the quantity of the push rod (14), the other end of the push rod (14) with the three-jaw machine Tool hand is sequentially connected, and push-plate (13) center offers the threaded hole coordinated with the screw (12), and the push-plate (13) is logical Prismatic pair is crossed to connect with the rack.

4. a kind of gravity self-stabilising picking machine described in accordance with the claim 1, it is characterised in that：The three claw robot includes hand Palm pedestal (8) and three mechanical fingers being arranged on the palm pedestal (8), the palm pedestal (8) are fixed on the rack On, the mechanical finger includes the finger root pole (7) being hinged on the palm pedestal (8), is hinged on the finger root pole (7) Finger in pole (6) and the finger tip pole (5) that is hinged in the finger on pole (6), the finger root pole (7) and palm pedestal (8) it is hinged at hinged position and refers to root set square (9-2), the finger root set square (9-2) connect with the transmission component, institute It states to be hinged at the position that pole (6) is hinged with referring to root pole (7) in referring to and refers to intermediate cam plate (9-1), the finger root set square (9- 2) it is hinged between finger intermediate cam plate (9-1) and refers to root connecting rod (10-2), the finger intermediate cam plate (9-1) and the finger tip pole (5) connecting rod (10-1) in finger is hinged between.

5. according to a kind of gravity self-stabilising picking machine described in claim 4, it is characterised in that：The finger tip pole (5) is wedge Shape structure, pole (6) in the finger, refer to root pole (7) and refer in connecting rod (10-1) be rectangular parallelepiped structure.

6. according to a kind of gravity self-stabilising picking machine described in claim 4, it is characterised in that：It is described finger root connecting rod (10-2) be Decoupling rod, the decoupling rod include being hinged on the thin bar (29) referred on intermediate cam plate (9-1), be set in the thin bar (29) Compression spring (30) and the thick bar (31) being hinged on finger root set square (9-2) are provided on the thick bar (31) and are slidably installed The hole of the thin bar (29).

7. a kind of gravity self-stabilising picking machine described in accordance with the claim 1, it is characterised in that：The supporting rod includes installation institute State the brace (17) of three-jaw mechanical arm, the sliding rail (18) for being fixed on brace (17) lower end and the support brace (17) and sliding rail (18) upright bar (19) is provided with for the clamp system of fixed rack (18) position, the clamping machine on the sliding rail (18) Structure is fixed on by rod base (22) in the upright bar (19), and pulley (26), the sliding rail are equipped on the rod base (22) (18) on the pulley (26), the upright bar (19) is rotatably installed in moving trolley (1).

8. according to a kind of gravity self-stabilising picking machine described in claim 7, it is characterised in that：The sliding rail (18) is hollow stem Shape guide rail, sliding slot (18-1) is offered in the hollow rod-shaped rail along its length, and the pulley (26) is described by passing through The montant (27) of sliding slot (18-1) is fixed on rod base (22).

9. according to a kind of gravity self-stabilising picking machine described in claim 7, it is characterised in that：The clamp system includes two Respectively positioned at the clamping plate (20) of the sliding rail (18) both sides and for clamping plate (20) to be driven to clamp the quick-speed jigs of sliding rail (18), institute Quick-speed jigs are stated to include two clamping bars (21) being respectively hinged on two clamping plates (20) and be hinged between two clamping bars (21) Two connecting rods, two connecting rod hingedly forms by gag lever post (23) and L-shaped bar (24), is provided with to limit on gag lever post (23) The limited block of L-shaped bar (24) extreme position, the clamping plate (20) are hinged on the lower end of the clamping bar (21), and two connecting rod is hinged It is hinged on rod base (22) in the middle part of the upper end of the clamping bar (21), the clamping bar (21).

10. a kind of gravity self-stabilising picking machine described in accordance with the claim 1, it is characterised in that：It is equipped on the supporting rod Storage pocket (25), the storage pocket (25) is positioned at the underface of the three-jaw mechanical arm, storage pocket (25) bottom and movement Trolley (1) connects.