CN210256182U - Manipulator mechanism for clamping fruit bag - Google Patents
Manipulator mechanism for clamping fruit bag Download PDFInfo
- Publication number
- CN210256182U CN210256182U CN201921168153.1U CN201921168153U CN210256182U CN 210256182 U CN210256182 U CN 210256182U CN 201921168153 U CN201921168153 U CN 201921168153U CN 210256182 U CN210256182 U CN 210256182U
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- rotating shaft
- connecting rod
- steering engine
- shaft connecting
- manipulator
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Abstract
The utility model discloses a manipulator mechanism for clamping fruit bags, which comprises a manipulator, wherein the manipulator comprises an electromagnetic clamp structure for taking out the fruit bags and a rotating shaft structure for promoting the electromagnetic clamp structure to complete folding and opening actions; the electromagnetic clamp structure is connected with the rotating shaft structure. Through set up the electro-magnet on the clip and through the action that the steering wheel realized foling and opening to the clip, thereby utilize the magnetic attraction effect of electro-magnet to the thin circle silk and the suction effect that the thin circle silk of container bag both sides received to pull open the sack of container bag to realized the intelligent operation of fruit cover bag, greatly saved the human cost.
Description
Technical Field
The utility model relates to a manipulator mechanism especially relates to a manipulator mechanism for centre gripping fruit bag.
Background
With the improvement of living standard of people, the demand of people on fruits shifts to high quality and pollution-free (so-called green fruits), the price of the commercially available pollution-free fruits is obviously higher than that of the common fruits, and the production of the pollution-free fruits depends on whether the fruit bagging technology is applied or not. The fruit bag not only isolates the pesticide and the environmental pollution to ensure that the fruit is pollution-free, but also enables the surface of the mature fruit to be smooth and bright in color and luster through the effect of isolating plant diseases and insect pests and dust on the premise of not influencing and damaging the normal growth and maturity of the fruit, thereby improving the grade of the fruit and having remarkable benefits.
In order to conveniently and rapidly bagging fruits, the fruit bagging on the market at present has a double-layer fruit bag which is provided with a fine coil wire 14 at the bag opening and is composed of an outer paper bag 15 and an inner paper bag 16 as shown in figure 1. In order to realize the intellectualization of fruit bagging, the fruit bagging operation is realized by a manipulator at present; however, when the bag is used, a plurality of bags are overlapped, and it is difficult for a common manipulator to accurately take out one bag from the stacked bags, and the paper bag with the folded bag opening cannot be opened.
Therefore, how to change the existing mechanical hand mechanism to realize accurate bag taking and bag opening is a problem to be solved at the present stage.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the not enough of prior art, provide a manipulator mechanism for centre gripping fruit bag, solved the defect that current manipulator mechanism exists.
The purpose of the utility model is realized through the following technical scheme: a manipulator mechanism for clamping fruit bags comprises a manipulator, wherein the manipulator comprises an electromagnetic clamp structure for taking out the fruit bags and a rotating shaft structure for promoting the electromagnetic clamp structure to complete folding and opening actions; the electromagnetic clamp structure is connected with the rotating shaft structure.
The electromagnetic clamp structure comprises a left electromagnetic clamp and a right electromagnetic clamp, the left electromagnetic clamp and the right electromagnetic clamp are connected with the rotating shaft structure, and folding and opening actions are completed through rotation of the rotating shaft structure.
The left electromagnetic clamp and the right electromagnetic clamp respectively comprise a clamp, an electromagnet and a spring; the middle part of the clamp is provided with a groove; one end of the spring is fixed in the groove of the clamp, the other end of the spring is fixed on the electromagnet, and the electromagnet is positioned in the groove.
The rotating shaft structure comprises a rotating shaft, a first rotating shaft connecting rod and a second rotating shaft connecting rod; the rotating shaft is connected with a first rotating shaft connecting rod and drives the first rotating shaft connecting rod to rotate; and the first rotating shaft connecting rod is connected with the second rotating shaft connecting rod and drives the second rotating shaft connecting rod to rotate.
