CN209290795U - A kind of apple automatic boxing machinery arm - Google Patents
A kind of apple automatic boxing machinery arm Download PDFInfo
- Publication number
- CN209290795U CN209290795U CN201822101603.7U CN201822101603U CN209290795U CN 209290795 U CN209290795 U CN 209290795U CN 201822101603 U CN201822101603 U CN 201822101603U CN 209290795 U CN209290795 U CN 209290795U
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- CN
- China
- Prior art keywords
- mechanical arm
- pedestal
- rotation axis
- automatic boxing
- fixedly connected
- 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.)
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Abstract
The utility model discloses a kind of apple automatic boxing machinery arms, including pedestal, upper mechanical arm, lower mechanical arm, reinforcing rib, cylinder and end effector etc..The pedestal is fixed on holder device, and the upper mechanical arm horizontally rotates with pedestal to be connect, and the lower mechanical arm horizontally rotates with upper mechanical arm to be connect.The reinforcing rib is respectively arranged in the lower section of upper and lower two mechanical arms, is fixedly connected with joint L shape pedestal.The cylinder is vertical with lower mechanical arm free end to be connect, and the end effector is fixedly connected with cylinder end.End effector uses vacuum chuck, can avoid damaging apple in binning process.The mechanical arm is using pedestal highest, upper mechanical arm takes second place, the stairstepping assembly method of lower mechanical arm third.Using the design of wedge-shaped reinforcing rib and L shape pedestal, it can be effectively prevent the shake up and down of mechanical arm, reduce the deformation error of mechanical arm up and down, improve homework precision.
Description
Technical field
The utility model relates to robot automatic control technology fields, and it is mechanical to be more particularly to a kind of apple automatic boxing
Arm has the multi-faceted motor functions such as horizontal, upper and lower, distance.
Background technique
In recent years, with the fast development of China's economy, the living standard of the people is continuously improved, raw to modern agriculture
The demand of production is also constantly being reinforced.By the end of the year 2017, more than 7,600 ten thousand tons of world's apple total output, China is raw up to 43,800,000 tons
It produces and consumption scale accounts for 50% or more the whole world.China has become the maximum producing region of world's high quality apple production, the advantage of scale
It becomes increasingly conspicuous.
Apple vanning is one of important procedure in its production process.Currently, the domestic packing method generallyd use is people
Based on work industry, simple and mechanical turn to auxiliary form.This packing method device therefor is simple, but production efficiency is not high, automatically
Change degree is lower, needs a large amount of labours, has been unable to satisfy the automated production demand of modern agricultural production rapidly and efficiently.Cause
This, carries out the research and design of apple automatic boxing machine people, can effectively improve operation mode, improves production efficiency, promotes to produce
Industry upgrading.
Apple automatic boxing machinery arm is the important component of apple vanning robot.During apple vanning,
Mechanical arm preferably can replace manpower to complete the work grabbed.At work, mechanical arm carries out class people movement, utilizes mechanical arm
Apple automatic boxing is completed in the rotation and displacement in joint.
Summary of the invention
The purpose of this utility model is to provide a kind of apple automatic boxing machinery arms, it is intended to solve existing machinery arm and grab
Phenomena such as jitter amplitude occurred during taking apple quick rotation is big, position error is big.
A kind of in order to achieve the above purposes, the technical solution adopted by the utility model is: apple automatic boxing machinery arm, it is described
Apple automatic boxing machinery arm includes pedestal, upper mechanical arm, lower mechanical arm, reinforcing rib, cylinder, end effector etc..The base
Seat can be fixed on holder device, and the upper mechanical arm horizontally rotates with pedestal to be connect, the lower mechanical arm and upper mechanical arm water
Flat rotation connection, the reinforcing rib are respectively arranged in the lower section of upper and lower two mechanical arms, respectively with the first, second joint L shape bottom
Seat is fixedly connected, and the cylinder is vertical with lower mechanical arm free end to be connect, the fixed company of the end effector and cylinder free end
It connects.
The first cradle head between the pedestal and upper mechanical arm includes driving motor, motor equipped with deceleration device
Frame, shaft coupling, rotation axis, the bearing block with rolling bearing, L shape pedestal.Driving on the base is fixedly mounted in the motor rack
Motor is fixed on motor rack, and the output shaft of driving motor drives rotation axis by shaft coupling, and rotation axis drives upper mechanical arm to turn
It is dynamic.
Rotation axis in first cradle head is multi-diameter shaft, and multi-diameter shaft top is connected with shaft coupling, multi-diameter shaft bottom end
Central axial opening slot, multi-diameter shaft, which is placed on, to be fixed in the bearing block on pedestal, and passes through the aperture and L of upper mechanical arm one end
Shape pedestal is connected by bolt, and multi-diameter shaft bottom end side splines, and is meshed by parallel key with the upper mechanical arm of otch.Institute
It states mechanical arm and is connected with L shape pedestal by bolt.
