CN210726049U - Three-point clamping type vibration picking device - Google Patents
Three-point clamping type vibration picking device Download PDFInfo
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- CN210726049U CN210726049U CN201921812897.2U CN201921812897U CN210726049U CN 210726049 U CN210726049 U CN 210726049U CN 201921812897 U CN201921812897 U CN 201921812897U CN 210726049 U CN210726049 U CN 210726049U
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Abstract
The technology discloses a three-point clamping type vibration picking device which comprises a middle clamping vibration mechanism, wherein the middle clamping vibration mechanism comprises a first manipulator, a vibration exciter, a first upper moving arm, a first middle moving arm, a first lower moving arm and a first electric rotating platform; the first upper moving arm is rotationally connected with the first middle moving arm, the first middle moving arm is connected with a first upper driving motor, and the vibration exciter is connected with the first upper rotating arm; the first middle moving arm is rotationally connected with the first lower moving arm, and the first lower moving arm is connected with a first middle driving motor; the first middle moving arm comprises an upper arm and a lower arm which are connected through a damper; first electric rotating platform is connected on the base, and first electric rotating platform is connected with first support and driving motor, first migration arm and first support swivelling joint down. According to the technology, the mature blueberries on the selected blueberry branches are prevented from falling off due to damage as far as possible through vibration, accurate picking of the mature blueberries can be achieved, the labor intensity is low, and the labor cost is low.
Description
Technical Field
The technology belongs to the field of agricultural and forestry tools, and particularly relates to a three-point clamping type vibration picking device for blueberry harvesting.
Background
At present, the blueberries are picked mainly manually, and the picking mode has the defects of high labor intensity, high cost and the like. The blueberry is small in size, dense in distribution and shielded by leaves, picking is troublesome, the blueberry is very easy to damage in picking operation due to the characteristics of thin peel and more fruit juice, and quality and yield are greatly influenced.
Disclosure of Invention
The technical problem that this technique will be solved provides a device is picked in three point clamping formula vibration to the not enough of above-mentioned prior art, and this device is picked in three point clamping formula vibration makes ripe blueberry on the blueberry branch of choosing not receive damaged dropping as far as through the vibration, and can realize the accurate harvesting of ripe blueberry, low in labor strength, the cost of labor is low.
In order to achieve the technical purpose, the technical scheme adopted by the technology is as follows:
a three-point clamping type vibration picking device comprises a middle clamping vibration mechanism, wherein the middle clamping vibration mechanism comprises a first manipulator, a vibration exciter, a first rotating motor, a first upper moving arm, a first middle moving arm, a first lower moving arm, a first electric rotating table and a base;
the first rotating motor is fixedly connected to the first upper moving arm, an output shaft of the first rotating motor is connected with the first manipulator, and the first rotating motor is used for driving the first manipulator to rotate;
the bottom of the first upper moving arm is rotationally connected with the top of the first middle moving arm, the first middle moving arm is fixedly connected with a first upper driving motor, the first upper driving motor is used for driving the first upper moving arm to rotate around the first middle moving arm, and the vibration exciter is connected with the first upper moving arm;
the bottom of the first middle moving arm is rotationally connected with the top of the first lower moving arm, the first lower moving arm is fixedly connected with a first middle driving motor, and the first middle driving motor is used for driving the first middle moving arm to rotate around the first lower moving arm; the first middle moving arm comprises an upper arm and a lower arm which are connected through a damper;
first electric turntable fixed connection is on the base, first support and first driving motor of fixedly connected with on the rotatory mesa of first electric turntable, the bottom and the first support swivelling joint of first migration arm, first driving motor is used for driving first migration arm rotatory around first support down.
As a further improved technical solution of the present technology, a first upper rotating shaft is fixedly connected to the bottom of the first upper moving arm, an upper arm of the first middle moving arm is rotatably connected to the bottom of the first upper moving arm through the first upper rotating shaft, and an output shaft of the first upper driving motor is fixedly connected to the first upper rotating shaft;
the bottom of the lower arm of the first middle moving arm is fixedly connected with a first middle rotating shaft, the lower arm of the first middle moving arm is rotatably connected with the top of the first lower moving arm through the first middle rotating shaft, and an output shaft of the first middle driving motor is fixedly connected with the first middle rotating shaft;
the bottom of the first lower moving arm is fixedly connected with a first lower rotating shaft, the bottom of the first lower moving arm is rotatably connected with the first support through the first lower rotating shaft, and an output shaft of the first lower driving motor is fixedly connected with the first lower rotating shaft.
As a further improved technical scheme of the technology, the first manipulator comprises a clamping rack, a steering engine, a main gear, a first driven gear, a second driven gear, a first gear connecting rod, a second gear connecting rod, a first connecting rod, a second connecting rod, a first mechanical claw and a second mechanical claw;
the main gear, the first driven gear and the second driven gear are all located on the inner side of the clamping rack and are rotationally connected with the clamping rack, the steering engine is fixedly connected to the outer wall of the clamping rack, an output shaft of the steering engine penetrates into the inner side of the clamping rack and is connected with the main gear, the main gear is meshed with the first driven gear, and the first driven gear is meshed with the second driven gear;
the secondary gear I is fixedly connected with one end of the gear connecting rod I, the other end of the gear connecting rod I is rotatably connected with one end of the mechanical claw I, one end of the connecting rod I is rotatably connected with the clamping rack, and the other end of the connecting rod I is rotatably connected with the middle part of the mechanical claw I;
the secondary gear II is fixedly connected with one end of the gear connecting rod II, the other end of the gear connecting rod II is rotatably connected with one end of the mechanical claw II, one end of the connecting rod II is rotatably connected with the clamping rack, and the other end of the connecting rod II is rotatably connected with the middle part of the mechanical claw II;
one end of the first connecting rod is connected with one end of the second connecting rod through a spring.
As a further improved technical solution of the present technology, an output shaft of the first rotating electrical machine is fixedly connected with the clamping frame.
As a further improved technical scheme of the technology, the clamping frame is formed by mutually connecting two clamping plates through bolts;
the master gear, the slave gear I and the slave gear II are positioned between the two clamping plates and are rotatably connected with the two clamping plates, the steering engine is fixedly connected to the outer wall of one clamping plate, and an output shaft of the steering engine penetrates between the two clamping plates and is connected with the master gear;
one end of the first connecting rod is located between the two clamping plates and is rotatably connected with the two clamping plates, and one end of the second connecting rod is located between the two clamping plates and is rotatably connected with the two clamping plates.
The technical scheme is further improved by the technology and comprises a left clamping mechanism and a right clamping mechanism, wherein the left clamping mechanism is positioned on the left side of the middle clamping vibration mechanism, and the right clamping mechanism is positioned on the right side of the middle clamping vibration mechanism; the left clamping mechanism and the right clamping mechanism have the same structure and respectively comprise a second manipulator, a second rotating motor, a second upper moving arm, a second middle moving arm, a second lower moving arm and a second electric rotating platform;
the second rotating motor is fixedly connected to the second upper moving arm, an output shaft of the second rotating motor is connected with the second manipulator, and the second rotating motor is used for driving the second manipulator to rotate; the bottom of the second upper moving arm is rotationally connected with the top of a second middle moving arm, the second middle moving arm is fixedly connected with a second upper driving motor, and the second upper driving motor is used for driving the second upper moving arm to rotate around the second middle moving arm; the bottom of the second middle moving arm is rotationally connected with the top of the second lower moving arm, the second lower moving arm is fixedly connected with a second middle driving motor, and the second middle driving motor is used for driving the second middle moving arm to rotate around the second lower moving arm; the second electric rotating platform is fixedly connected to the base, a second support is arranged on the rotating platform surface of the second electric rotating platform, a second lower driving motor is fixedly connected to the rotating platform surface, the second lower moving arm is rotatably connected to the bottom of the second lower moving arm, and the second lower driving motor is used for driving the second lower moving arm to rotate around the second support.
As a further improved technical solution of the present technology, the bottom of the second upper moving arm is fixedly connected with a second upper rotating shaft, the top of the second middle moving arm is rotatably connected with the bottom of the second upper moving arm through the second upper rotating shaft, and an output shaft of the second upper driving motor is fixedly connected with the second upper rotating shaft;
the bottom of the second middle moving arm is fixedly connected with a second middle rotating shaft, the bottom of the second middle moving arm is rotatably connected with the top of the second lower moving arm through the second middle rotating shaft, and an output shaft of the second middle driving motor is fixedly connected with the second middle rotating shaft;
the bottom of the second lower movable arm is fixedly connected with a second lower rotating shaft, the bottom of the second lower movable arm is rotatably connected with a second support through the second lower rotating shaft, and an output shaft of a second lower driving motor is fixedly connected with the second lower rotating shaft.
As a further improvement of this technique, the second robot has the same structure as the first robot.
The beneficial effect of this technique does:
(1) according to the technology, the second mechanical arms at the left end and the right end and the clamping of the middle first mechanical arm can enable vibration to be transmitted only on mature blueberry branches needing to be picked, and the blueberry falling on other branches can not be influenced by the vibration transmitted to other branches, so that the mature blueberries can be picked accurately.
(2) This technique adopts the vibration exciter to transmit vibration, can make the blueberry branch obtain the vibration volume of certain form and size for ripe blueberry can not receive dropping of damage, and adopt the attenuator to isolate the influence of the vibration of middle first manipulator to controlling two second manipulators, make the vibration isolation effect more effective. Low labor intensity and low labor cost.
(3) The base of the technology is provided with the first electric rotating table, and the first manipulator is driven by the first rotating motor, so that the first manipulator can rotate by 360 degrees; the base is provided with a second electric rotating table, and the second manipulator is driven by a second rotating motor, so that the second manipulator can rotate by 360 degrees; therefore, the tree branches with different postures can be clamped more accurately.
Drawings
Fig. 1 is a first schematic structural diagram according to an embodiment of the present invention.
Fig. 2 is a second schematic structural diagram according to an embodiment of the present invention.
Fig. 3 is a third schematic structural diagram according to an embodiment of the present invention.
Fig. 4 is a fourth schematic structural diagram according to the embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a first robot or a second robot according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a hidden clamping rack of a first robot or a second robot according to an embodiment of the present invention.
Detailed Description
Embodiments of the present technique are further described below with reference to fig. 1-6:
the embodiment discloses a three-point clamping type vibration picking device which comprises a middle clamping vibration mechanism, a left clamping mechanism and a right clamping mechanism, wherein the left clamping mechanism is positioned on the left side of the middle clamping vibration mechanism, and the right clamping mechanism is positioned on the right side of the middle clamping vibration mechanism; left fixture and right fixture's the same and mutual symmetry setting of structure, left fixture just is similar with well centre gripping vibration mechanism's structure, and the main difference lies in: the middle clamping vibration mechanism comprises a damper 7 and a vibration exciter 4, and the structures of middle moving arms of the middle clamping vibration mechanism and the vibration exciter 4 are different (the middle moving arm of the middle clamping vibration mechanism is divided into an upper arm 6-1 and a lower arm 6-2, and the middle moving arms of the left clamping mechanism and the right clamping mechanism are of an integral structure). The middle clamping vibration mechanism is used for clamping and vibrating branches so as to enable blueberries on the branches to fall, the left clamping mechanism and the right clamping mechanism are only used for clamping the branches, the damper of the middle clamping vibration mechanism can enable vibration to be transmitted only on the needed picked blueberry branches (namely, the vibration is prevented from being transmitted to the left clamping mechanism and the right clamping mechanism), and therefore the vibration cannot be transmitted to other branches so as to influence the falling of the blueberries on other branches, and the accurate picking of the mature blueberries is realized.
Referring to fig. 1 to 4, the middle clamping vibration mechanism of the present embodiment includes a first robot 1, an exciter 4, a first rotating motor 2, a first upper moving arm 3, a first middle moving arm 6, a first lower moving arm 9, a first electric rotating table 12, and a base 13.
The housing of the first rotating electrical machine 2 of this embodiment is fixedly connected to the first upper movable arm 3, the output shaft of the first rotating electrical machine 2 is connected to the clamping frame of the first manipulator 1 through a bearing seat, and the first rotating electrical machine 2 is used for driving the first manipulator 1 to rotate by 360 degrees. The bottom of the first upper moving arm 3 is rotatably connected with the top of the first middle moving arm 6, the first middle moving arm 6 is fixedly connected with a first upper driving motor 5 through a support, the first upper driving motor 5 is used for driving the first upper moving arm 3 to rotate around the first middle moving arm 6, and the vibration exciter 4 is connected with the first upper moving arm. The bottom of the first middle moving arm 6 is rotationally connected with the top of a first lower moving arm 9, the first lower moving arm 9 is fixedly connected with a first middle driving motor 8 through a support, and the first middle driving motor 8 is used for driving the first middle moving arm 6 to rotate around the first lower moving arm 9; referring to fig. 1, the first middle moving arm 6 includes an upper arm 6-1 and a lower arm 6-2, and the upper arm 6-1 and the lower arm 6-2 are connected by two dampers 7. First electric rotating platform 12 fixed connection is in the middle part of base 13, fixedly connected with first support 11 and first driving motor 10 down on the rotatory mesa of first electric rotating platform 12, the bottom and the first support 11 swivelling joint of first migration arm 9 down, first driving motor 10 is used for driving first migration arm 9 down and is rotatory around first support 11.
Specifically, the bottom of the first upper moving arm 3 is fixedly connected with a first upper rotating shaft, an upper arm 6-1 of the first middle moving arm 6 is rotatably connected with the bottom of the first upper moving arm 3 through the first upper rotating shaft, and an output shaft of the first upper driving motor 5 is fixedly connected with the first upper rotating shaft, so that the first upper driving motor 5 drives the first upper moving arm 3 to rotate around the first middle moving arm 6 through the first upper rotating shaft. The bottom of the lower arm 6-2 of the first middle moving arm 6 is fixedly connected with a first middle rotating shaft, the lower arm 6-2 of the first middle moving arm 6 is rotatably connected with the top of the first lower moving arm 9 through the first middle rotating shaft, and the output shaft of the first middle driving motor 8 is fixedly connected with the first middle rotating shaft, so that the first middle driving motor 8 drives the first middle moving arm 6 to rotate around the first lower moving arm 9 through the first middle rotating shaft. The bottom of the first lower moving arm 9 is fixedly connected with a first lower rotating shaft, the bottom of the first lower moving arm 9 is rotatably connected with a first support 11 through the first lower rotating shaft, and an output shaft of the first lower driving motor 10 is fixedly connected with the first lower rotating shaft, so that the first lower driving motor 10 drives the first lower moving arm 9 to rotate around the first support 11 through the first lower rotating shaft.
Referring to fig. 5 and 6, the first manipulator 1 of the embodiment includes a clamping rack 1-2, a steering engine 1-1, a main gear 1-3, a first slave gear 1-4, a second slave gear 1-5, a first gear link 1-6, a second gear link 1-7, a first connecting rod 1-8, a second connecting rod 1-9, a first gripper 1-10, and a second gripper 1-11; the main gear 1-3, the first driven gear 1-4 and the second driven gear 1-5 are located on the inner side of the clamping rack 1-2 and are rotatably connected with the clamping rack 1-2, the steering gear 1-1 is fixedly connected to the outer wall of the clamping rack 1-2, an output shaft of the steering gear 1-1 penetrates into the inner side of the clamping rack 1-2 and is connected with the main gear 1-3, and the steering gear 1-1 is used for driving the main gear 1-3 to rotate. The main gear 1-3 is meshed with the first slave gear 1-4, and the first slave gear 1-4 is meshed with the second slave gear 1-5; the secondary gear I1-4 is fixedly connected with one end of a gear connecting rod I1-6, the other end of the gear connecting rod I1-6 is rotatably connected with one end of a mechanical claw I1-10, one end of a connecting rod I1-8 is rotatably connected with a clamping rack I1-2, and the other end of the connecting rod I1-8 is rotatably connected with the middle part of the mechanical claw I1-10; the secondary gear II 1-5 is fixedly connected with one end of a gear connecting rod II 1-7, the other end of the gear connecting rod II 1-7 is rotatably connected with one end of a mechanical claw II 1-11, one end of a connecting rod II 1-9 is rotatably connected with a clamping rack 1-2, and the other end of the connecting rod II 1-9 is rotatably connected with the middle part of the mechanical claw II 1-11; one end of the first connecting rod 1-8 is connected with one end of the second connecting rod 1-9 through a spring 1-13. And an output shaft of the first rotating motor 2 is fixedly connected with the clamping rack 1-2.
Referring to fig. 5, the clamping frame 1-2 of the present embodiment is formed by two clamping plates 1-21 (L-shaped plates) connected to each other by bolts 1-12; the main gear 1-3, the first driven gear 1-4 and the second driven gear 1-5 are all located between the two clamping plates 1-21 and are all rotationally connected with the two clamping plates 1-21, the steering engine 1-1 is fixedly connected to the outer wall of one clamping plate 1-21, and an output shaft of the steering engine 1-1 penetrates between the two clamping plates 1-21 and is connected with the main gear 1-3; one end of the first connecting rod 1-8 is positioned between the two clamping plates 1-21 and is rotationally connected with the two clamping plates 1-21, and one end of the second connecting rod 1-9 is positioned between the two clamping plates 1-21 and is rotationally connected with the two clamping plates 1-21.
Referring to fig. 1 to 4, each of the left and right clamping mechanisms of the present embodiment includes a second robot arm 14, a second rotating motor 15, a second upper moving arm 16, a second middle moving arm 18, a second lower moving arm 20, and a second electric rotating table 23.
The second rotating motor 15 of the present embodiment is fixedly connected to the second upper moving arm 16, an output shaft of the second rotating motor 15 is connected to the second manipulator 14, and the second rotating motor 15 can drive the second manipulator 14 to rotate 360 degrees. The bottom of the second upper traveling arm 16 is pivotally connected to the top of the second middle traveling arm 18. The second middle moving arm 18 is fixedly connected with a second upper driving motor 17 through a bracket, and the second upper driving motor 17 is used for driving the second upper moving arm 16 to rotate around the second middle moving arm 18. The bottom of the second middle moving arm 18 is rotatably connected with the top of a second lower moving arm 20, the second lower moving arm 20 is fixedly connected with a second middle driving motor 19 through a bracket, and the second middle driving motor 19 is used for driving the second middle moving arm 18 to rotate around the second lower moving arm 20. Second electric rotating platform 23 fixed connection is on the left side or the right side of base 13, be equipped with second support 22 on the revolving stage face of second electric rotating platform 23 and fixedly connected with second down driving motor 21 on this revolving stage face, the bottom and the second support 22 swivelling joint of swing arm 20 are moved down to the second, driving motor 21 is used for driving the second to move down the rotation of swing arm 20 around second support 22 down to the second.
Specifically, a second upper rotating shaft is fixedly connected to the bottom of the second upper moving arm 16 in this embodiment, the top of the second middle moving arm 18 is rotatably connected to the bottom of the second upper moving arm 16 through the second upper rotating shaft, and an output shaft of the second upper driving motor 17 is fixedly connected to the second upper rotating shaft, so that the second upper driving motor 17 drives the second middle moving arm 18 to rotate around the second upper moving arm 16 through the second upper rotating shaft. The bottom of the second middle moving arm 18 is fixedly connected with a second middle rotating shaft, the bottom of the second middle moving arm 18 is rotatably connected with the top of the second lower moving arm 20 through the second middle rotating shaft, and the output shaft of the second middle driving motor 19 is fixedly connected with the second middle rotating shaft, so that the second middle driving motor 19 drives the second middle moving arm 18 to rotate around the second lower moving arm 20 through the second middle rotating shaft. The bottom of the second lower moving arm 20 is fixedly connected with a second lower rotating shaft, the bottom of the second lower moving arm 20 is rotatably connected with a second support 22 through the second lower rotating shaft, and an output shaft of the second lower driving motor 21 is fixedly connected with the second lower rotating shaft, so that the second lower driving motor 21 drives the second lower moving arm 20 to rotate around the second support 22 through the second lower rotating shaft.
The second robot hand 14 of the present embodiment has the same configuration as the first robot hand 1.
The base 13 of the three-point clamping type vibration picking device of the embodiment can be arranged on a walking trolley for use. The steering engines 1-1 and other motors on the first manipulator 1 and the second manipulator 14 of the embodiment are controlled by a controller to work, and the controller can be installed on a walking trolley or a picking device. The steering engine 1-1 and each motor are connected with a power supply.
The first electric rotating table 12 and the second electric rotating table 23 of the present embodiment have the same structure, and both adopt electric rotating tables commonly used in the prior art. The first middle moving arm 6 and the second middle moving arm 18 of the present embodiment have different structures, as shown in fig. 1.
In the embodiment, when picking operation is performed, the controller sequentially positions the second manipulator 14 of the left clamping mechanism and the second manipulator 14 of the right clamping mechanism (joints of the second manipulator 14 are respectively controlled by the steering engine 1-1 to rotate, and the whole structure of the second manipulator 14 is controlled by the second rotating motor 15, so that 360-degree rotation can be realized), that is, the controller controls the second electric rotating table 23 to further drive the whole structure above the second electric rotating table 23 to rotate, controls the second rotating motor 15 to further drive the second manipulator 14 to rotate, controls the second lower driving motor 21 to further drive the second lower moving arm 20 to move, controls the second middle driving motor 19 to further drive the second middle moving arm 18 to move, controls the second upper driving motor 17 to further drive the second upper moving arm 16 to move, so that the first gripper 1-10 and the second gripper 1-11 of the left and right second manipulators 14 can be accurately positioned on branches to be clamped, similarly, the controller is used for positioning the clamping vibration mechanism (joints of the first mechanical arm 1 are respectively controlled by the steering engine 1-1 to rotate, the whole structure of the first mechanical arm 1 is controlled by the first rotating motor 2 to realize 360-degree rotation), namely, the controller is used for controlling the first electric rotating platform 12 to further drive the whole structure above the first electric rotating platform 12 to rotate, controlling the first rotating motor 2 to further drive the first mechanical arm 1 to rotate, controlling the first lower driving motor 10 to further drive the first lower moving arm 9 to move, controlling the first middle driving motor 8 to further drive the first middle moving arm 6 to move, controlling the first upper driving motor 5 to further drive the first upper moving arm 3 to move, so that the first gripper 1-10 and the second gripper 1-11 of the first mechanical arm 1 can be accurately positioned on the tree branches to be clamped and picked (the blueberries to be picked are positioned between the left and right second mechanical arms 14), at this moment, the vibration exciter 4 is controlled to start to transmit vibration, and meanwhile, the damper 7 works to isolate the transmission of vibration on the left and right second mechanical hands 14, so that the left and right second mechanical hands 14 can better obstruct the transmission of vibration on other branches, and blueberry fruits drop due to vibration.
The first mechanical arm 1 and the second mechanical arm 14 of the embodiment have the same structure, so that the movement process is the same, that is, the steering engine 1-1 drives the main gear 1-3 to rotate when working, so as to drive the first driven gear 1-4 and the second driven gear 1-5 to rotate in sequence, and finally the elastic mechanical claws are controlled to clamp branches of blueberry trees through the first gear connecting rod 1-6, the second gear connecting rod 1-7, the first connecting rod 1-8 and the second connecting rod 1-9.
The technical scope of the present invention includes, but is not limited to, the above embodiments, the technical scope of the present invention is defined by the claims, and any replacement, modification, and improvement that can be easily conceived by those skilled in the art are included in the technical scope of the present invention.
Claims (8)
1. The utility model provides a device is picked in vibration of three point clamping formula which characterized in that:
the device comprises a middle clamping vibration mechanism, wherein the middle clamping vibration mechanism comprises a first manipulator, a vibration exciter, a first rotating motor, a first upper moving arm, a first middle moving arm, a first lower moving arm, a first electric rotating platform and a base;
the first rotating motor is fixedly connected to the first upper moving arm, an output shaft of the first rotating motor is connected with the first manipulator, and the first rotating motor is used for driving the first manipulator to rotate;
the bottom of the first upper moving arm is rotationally connected with the top of the first middle moving arm, the first middle moving arm is fixedly connected with a first upper driving motor, the first upper driving motor is used for driving the first upper moving arm to rotate around the first middle moving arm, and the vibration exciter is connected with the first upper moving arm;
the bottom of the first middle moving arm is rotationally connected with the top of the first lower moving arm, the first lower moving arm is fixedly connected with a first middle driving motor, and the first middle driving motor is used for driving the first middle moving arm to rotate around the first lower moving arm; the first middle moving arm comprises an upper arm and a lower arm which are connected through a damper;
first electric turntable fixed connection is on the base, first support and first driving motor of fixedly connected with on the rotatory mesa of first electric turntable, the bottom and the first support swivelling joint of first migration arm, first driving motor is used for driving first migration arm rotatory around first support down.
2. The three-point holding vibratory picking apparatus of claim 1, wherein:
the bottom of the first upper moving arm is fixedly connected with a first upper rotating shaft, the upper arm of the first middle moving arm is rotatably connected with the bottom of the first upper moving arm through the first upper rotating shaft, and the output shaft of the first upper driving motor is fixedly connected with the first upper rotating shaft;
the bottom of the lower arm of the first middle moving arm is fixedly connected with a first middle rotating shaft, the lower arm of the first middle moving arm is rotatably connected with the top of the first lower moving arm through the first middle rotating shaft, and an output shaft of the first middle driving motor is fixedly connected with the first middle rotating shaft;
the bottom of the first lower moving arm is fixedly connected with a first lower rotating shaft, the bottom of the first lower moving arm is rotatably connected with the first support through the first lower rotating shaft, and an output shaft of the first lower driving motor is fixedly connected with the first lower rotating shaft.
3. The three-point holding vibratory picking apparatus of claim 2, wherein:
the first manipulator comprises a clamping rack, a steering engine, a master gear, a first slave gear, a second slave gear, a first gear connecting rod, a second gear connecting rod, a first connecting rod, a second connecting rod, a first mechanical claw and a second mechanical claw;
the main gear, the first driven gear and the second driven gear are all located on the inner side of the clamping rack and are rotationally connected with the clamping rack, the steering engine is fixedly connected to the outer wall of the clamping rack, an output shaft of the steering engine penetrates into the inner side of the clamping rack and is connected with the main gear, the main gear is meshed with the first driven gear, and the first driven gear is meshed with the second driven gear;
the secondary gear I is fixedly connected with one end of the gear connecting rod I, the other end of the gear connecting rod I is rotatably connected with one end of the mechanical claw I, one end of the connecting rod I is rotatably connected with the clamping rack, and the other end of the connecting rod I is rotatably connected with the middle part of the mechanical claw I;
the secondary gear II is fixedly connected with one end of the gear connecting rod II, the other end of the gear connecting rod II is rotatably connected with one end of the mechanical claw II, one end of the connecting rod II is rotatably connected with the clamping rack, and the other end of the connecting rod II is rotatably connected with the middle part of the mechanical claw II;
one end of the first connecting rod is connected with one end of the second connecting rod through a spring.
4. The three-point holding vibratory picking apparatus of claim 3, wherein:
and an output shaft of the first rotating motor is fixedly connected with the clamping rack.
5. The three-point holding vibratory picking apparatus of claim 4, wherein:
the clamping frame is formed by connecting two clamping plates with each other through bolts;
the master gear, the slave gear I and the slave gear II are positioned between the two clamping plates and are rotatably connected with the two clamping plates, the steering engine is fixedly connected to the outer wall of one clamping plate, and an output shaft of the steering engine penetrates between the two clamping plates and is connected with the master gear;
one end of the first connecting rod is located between the two clamping plates and is rotatably connected with the two clamping plates, and one end of the second connecting rod is located between the two clamping plates and is rotatably connected with the two clamping plates.
6. The three-point holding vibratory picking apparatus of claim 1, wherein:
the clamping device comprises a left clamping mechanism and a right clamping mechanism, wherein the left clamping mechanism is positioned on the left side of a middle clamping vibration mechanism, and the right clamping mechanism is positioned on the right side of the middle clamping vibration mechanism; the left clamping mechanism and the right clamping mechanism have the same structure and respectively comprise a second manipulator, a second rotating motor, a second upper moving arm, a second middle moving arm, a second lower moving arm and a second electric rotating platform;
the second rotating motor is fixedly connected to the second upper moving arm, an output shaft of the second rotating motor is connected with the second manipulator, and the second rotating motor is used for driving the second manipulator to rotate; the bottom of the second upper moving arm is rotationally connected with the top of a second middle moving arm, the second middle moving arm is fixedly connected with a second upper driving motor, and the second upper driving motor is used for driving the second upper moving arm to rotate around the second middle moving arm; the bottom of the second middle moving arm is rotationally connected with the top of the second lower moving arm, the second lower moving arm is fixedly connected with a second middle driving motor, and the second middle driving motor is used for driving the second middle moving arm to rotate around the second lower moving arm; the second electric rotating platform is fixedly connected to the base, a second support is arranged on the rotating platform surface of the second electric rotating platform, a second lower driving motor is fixedly connected to the rotating platform surface, the second lower moving arm is rotatably connected to the bottom of the second lower moving arm, and the second lower driving motor is used for driving the second lower moving arm to rotate around the second support.
7. The three-point holding vibratory picking apparatus of claim 6, wherein:
the bottom of the second upper moving arm is fixedly connected with a second upper rotating shaft, the top of the second middle moving arm is rotatably connected with the bottom of the second upper moving arm through the second upper rotating shaft, and an output shaft of the second upper driving motor is fixedly connected with the second upper rotating shaft;
the bottom of the second middle moving arm is fixedly connected with a second middle rotating shaft, the bottom of the second middle moving arm is rotatably connected with the top of the second lower moving arm through the second middle rotating shaft, and an output shaft of the second middle driving motor is fixedly connected with the second middle rotating shaft;
the bottom of the second lower movable arm is fixedly connected with a second lower rotating shaft, the bottom of the second lower movable arm is rotatably connected with a second support through the second lower rotating shaft, and an output shaft of a second lower driving motor is fixedly connected with the second lower rotating shaft.
8. The three-point holding vibratory picking apparatus of claim 6, wherein: the second manipulator has the same structure as the first manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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