The first rotating shaft connecting rod comprises a first left rotating shaft connecting rod and a first right rotating shaft connecting rod; the second rotating shaft connection comprises a second left rotating shaft connecting rod and a second right rotating shaft connection; the first left rotating shaft connecting rod and the first right rotating shaft connecting rod are respectively connected to two sides of the rotating shaft; the second left rotating shaft connecting rod is connected with the first left rotating shaft connecting rod, and the second right rotating shaft connecting rod is connected with the first right rotating shaft connecting rod.
The second left rotating shaft connecting rod is connected with the tail end of the left electromagnetic clamp, and the second right rotating shaft connecting rod is connected with the tail end of the right electromagnetic clamp to drive the left electromagnetic clamp and the right electromagnetic clamp to complete folding and opening actions.
The manipulator still includes the casing, pivot, first pivot connecting rod and second pivot connecting rod set up in the casing, left side electromagnetism clip and right side electromagnetism clip are located both ends about the casing respectively.
The manipulator mechanism further comprises a mechanical arm, one end of the mechanical arm is fixed on the cloud deck, and the other end of the mechanical arm is connected with the manipulator.
The mechanical arm comprises a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine and a sixth steering engine which are sequentially arranged from bottom to top; first steering wheel, second steering wheel, third steering wheel, fourth steering wheel, fifth steering wheel and sixth steering wheel are fixed on the metal support, constitute mobilizable arm whole jointly with the metal support.
The first steering engine is fixed on the holder, and the fifth steering engine and the sixth steering engine are connected with the manipulator.
The utility model has the advantages that: the utility model provides a thereby utilize the magnetic attraction effect of electromagnet to the thin circle silk and the suction effect that the thin circle silk of container bag both sides received to pull open the sack of container bag through set up the electro-magnet on the clip and through the action that the steering wheel realized closing up and opening to the clip to the fruit bag manipulator mechanism for centre gripping fruit bag to realized the intelligent operation of fruit bagging-off, greatly saved the human cost.
Drawings
FIG. 1 is a structural view of a paper bag;
FIG. 2 is a block diagram of a robot;
FIG. 3 is a front view of the robot mechanism;
FIG. 4 is a right side view of the robot mechanism;
in the figure, 1-clamp, 2-electromagnet, 3-spring, 4-groove, 5-rotating shaft, 6-first rotating shaft connecting rod, 7-second rotating shaft connecting rod, 8-shell, 9-first steering engine, 10-second steering engine, 11-third steering engine, 12-fourth steering engine, 13-fifth steering engine, 14-thin-turn wire, 15-outer paper bag, 16-inner paper bag, 17-pan-tilt and 18-sixth steering engine.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the utility model is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element to which the term refers must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The technical solution of the present invention is described in further detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
The utility model provides a manipulator mechanism for centre gripping fruit bag which characterized in that: the fruit bag opening and closing manipulator comprises a manipulator, wherein the manipulator comprises an electromagnetic clamp structure for taking out fruit bags and a rotating shaft structure for promoting the electromagnetic clamp structure to complete closing and opening actions; the electromagnetic clamp structure is connected with the rotating shaft structure.
The electromagnetic clamp structure comprises a left electromagnetic clamp and a right electromagnetic clamp, the left electromagnetic clamp and the right electromagnetic clamp are connected with the rotating shaft structure, and folding and opening actions are completed through rotation of the rotating shaft structure.
As shown in fig. 2, each of the left electromagnetic clamp and the right electromagnetic clamp comprises a clamp 1, an electromagnet 2 and a spring 3; the middle part of the clamp 1 is provided with a groove 4; one end of the spring 3 is fixed in the groove 4 of the clamp 1, the other end is fixed on the electromagnet 2, and the electromagnet 2 is positioned in the groove 4.
Further, the clip 1 is a metal clip, preferably a metal iron clip; because the spring 3 stretches out and draws back, the electromagnet 2 slightly stretches out of the groove 4 at ordinary times, when the left clamp and the right clamp are closed, the two electromagnets 3 cannot be extruded too much, and the electromagnets can be well protected from being damaged.
The electromagnet 2 is in control connection with the single chip microcomputer through a cable, the single chip microcomputer controls the electromagnet to be powered on or off, and when the electromagnet 2 is powered on, the paper bag can be taken out and opened by generating magnetic force; after the bagging operation of fruit is completed, the single chip microcomputer is switched off to electrify the electromagnet 2, the magnetic force on the electromagnet 2 disappears, and the clamp can be removed from the paper bag.
The rotating shaft structure comprises a rotating shaft 5, a first rotating shaft connecting rod 6 and a second rotating shaft connecting rod 7; the rotating shaft 5 is connected with a first rotating shaft connecting rod 6 and drives the first rotating shaft connecting rod 6 to rotate; and the first rotating shaft connecting rod 6 is connected with the second rotating shaft connecting rod 7 and drives the second rotating shaft connecting rod 7 to rotate.
The first rotating shaft connecting rod 6 comprises a first left rotating shaft connecting rod and a first right rotating shaft connecting rod; the second rotating shaft connection comprises a second left rotating shaft connecting rod and a second right rotating shaft connection; the first left rotating shaft connecting rod and the first right rotating shaft connecting rod are respectively connected to two sides of the rotating shaft 5; the second left rotating shaft connecting rod is connected with the first left rotating shaft connecting rod, and the second right rotating shaft connecting rod is connected with the first right rotating shaft connecting rod.
The second left rotating shaft connecting rod is connected with the tail end of the left electromagnetic clamp, and the second right rotating shaft connecting rod is connected with the tail end of the right electromagnetic clamp to drive the left electromagnetic clamp and the right electromagnetic clamp to complete folding and opening actions.
The manipulator still includes casing 8, pivot 5, first pivot connecting rod 6 and second pivot connecting rod (7) set up in casing 8, left side electromagnetism clip and right side electromagnetism clip are located casing 8 both ends about respectively.
As shown in fig. 3 and 4, the manipulator mechanism further includes a manipulator, one end of the manipulator is fixed on the pan-tilt 17, and the other end of the manipulator is connected to the manipulator.
The mechanical arm comprises a first steering engine 9, a second steering engine 10, a third steering engine 11, a fourth steering engine 12, a fifth steering engine 13 and a sixth steering engine 18 which are sequentially arranged from bottom to top; a first steering engine 9, a second steering engine 10, a third steering engine 11, a fourth steering engine 12, a fifth steering engine 13 and a sixth steering engine 18 are fixed on a metal support and form a movable mechanical arm whole together with the metal support.
Further, the mechanical arm is of a mechanical arm structure on the existing market; the second steering engine 10 is connected with a third steering engine 11 through a metal frame, and the third steering engine 11 is connected with a fourth steering engine 12 through the metal frame.
The first steering engine 9 is fixed on the pan-tilt 17, and the fifth steering engine 13 and the sixth steering engine 18 are connected with the manipulator.
Furthermore, the sixth steering engine 18 is clamped into the rotating shaft 5 through a gear and fixed on the left and right electromagnetic clamps through four screw holes on the sixth steering engine 18, so that the connection between the sixth steering engine 18 and the left and right electromagnetic clamps is reinforced.
Further, a first steering engine 9 is fixed on the pan-tilt 17 through a screw to control the rotation motion of the whole mechanical arm in the horizontal direction; the second steering engine 10 is fixed through screws, and controls the large arm of the mechanical arm to rotate forward and backward at an angle of-135 degrees in the upward direction; the third steering engine 11 controls the small arm at the upper half part of the mechanical arm to rotate forward and backward at an angle of-135 degrees with the positive direction as the upward direction; a fourth steering engine 12 and a fifth steering engine 13 are fixed on the same metal frame through screws, and the fourth steering engine 12 controls the whole manipulator, the fourth steering engine 12, the fifth steering engine 13 and the metal support to rotate in an upward direction and at a forward and backward angle of-135 degrees; a fifth steering engine 13 controls the horizontal rotation of the left electromagnetic clamp and the right electromagnetic clamp; and a sixth steering engine 18 controls the opening and closing of the left and right electromagnetic clamps.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (10)
1. The utility model provides a manipulator mechanism for centre gripping fruit bag which characterized in that: the fruit bag opening and closing manipulator comprises a manipulator, wherein the manipulator comprises an electromagnetic clamp structure for taking out fruit bags and a rotating shaft structure for promoting the electromagnetic clamp structure to complete closing and opening actions; the electromagnetic clamp structure is connected with the rotating shaft structure.
2. The manipulator mechanism of claim 1, further comprising: the electromagnetic clamp structure comprises a left electromagnetic clamp and a right electromagnetic clamp, and the left electromagnetic clamp and the right electromagnetic clamp are connected with the rotating shaft structure.
3. The manipulator mechanism of claim 2, further comprising: the left electromagnetic clamp and the right electromagnetic clamp respectively comprise a clamp (1), an electromagnet (2) and a spring (3); the middle part of the clamp (1) is provided with a groove (4); one end of the spring (3) is fixed in the groove (4) of the clamp (1), the other end of the spring is fixed on the electromagnet (2), and the electromagnet (2) is positioned in the groove (4).
4. A manipulator mechanism for holding fruit bags according to claim 3, further comprising: the rotating shaft structure comprises a rotating shaft (5), a first rotating shaft connecting rod (6) and a second rotating shaft connecting rod (7); the rotating shaft (5) is connected with a first rotating shaft connecting rod (6) and drives the first rotating shaft connecting rod (6) to rotate; and the first rotating shaft connecting rod (6) is connected with the second rotating shaft connecting rod (7) to drive the second rotating shaft connecting rod (7) to rotate.
5. The manipulator mechanism of claim 4, further comprising: the first rotating shaft connecting rod (6) comprises a first left rotating shaft connecting rod and a first right rotating shaft connecting rod; the second rotating shaft connection comprises a second left rotating shaft connecting rod and a second right rotating shaft connection; the first left rotating shaft connecting rod and the first right rotating shaft connecting rod are respectively connected to two sides of the rotating shaft (5); the second left rotating shaft connecting rod is connected with the first left rotating shaft connecting rod, and the second right rotating shaft connecting rod is connected with the first right rotating shaft connecting rod.
6. The manipulator mechanism of claim 5, further comprising: the second left rotating shaft connecting rod is connected with the tail end of the left electromagnetic clamp, and the second right rotating shaft connecting rod is connected with the tail end of the right electromagnetic clamp.
7. The robotic mechanism for holding fruit bags of claim 6, further comprising: the manipulator still includes casing (8), pivot (5), first pivot connecting rod (6) and second pivot connecting rod (7) set up in casing (8), left side electromagnetism clip and right side electromagnetism clip are located both ends about casing (8) respectively.
8. A manipulator mechanism for holding fruit bags according to any of claims 1 to 7, further comprising: the manipulator mechanism further comprises a mechanical arm, one end of the mechanical arm is fixed on the cloud deck (17), and the other end of the mechanical arm is connected with the manipulator.
9. The robotic mechanism for holding fruit bags of claim 8, further comprising: the mechanical arm comprises a first steering engine (9), a second steering engine (10), a third steering engine (11), a fourth steering engine (12), a fifth steering engine (13) and a sixth steering engine (18) which are sequentially arranged from bottom to top; the first steering engine (9), the second steering engine (10), the third steering engine (11), the fourth steering engine (12), the fifth steering engine (13) and the sixth steering engine (18) are fixed on the metal support and form a movable mechanical arm whole together with the metal support.
10. The robotic mechanism for holding fruit bags of claim 9, further comprising: the first steering engine (9) is fixed on the cloud platform (17), and the fifth steering engine (13) and the sixth steering engine (18) are connected with the manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921168153.1U CN210256182U (en) | 2019-07-23 | 2019-07-23 | Manipulator mechanism for clamping fruit bag |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921168153.1U CN210256182U (en) | 2019-07-23 | 2019-07-23 | Manipulator mechanism for clamping fruit bag |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210256182U true CN210256182U (en) | 2020-04-07 |
Family
ID=70013819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921168153.1U Expired - Fee Related CN210256182U (en) | 2019-07-23 | 2019-07-23 | Manipulator mechanism for clamping fruit bag |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210256182U (en) |
-
2019
- 2019-07-23 CN CN201921168153.1U patent/CN210256182U/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: 20200407 Termination date: 20210723 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |