CN207665641U - A kind of bagging robot - Google Patents
A kind of bagging robot Download PDFInfo
- Publication number
- CN207665641U CN207665641U CN201721686938.9U CN201721686938U CN207665641U CN 207665641 U CN207665641 U CN 207665641U CN 201721686938 U CN201721686938 U CN 201721686938U CN 207665641 U CN207665641 U CN 207665641U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- storage bag
- bagging
- vehicle body
- clamping part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of bagging robots, including：Vehicle body, mechanical arm and storage bag device, wherein mechanical arm and storage bag device are installed on vehicle body, and mechanical arm rotates under the driving of motor on vehicle body, and storage bag device includes supporting rod；Storage bag device includes the first support portion, multi-fork holder and multiple storage bag panels, first support portion one end is installed on vehicle body, multi-fork holder is installed on the other end of the first support portion and being rotated by motor, each storage bag panel be rotationally fixed to an end of multi-fork holder and being rotated by motor, and multiple supporting rods are installed on each surface of the storage bag panel far from multi-fork holder side.To solve the problems, such as that bagging robotic is complicated, controls cumbersome and storage bag unreasonable structure.
Description
Technical field
The utility model is related to intelligent robot technology fields, more particularly to a kind of bagging robot.
Background technology
In daily industry or agricultural production process, in order to needing object (such as grape, apple, pears plant to be protected
The component damaged because of colliding with is easy in object fruit or industrial production) it is protected, it is often necessary to carry out bagging operation.Mesh
Before, bagging work is mainly completed by manually, and not there is only heavy workload, labor intensity is high, operating efficiency is low, operation is inconvenient
Or the defects of difficult, and the repeatability that works is high and cumbersome, and human cost is larger.In order to mitigate intensity of workers, drop
Low labour danger coefficient improves labor productivity, reduces manual operation, adapts to complex work environment, keeps set bag operation easy
It is easy to operate, under the premise of ensureing job requirements, it is thus proposed that the concept of bagging robot.But existing bagging machine
Main problem existing for people is：First, bagging robotic structure is excessively complicated so that the control of bagging robot is also very numerous
Trivial, intelligence degree is relatively low；Secondly, unreasonable bag storage mechanism prevents robot from precisely effectively sack is exported and is sent to
Target location carries out set bag operation.
In view of the above-mentioned problems, currently no effective solution has been proposed.
Utility model content
For the defects in the prior art, the utility model discloses a kind of bagging robot, mechanical structure is simple, passes through
Mechanical arm, storage bag device and the vehicle body that can be moved can easily realize cuff operation.
A kind of bagging robot, including：Vehicle body, mechanical arm and storage bag device, wherein mechanical arm and the installation of storage bag device
In vehicle body, mechanical arm rotates under the driving of motor on vehicle body, and storage bag device includes supporting rod, and storage bag device includes the
One support portion, multi-fork holder and multiple storage bag panels, first support portion one end are installed on vehicle body, and multi-fork holder is installed on first
The other end of support portion and being rotated by first motor, storage bag panel are rotationally fixed to an end of multi-fork holder
Portion and being rotated by the second motor, and be equipped on each end face of the storage bag panel far from multi-fork holder side
Multiple supporting rods.
Further, multiple protrusions are provided on each supporting rod.
Further, multi-fork holder is cross frame, and there are four multiple storage bag panels, and storage bag panel is disc, storage bag
It is uniformly distributed on the circumferencial direction of storage bag panel there are four supporting rod and supporting rod on panel.
Further, mechanical arm includes vertical mechanical arm and lateral mechanical arm, and one end of vertical mechanical arm passes through steering engine cloud
Platform is installed on vehicle body, and one end of lateral mechanical arm is connected with the other end of vertical mechanical arm, and clamping jaw is another with lateral mechanical arm
One end connects, and lateral mechanical arm moves under the driving of third motor on the extending direction of vertical mechanical arm, and clamping jaw is the 4th
It is moved on the extending direction of lateral mechanical arm under the driving of motor.
Further, clamping jaw includes the first clamping part, the second clamping part, head rod, the second connecting rod, semicircle bottom
Disk and steering engine, steering engine are mounted on semicircle chassis, are equipped with rotary support in the rotary shaft of steering engine, and the first of head rod
End and one end of rotary support are articulated and connected, and the bottom end of the other end of head rod and the first clamping part is articulated and connected, and second
The second end of one end of connecting rod and the rotary support of steering engine is articulated and connected, the other end of the second connecting rod and the second clamping part
Bottom end articulated connection, the first clamping part and the second clamping part are mounted on the linear guide rail on semicircle chassis, and can be in rudder
It is moved along linear guide rail under the driving of machine.
Further, the first clamping part and the second clamping part all have bare terminal end, and each bare terminal end has projection portion, and
And electromagnet is installed on aid end.
Further, above-mentioned bagging robot system further includes：Image capturing system, image processing system and target identification
Positioning system, described image acquisition system are installed on the lateral mechanical arm and are communicated to connect with described image processing system,
The object recognition and detection system is located on the clamping jaw and is communicated to connect with described image processing system.
It is using the advantages of the technical solution of the utility model：
(1) by means of independently arranged mechanical arm and storage bag device, it can allow movable mechanical arm from storage bag device
It takes sack away and realizes that bagging works so that overall structure is relatively simple, and control process is allowed to be more prone to；
(2) by the way that multiple rotatable storage bag panels are fixed on above multi-fork holder, fixed peace on each storage bag panel
Multiple overhanging supporting rods are filled, sack is placed on supporting rod, adjust the position of supporting rod, the direct grabs bag of clamping jaw can be made
Son, each storage bag face can independently rotate adjusting post position, and total can greatly increase rotate around central axis again
Storage bag space, while allowing the clamping jaw of mechanical arm that can improve the success rate of bag taking operation easily by bag removal, change
It has been apt to whole work efficiency；
(3) entire mechanical bagging structure is made of lateral mechanical arm and vertical mechanical arm, and lateral mechanical arm is in third motor
Driving under moved on the extending direction of vertical mechanical arm, and control clamping jaw and transported on the extending direction of lateral mechanical arm
It is dynamic, and the clamping part of clamping jaw can carry out switching action under the driving of steering engine, and electromagnetism is installed in the bare terminal end of clamping jaw
Iron can realize support mouth and the sealing of sack, to avoid using complicated mechanical structure, and can allow the portion on mechanical arm
Part can carry out the movement of non-blind area, to accurately carry out set bag operation.
Description of the drawings
Fig. 1 is the structural schematic diagram of the bagging robot of the utility model specific embodiment；
Fig. 2 is the structural schematic diagram of the clamping jaw of the utility model specific embodiment.
Specific implementation mode
The embodiment of technical solutions of the utility model is described in detail below in conjunction with attached drawing.
Fig. 1 is the structural schematic diagram of the bagging robot of the utility model specific embodiment.
In conjunction with Fig. 1, a kind of bagging robot, including：Vehicle body 14, vertical mechanical arm 20, lateral mechanical arm 5 and storage bag dress
It sets, wherein vertical mechanical arm 20 and storage bag device are installed on vehicle body 14, and vertical mechanical arm 20 is under the driving of third motor 19
Rotated on vehicle body, storage bag device includes supporting rod 7, and storage bag device include the first support portion 12, multi-fork holder 10 and
Multiple storage bag panels 13,12 one end of the first support portion are installed on vehicle body 14, and multi-fork holder 10 is installed on the another of the first support portion 12
One end and being rotated by first motor 11, each storage bag panel are rotationally fixed to an end of multi-fork holder 10
Portion, and each storage bag panel 13 is correspondingly arranged that there are one the second motors 9, under the driving of the second motor 9, can allow corresponding
Storage bag panel 13 rotate；Also, multiple supporting rods are installed on each 13 surface far from multi-fork holder side of storage bag panel
7。
Further, there are two protrusions 8 for setting on above-mentioned each supporting rod 7, prevent beam pocket from sliding.
Further, above-mentioned multi-fork holder 10 can be cross frame, and there are four storage bag panels 13, the shape of storage bag panel
Shape can be round (center location of each storage bag panel is rotationally fixed to a bifurcated end of cross frame 10),
Supporting rod 7 there are four being arranged on one storage bag panel 13, and stored up positioned at 4 supporting rods 7 of same storage bag panel 13
It is uniformly distributed on the circumferencial direction of bag panel 13.
Further, one end of above-mentioned vertical mechanical arm 20 is installed on by steering engine holder 18 on vehicle body 14, lateral machine
The other end of one end of tool arm 5 and vertical mechanical arm 20 is connected by mechanical arm fixed frame 21, clamping jaw 6 and lateral mechanical arm 5
The other end connects, and lateral mechanical arm 5 moves under the driving of third motor 19 on the extending direction of vertical mechanical arm 20, clamping jaw
6 move under the driving of the 4th motor 2 on the extending direction of lateral mechanical arm 5.
It is understood that beam pocket is placed on supporting rod 7, the position of supporting rod 7 is adjusted, clamping jaw 6 can be made straight
Crawl beam pocket is connect, each storage bag panel 13 can be rotated independently to adjust the position for the supporting rod 7 installed thereon, multiple storage bags
The total that panel 13 and multi-fork holder 10 form again can rotate around central axis, to considerably increase storage bag space.
Fig. 2 is the structural schematic diagram of the clamping jaw of the utility model specific embodiment.
Further, in conjunction with Fig. 2, clamping jaw 6 includes the first clamping part 35, the second clamping part 23, head rod 31, second
Connecting rod 27, semicircle chassis 29 and steering engine 30, steering engine 30 are mounted on semicircle chassis 29, pacify in the rotary shaft of steering engine 30
Equipped with rotary support 28, the first end of head rod 31 is articulated and connected with one end of rotary support 28, head rod 31
The bottom end of the other end and the first clamping part 35 is articulated and connected, and one end of the second connecting rod 27 is another with the rotary support 28 of steering engine 30
One end is articulated and connected, and the bottom end of the other end of the second connecting rod 27 and the second clamping part 23 is articulated and connected, 35 He of the first clamping part
Second clamping part 23 is mounted on the linear guide rail 26 on semicircle chassis 29, and can be under the driving of steering engine 30 along straight line
Shape guide rail 26 moves.Specifically, linear guide rail 26 can have part outstanding, the first clamping part 35 and the second clamping part 23
There can be buckle structure, to be connected to the protrusion of linear telescopic rod 26 and carry out telescopic slide.
Further, the first clamping part 35 and the second clamping part 23 all have bare terminal end, and each bare terminal end has lug boss
Point, and accommodate and electromagnet 22 and 25 is installed on end.In the embodiment shown in Figure 2, the first clamping part 35 and second is clamped
Portion 23 respectively has 3 projection portions, wherein two engaged 2 projection portion (realities shown in Fig. 2 in most end
Apply in example, electromagnet can be designed as large-size, to itself just be configured to the projection portion of occlusion) it is provided with electromagnetism
Iron 22 and 25.
It is understood that vertical mechanical arm 20 allows entire chassis to exist by following steering engine holder 18 with dynamic bearing
360 degree of circumferential rotation type is done in plane, the lateral mechanical arm 5 of the dragging of vertical mechanical arm 20 above moves up and down in vertical plane,
Lateral mechanical arm 5 connects clamping jaw 6 and stretches in the horizontal plane, and vertical mechanical arm 20 is controlled by third motor 19, lateral mechanical arm 5
It is controlled by the 4th motor 2, can accurately stretch, improve precision, ostrich machine 30 is set in clamping jaw 6, makes the movement of clamping jaw 6 more
Flexibly, entire to cover and by installing support mouth and the sealing that sack may be implemented in electromagnet 22 and 25 in the bare terminal end of clamping jaw 6
Bag mechanical structure is made of vertical mechanical arm 20 and lateral mechanical arm 5, simplicity swift to operate, is avoided using complicated machinery knot
Structure improves bagging efficiency.
Further, above-mentioned bagging robot system according to the present utility model further includes：Image capturing system 4, image
Processing system 15 and object recognition and detection system 24,34, image capturing system 4 be installed on the lateral mechanical arm 5 and with institute
State image processing system 15 communication connection, object recognition and detection system 24 and 34 be located on the clamping jaw 6 and with image procossing system
15 connection of system communication.
The course of work of bagging robot is described below in conjunction with Fig. 1 and Fig. 2.
Bagging robot starts to work, and control system controls above the work of electromagnet 22 and 25 and steering engine 30 of clamping jaw 6
Rotating base 28 rotates so that clamping jaw captures the beam pocket containing Memorability metal on the storage bag face of storage bag device；Simultaneously
Control system sends a signal to image capturing system video camera 4, and the camera of image capturing system video camera 4 is started to work, taken the photograph
As head is passed to the picture taken on image processing system 15 and display screen 16 by image generator 3.
The image that 16 real-time display of display screen takes, meanwhile, image processing system 15 connects long-range PC machine, long-range PC machine
Image transformation, image enhancement, image inverse transformation, image separation, spy can be carried out to the image of 4 camera acquisition of image capturing system
Sign extraction and pattern-recognition, last image processing system 15 judge whether there is bagging target in image.
If not provided, control system control bagging robot advances, bagging target is found；
If so, image processing system 15 is sent to bagging target position information in control system, control system will be believed
It number is sent to object recognition and detection system 24 and 34, object recognition and detection system 24 and 34 incudes bagging target, while will induction
Signal feeds back to control system, passes through 36 layback information of ultrasonic sensor to control system.
Control system passes through control flaps machine head 18, the 4th motor 2 and third motor 19 so that ostrich machine head 18 rotates phase
Angle, lateral mechanical arm 5 is answered to be moved on the extending direction of vertical mechanical arm 20, extending direction of the clamping jaw 6 in lateral mechanical arm 5
Upper movement, while object recognition and detection system 24 above 6 device of clamping jaw and 34 pairs of bagging target locations are accurately positioned,
So that clamping jaw 6 is moved to the underface of bagging target, the rotation of steering engine 30 drives the first clamping part 35 and the second clamping part of clamping jaw 6
23 openings can pull open sack, and the vertical mechanical arm 20 rises bagging, and the stalk rear clip-claw 6 that clamping jaw 6 reaches bagging target continues
Opening tenses tether, closing set sack, and the pressure sensor 37 in clamping jaw 6 perceives whether bagging is completed.
If not completing, clamping jaw continues bagging；If completing, pressure sensor 37 sends instructions to control system control in clamping jaw 6
It makes vertical mechanical arm 20 and lateral mechanical arm 5 returns to initial position, covered bag operation next time.
In conclusion by means of independently arranged mechanical arm and storage bag device, movable mechanical arm can be allowed from storage bag
It takes sack on device away and realizes that bagging works so that overall structure is relatively simple, and control process is allowed to be more prone to；And pass through
Multiple rotatable storage bag panels are fixed on above multi-fork holder, multiple overhanging supports are fixedly mounted on each storage bag panel
Sack is placed on supporting rod by bar, adjusts the position of supporting rod, and clamping jaw can be made directly to capture sack, each storage bag face
Adjusting post position can be independently rotated, total can considerably increase storage bag space, simultaneously rotate around central axis again
Allow the clamping jaw of mechanical arm that can improve the success rate of bag taking operation easily by bag removal, improve overall work effect
Rate；
Entire machinery bagging structure is made of lateral mechanical arm and vertical mechanical arm, drive of the lateral mechanical arm in third motor
It is moved on the extending direction of vertical mechanical arm under dynamic, and controls clamping jaw and moved on the extending direction of lateral mechanical arm, and
And the clamping part of clamping jaw can carry out switching action under the driving of steering engine, and installing electromagnet in the bare terminal end of clamping jaw can
To realize opening and the sealing of sack, to avoid using complicated mechanical structure, and it can allow component on mechanical arm can be into
The movement of row non-blind area, to accurately carry out set bag operation.
In the specification of the utility model, numerous specific details are set forth.It is to be appreciated, however, that the embodiment of the present invention
It can put into practice without these specific details.In some instances, be not been shown in detail well known method, structure and
Technology, so as not to obscure the understanding of this description.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should manage
Solution：It can still modify to the technical solution recorded in previous embodiment, either to which part or whole technologies
Feature carries out equivalent replacement；And these modifications or replacements, it does not separate the essence of the corresponding technical solution, and the utility model is each
The range of embodiment technical solution should all cover in the claim of the utility model and the range of specification.
Claims (7)
1. a kind of bagging robot, which is characterized in that including：Vehicle body (14), mechanical arm and storage bag device, wherein the machine
Tool arm and the storage bag device are installed on the vehicle body (14), and the mechanical arm is under the driving of motor on the vehicle body (14)
Rotation, the storage bag device includes supporting rod (7), and the storage bag device includes the first support portion (12), multi-fork holder
(10) and multiple storage bag panels (13), described first support portion (12) one end are installed on the vehicle body (14), the multi-fork branch
Frame (10) is installed on the other end of first support portion (12) and being rotated by first motor (11), each storage bag face
Plate be rotationally fixed to an end of the multi-fork holder (10) and being rotated by the second motor (9), and
And multiple supporting rods (7) are installed on each end face of the storage bag panel far from multi-fork holder side.
2. bagging robot according to claim 1, which is characterized in that be provided with multiple protrusions on each supporting rod (7)
(8)。
3. bagging robot according to claim 1, which is characterized in that the multi-fork holder (10) is cross frame, institute
It states there are four multiple storage bag panels (13), the storage bag panel (13) is disc, and there are four branch on each storage bag panel (13)
Strut (7), and the supporting rod (7) is uniformly distributed on the circumferencial direction of the storage bag panel (13).
4. bagging robot according to claim 1, which is characterized in that the mechanical arm include vertical mechanical arm (20) and
One end of lateral mechanical arm (5), the vertical mechanical arm (20) is installed on by ostrich machine head (18) on the vehicle body (14), institute
The one end for stating lateral mechanical arm (5) is connected with the other end of the vertical mechanical arm (20), clamping jaw (6) and the lateral mechanical arm
(5) other end connection, the transverse direction mechanical arm (5) is under the driving of third motor (19) in the vertical mechanical arm (20)
It is moved on extending direction, the clamping jaw (6) is under the driving of the 4th motor (2) in the extending direction of the lateral mechanical arm (5)
Upper movement.
5. bagging robot according to claim 4, which is characterized in that the clamping jaw (6) include the first clamping part (35),
Second clamping part (23), head rod (31), the second connecting rod (27), semicircle chassis (29) and steering engine (30), the rudder
Machine (30) is mounted on the semicircle chassis (29), and rotary support (28), institute are equipped in the rotary shaft of the steering engine (30)
The first end for stating head rod (31) and one end of the rotary support (28) are articulated and connected, the head rod (31)
The other end and the bottom end of first clamping part (35) are articulated and connected, one end and the steering engine of second connecting rod (27)
(30) second end of rotary support is articulated and connected, the other end of second connecting rod (27) and second clamping part (23)
Bottom end articulated connection, first clamping part (35) and second clamping part (23) are mounted on the semicircle chassis
Linear guide rail (26), and can be moved along the linear guide rail (26) under the driving of the steering engine (30).
6. bagging robot according to claim 5, which is characterized in that first clamping part (35) and second folder
It holds portion (23) and all has bare terminal end, each bare terminal end all has projection portion, and each accommodates on end and be equipped with electromagnet
(22、25)。
7. bagging robot according to claim 6, which is characterized in that further include：At image capturing system (4), image
Reason system (15) and object recognition and detection system (24,34), described image acquisition system (4) are installed on the lateral mechanical arm
(5) it is communicated to connect on and with described image processing system (15), the object recognition and detection system (24,34) is located at the clamping jaw
(6) it is communicated to connect on and with described image processing system (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721686938.9U CN207665641U (en) | 2017-12-07 | 2017-12-07 | A kind of bagging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721686938.9U CN207665641U (en) | 2017-12-07 | 2017-12-07 | A kind of bagging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207665641U true CN207665641U (en) | 2018-07-31 |
Family
ID=62968217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721686938.9U Expired - Fee Related CN207665641U (en) | 2017-12-07 | 2017-12-07 | A kind of bagging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207665641U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111201929A (en) * | 2020-03-04 | 2020-05-29 | 湖北文理学院 | Pear bagging integrated robot |
-
2017
- 2017-12-07 CN CN201721686938.9U patent/CN207665641U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111201929A (en) * | 2020-03-04 | 2020-05-29 | 湖北文理学院 | Pear bagging integrated robot |
| CN111201929B (en) * | 2020-03-04 | 2021-07-16 | 湖北文理学院 | Pear bagging integrated robot |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180731 Termination date: 20181207 |