The second cradle head between the upper mechanical arm and lower mechanical arm includes driving motor, electricity equipped with deceleration device
Rack, shaft coupling, rotation axis, the bearing block with rolling bearing, L shape pedestal.The motor rack is fixedly mounted on mechanical arm
On, driving motor is fixed on motor rack, and the output shaft of driving motor drives rotation axis by shaft coupling, and rotation axis drives upper machine
The rotation of tool arm.
Rotation axis in second cradle head is multi-diameter shaft, and multi-diameter shaft top is connected with shaft coupling, multi-diameter shaft bottom end
Central axial opening slot, multi-diameter shaft, which is placed on, to be fixed in the bearing block on mechanical arm, and passes through opening for lower mechanical arm one end
Hole is connected with L shape pedestal by bolt.Multi-diameter shaft bottom end side splines, and is mutually nibbled by the lower mechanical arm of parallel key and otch
It closes.The lower mechanical arm is connected with L shape pedestal by bolt.
In first cradle head, the lower surface of upper mechanical arm passes through bolt and the wedge-shaped fixed company of the long right-angle surface of reinforcing rib
It connects, the first joint L shape base side is fixedly connected by bolt with the wedge-shaped short right-angle surface of reinforcing rib.
In second cradle head, the lower surface of lower mechanical arm passes through bolt and the wedge-shaped fixed company of the long right-angle surface of reinforcing rib
It connects, the side of the second joint L shape pedestal is fixedly connected by bolt with the wedge-shaped short right-angle surface of reinforcing rib.
The cylinder is fixedly linked by bolt and lower mechanical arm free end.The end effector and cylinder stationary phase
Even.
Compared with prior art, the utility model has the advantage that
Reinforcing rib structure is used in the utility model, effectively can prevent end effector from occurring shape during rotation
The larger problem of variable.If the not auxiliary of reinforcing rib, the deformation of mechanical arm during the motion can reach 3-5mm, utilize
Reinforcing rib may make deformation to be reduced within 0.3mm.
The utility model preferably resolve mechanical arm lengths it is longer when, the free end of arm occur shake acutely, precision drop
Low problem.By the link support of wedge-shaped reinforcing rib and L shape pedestal, mechanical arm free end is effectively reduced in operational process
In due to shake generate error, improve the precision of mechanical arm.
End effector in the utility model is vacuum chuck, and the sucker can be replaced, to realize to other
The apple or spherical fruit of different sizes are without the crawl of damage.
The utility model structure is simple, and manufacturing cost is low.
Detailed description of the invention
Fig. 1 is the utility model general structure schematic diagram；
Fig. 2 is the structural schematic diagram in the first joint of the utility model；
Fig. 3 is the structural schematic diagram of the utility model second joint；
Fig. 4 is that the keyed multi-diameter shaft in the first joint of the utility model drives upper mechanical arm schematic diagram；
Fig. 5 is that the keyed multi-diameter shaft in the utility model second joint drives lower mechanical arm schematic diagram；
Fig. 6 is that the upper mechanical arm of the utility model and the first joint L shape pedestal pass through the connected schematic diagram of wedge-shaped reinforcing rib；
Fig. 7 is the schematic diagram that the lower mechanical arm of the utility model is connected with second joint L shape pedestal by wedge-shaped reinforcing rib；
Fig. 8 is the multi-diameter shaft schematic diagram in the first joint；
Fig. 9 is the multi-diameter shaft schematic diagram in second joint；
The reference numerals are as follows:
Such as figure, 1- the first joint drive motor, 2- the first joint motor frame, the first joint 3- shaft coupling, the first joint 4-
Multi-diameter shaft, the first joint bearing block of 5-, 6- pedestal, the first joint 7- L shape pedestal, the upper mechanical arm of 8-, the big wedge-shaped reinforcing rib of 9-,
10- second joint driving motor, 11- second joint motor rack, 12- second joint shaft coupling, 13- second joint multi-diameter shaft, 14-
Second joint bearing block, 15- second joint L shape pedestal, mechanical arm under 16-, the small wedge-shaped reinforcing rib of 17-, 18- cylinder, 19- are true
Suction disk, the first joint 20- multi-diameter shaft parallel key, 21- second joint multi-diameter shaft parallel key.
Specific embodiment
For be described in detail technical solution technology contents, structure feature and achieved effect, with reference to the accompanying drawings and
The utility model is further described in preferred embodiment.It should be appreciated that specific example described herein is used only for explaining this reality
With novel, the utility model is not limited.
As shown in Figure 1, the utility model is a kind of apple automatic boxing machinery arm, which is characterized in that including pedestal 6, on
Mechanical arm 8, lower mechanical arm 16, big wedge-shaped reinforcing rib 9, small wedge-shaped reinforcing rib 17, cylinder 18, vacuum chuck 19.Pedestal 6 can pass through
Bolt is fixed on holder device, and guaranteeing mechanical arm system, pedestal is steady in the process of running.One end of upper mechanical arm 8 passes through the
One joint horizontally rotates with pedestal 6 to connect.One end of lower mechanical arm 16 horizontally rotates phase with upper mechanical arm 8 by second joint
It connects.Straight down, other end bearing is fixedly connected by bolt with lower mechanical arm 16 at the free extension end of cylinder 18.Vacuum
Sucker 19 is fixedly connected by bolt with the telescopic end of cylinder 18.
As shown in Fig. 2, the first joint connection pedestal 6 and upper mechanical arm 8, first joint are driven including the first joint
Dynamic motor 1 (calling motor 1 in the following text), the first joint motor frame 2 (calling motor rack 2 in the following text), the first joint shaft coupling 3 (calling shaft coupling 3 in the following text),
First joint multi-diameter shaft 4 (calling multi-diameter shaft 4 in the following text), the first joint bearing block 5 (calling bearing block 5 in the following text), the first joint L shape pedestal 7 (under
Claim pedestal 7).Motor rack 2 is fixed by bolts on pedestal 6, and motor 1 is the motor with deceleration device, and can meet more energetically
The mechanical arm of square demand.The output shaft end of motor 1 is steadily placed on motor rack 2 vertically downward.Motor 1 passes through shaft coupling 3
One end is driven to be fixed on the rotation of the multi-diameter shaft 4 on shaft coupling 3.
As shown in Fig. 4,8, multi-diameter shaft 4 shows small at both ends and big in the middle shape, and central axial in 4 lower end of multi-diameter shaft
Opening slot, side spline.In conjunction with Fig. 2,4 upper end of multi-diameter shaft connects with shaft coupling 3, the hole slot and pedestal that lower end axial centre is opened
7 are connected by bolt, so that upper mechanical arm 8 is hanging.The larger circumferential section of 4 middle radius of multi-diameter shaft, which is placed in, to be fixed on pedestal 6
Bearing block 5 in.Upper mechanical arm 8 equally issues keyway in the place opposite with 4 keyway of multi-diameter shaft, so that the rank with parallel key 20
It is intermeshed between terraced axis 4 and upper mechanical arm 8.The rotation of upper mechanical arm 8 is driven by the rotation of multi-diameter shaft 4.
As shown in figure 3, the second joint connects upper mechanical arm 8 and lower mechanical arm 16, the second joint includes second
Joint drive motor 10 (calling motor 10 in the following text), second joint motor rack 11 (calling motor rack 11 in the following text), second joint shaft coupling 12
(calling shaft coupling 12 in the following text), second joint multi-diameter shaft 13 (calling multi-diameter shaft 13 in the following text), second joint bearing block 14 (call bearing block in the following text
14), second joint L shape pedestal 15 (calling pedestal 15 in the following text).Motor rack 11 is fixed by bolts on mechanical arm 8, and motor 10 is
Motor with deceleration device, therefore equally meet the mechanical arm of larger torque demand.Vertically downward by the output shaft end of motor 10
Steadily it is placed on motor rack 11.Motor 10 drives one end to be fixed on 13 turns of the multi-diameter shaft on shaft coupling 12 by shaft coupling 12
It is dynamic.
As shown in Fig. 5,9, multi-diameter shaft 13 shows small at both ends and big in the middle shape, and in 13 lower end central axis of multi-diameter shaft
To opening slot, side splines.In conjunction with Fig. 3 it is found that 13 upper end of multi-diameter shaft connects with shaft coupling 12, lower end axial centre is opened
Hole slot is connected with pedestal 15 by bolt, so that lower mechanical arm 16 is hanging.The larger circumferential section of 13 middle radius of multi-diameter shaft is placed in
It is fixed in the bearing block 14 on mechanical arm 8.Lower mechanical arm 16 equally issues key in the place opposite with 13 keyway of multi-diameter shaft
Slot, so that being intermeshed between the multi-diameter shaft 4 with parallel key 21 and lower mechanical arm 16.Lower machinery is driven by the rotation of multi-diameter shaft 13
The rotation of arm 16.
As shown in fig. 6, circular hole is opened in one end of upper mechanical arm 8, it is fixedly connected with pedestal 7 by bolt.Wedge-shaped reinforcing rib 9 exists
Two right-angle surfaces distinguish opening slot, are connected with upper mechanical arm 8 and pedestal 7 by bolt, are being transported with reducing upper 8 free end of mechanical arm
Due to the error of vibration initiation during row.
As shown in fig. 7, circular hole is opened in one end of lower mechanical arm 16, it is fixedly connected with pedestal 15 by bolt.Wedge-shaped reinforcing rib
17 distinguish opening slot in two right-angle surfaces, are connected with lower mechanical arm 16 and pedestal 15 by bolt, to reduce lower mechanical arm 16 certainly
By holding the error caused in the process of running due to vibration.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model.It should be known that pair
For those skilled in the art, it is all within the spirit and principles of the present invention, it is made it is any modification, equally replace
The relevant operations such as change, improve, all should belong to the protection range of the utility model within.
Claims (10)
1. a kind of apple automatic boxing machinery arm, which is characterized in that the apple automatic boxing machinery arm includes pedestal, upper machinery
Arm, lower mechanical arm, reinforcing rib, cylinder, end effector etc.；The pedestal is fixed on holder device, the upper mechanical arm with
Pedestal horizontally rotates connection, and the lower mechanical arm horizontally rotates with upper mechanical arm to be connect, and the reinforcing rib is respectively arranged in up and down
The lower section of two mechanical arms is fixedly connected with the first, second joint L shape pedestal respectively, the cylinder and lower mechanical arm free end
Vertical connection, the end effector are fixedly connected with cylinder end.
2. apple automatic boxing machinery arm according to claim 1, which is characterized in that further include the first cradle head, institute
It states mechanical arm and is horizontally rotated by the first cradle head with pedestal and is connect.
3. apple automatic boxing machinery arm according to claim 2, which is characterized in that first cradle head includes dress
There are driving motor, motor rack, shaft coupling, rotation axis, the bearing block with rolling bearing, the L shape pedestal of deceleration device, wherein electricity
Rack is fixedly mounted on the base, and driving motor is fixed on motor rack, and the output shaft of driving motor is turned by shaft coupling driving
Moving axis, bearing block are fixed on pedestal upper surface, and rotation axis is placed in bearing block, and L shape pedestal passes through spiral shell inside bolt and rotation axis
Hole is fited, and rotation axis drives upper mechanical arm rotation.
4. apple automatic boxing machinery arm according to claim 3, which is characterized in that rotation axis bottom end side key point
The keyway intermeshing of slot, the parallel key installed in the rotation axis and upper mechanical arm drives upper mechanical arm rotation.
5. apple automatic boxing machinery arm according to claim 1, which is characterized in that further include the second cradle head, institute
It states lower mechanical arm and is horizontally rotated by the second cradle head with upper mechanical arm and is connect.
6. apple automatic boxing machinery arm according to claim 5, which is characterized in that second cradle head includes dress
There are driving motor, motor rack, shaft coupling, rotation axis, the bearing block with rolling bearing, the L shape pedestal of deceleration device, wherein electricity
Rack is fixedly mounted on mechanical arm upper surface, and driving motor is fixed on motor rack, and the output shaft of driving motor passes through shaft coupling
Device drives rotation axis, and bearing block is fixed on mechanical arm upper surface, and rotation axis is placed in bearing block, L shape pedestal by bolt with
Rotation axis interior threaded bore is fited, and rotation axis drives lower mechanical arm rotation.
7. apple automatic boxing machinery arm according to claim 6, which is characterized in that rotation axis bottom end side key point
The keyway intermeshing of slot, the parallel key installed in the rotation axis and lower mechanical arm drives lower mechanical arm rotation.
8. apple automatic boxing machinery arm according to claim 1, which is characterized in that the lower surface of the upper mechanical arm is logical
It crosses bolt to be fixedly connected with the wedge-shaped long right-angle surface of reinforcing rib, the side of the first joint L shape pedestal is added by bolt and wedge shape
The short right-angle surface of strengthening tendons is fixedly connected.
9. apple automatic boxing machinery arm according to claim 1, which is characterized in that the lower surface of the lower mechanical arm is logical
It crosses bolt to be fixedly connected with the wedge-shaped long right-angle surface of reinforcing rib, the side of the second joint L shape pedestal is added by bolt and wedge shape
The short right-angle surface of strengthening tendons is fixedly connected.
10. apple automatic boxing machinery arm according to claim 1, which is characterized in that the cylinder is by bolt under
Mechanical arm free end is fixedly connected, and the end effector is fixedly connected with cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822101603.7U CN209290795U (en) | 2018-12-14 | 2018-12-14 | A kind of apple automatic boxing machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822101603.7U CN209290795U (en) | 2018-12-14 | 2018-12-14 | A kind of apple automatic boxing machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209290795U true CN209290795U (en) | 2019-08-23 |
Family
ID=67654827
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822101603.7U Expired - Fee Related CN209290795U (en) | 2018-12-14 | 2018-12-14 | A kind of apple automatic boxing machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209290795U (en) |
-
2018
- 2018-12-14 CN CN201822101603.7U patent/CN209290795U/en not_active Expired - Fee Related
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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: 20190823 Termination date: 20201214 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |