CN211440015U - Manipulator for fruit sorting - Google Patents
Manipulator for fruit sorting Download PDFInfo
- Publication number
- CN211440015U CN211440015U CN201921457648.6U CN201921457648U CN211440015U CN 211440015 U CN211440015 U CN 211440015U CN 201921457648 U CN201921457648 U CN 201921457648U CN 211440015 U CN211440015 U CN 211440015U
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- fruit
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- rod
- diamond
- inclined plane
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Abstract
The utility model relates to a robotic arm especially relates to a manipulator is used in fruit letter sorting. The technical problem of the utility model is how to research and develop a mechanism simply, the cost of manufacture is low, the cost of maintenance is low manipulator for fruit letter sorting. A manipulator for sorting fruits comprises an inclined plane circular frame, a sliding suspender, a mounting plate, a rotary lifting device for rotating and lifting the mounting plate, a clamping device for clamping fruits and the like; the inclined plane of the inclined plane circular frame is provided with an annular sliding chute, and a sliding suspender is matched in the annular sliding chute in a sliding way. The utility model discloses a cylinder makes arc splint clip fruit, and rotatory elevating gear of rethread delivers to the next assembly line to the fruit of cliping, so can shift fruit, and does not need the manual work to shift fruit, avoids fruit position interval inhomogeneous, and the backup pad can play the supporting role to fruit, avoids fruit to drop behind the centre gripping, protects fruit not hindered by pressing from both sides effectively.
Description
Technical Field
The utility model relates to a robotic arm especially relates to a manipulator is used in fruit letter sorting.
Background
The modern science and technology mechanical arm is the most widely applied automatic mechanical device in the technical field of robots, and the body shadow of the robot can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. The arm typically has 3 movements: telescoping, rotating and lifting. The rotation and lifting motion are realized by a cross arm and an upright post. The basic effect of arm is with the gripper remove to required position and bear the clamp and snatch the maximum weight of work piece to and the weight of arm itself etc. also used robotic arm in a large number in the middle of the letter sorting work of fruit, can reduce artificial cost, improve letter sorting efficiency, and have the long advantage of continuous operating time.
However, the mechanical arm mechanism used for fruit sorting at present is complex, high in manufacturing cost and high in maintenance cost.
Therefore, the mechanical hand for sorting the fruits is designed, the mechanism is simple, the manufactured parts are all cheaper, the manufacturing cost is low, and the maintenance cost is lower.
SUMMERY OF THE UTILITY MODEL
In order to overcome the shortcoming that present robotic arm's mechanism is complicated, the cost of manufacture is high, cost of maintenance is also high, consequently, the utility model discloses a technical problem does: the manipulator for sorting the fruits is simple in mechanism, low in manufacturing cost and low in maintenance cost.
The technical scheme is as follows: the utility model provides a manipulator is used in fruit letter sorting, is including inclined plane circular frame, slip jib and mounting panel, and the inclined plane circular frame inclined plane is opened there is annular spout, and the cooperation of annular spout internal sliding formula has the slip jib, is connected with the mounting panel on the slip jib, still including being used for rotating the mounting panel and the rotatory elevating gear that goes up and down and the clamping device who is used for centre gripping fruit, installs rotatory elevating gear between inclined plane circular frame and the mounting panel, and mounting panel bottom side-mounting has clamping device.
In a preferred embodiment of the present invention, the rotary lifting device comprises a motor, a diamond-shaped sleeve and a diamond-shaped rod, the motor is disposed in the middle of the circular frame, the diamond-shaped sleeve is disposed in the middle of the mounting plate, the diamond-shaped sleeve is fitted with the diamond-shaped rod, and the top end of the diamond-shaped rod is connected to the output shaft of the motor.
The utility model discloses a preferred embodiment, clamping device is including the cylinder, L type pole, a word orifice plate, the gear, the connecting rod, the rack, swinging arms and arc splint, cylinder and L type pole are installed to the one end bottom of mounting panel, be connected with a word orifice plate on the cylinder telescopic link, the both sides middle part symmetry of a word orifice plate is equipped with the gear, be connected with the connecting rod on the L type pole, the sliding hole slidingtype cooperation of connecting rod and a word orifice plate, the connecting rod is originally located a word orifice plate lower part, be connected with the rack on the connecting rod, rack and the gear engagement of both sides, be connected with the swinging arms on the gear, left and right sides swinging arms symmetry is equipped with arc splint.
In a preferred embodiment of the present invention, the support plate and the elastic member are further included, the support plate is rotatably disposed at the bottom of the left and right arc-shaped clamp plates, and the elastic member is connected between the support plate and the arc-shaped clamp plates.
The utility model has the advantages that: the utility model discloses a cylinder makes arc splint clip fruit, and rotatory elevating gear of rethread delivers to the next assembly line to the fruit of cliping, so can shift fruit, and does not need the manual work to shift fruit, avoids fruit position interval inhomogeneous, and the backup pad can play the supporting role to fruit, avoids fruit to drop behind the centre gripping, protects fruit not hindered by pressing from both sides effectively.
Drawings
Fig. 1 is a schematic view of the structure of the present invention.
Fig. 2 is an enlarged view of a portion a of the present invention.
Fig. 3 is a partial enlarged perspective view of the present invention.
In the figure: 1: inclined plane circular frame, 2: annular chute, 3: sliding boom, 4: mounting plate, 5: rotary lifting device, 51: motor, 52: diamond sleeve, 53: diamond rod, 6: clamping device, 61: a cylinder, 62: l-shaped rod, 63: a straight-line orifice plate, 64: gear, 65: connecting rod, 66: rack, 67: swing lever, 68: arc splint, 7: support plate, 8: a spring.
Detailed Description
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which currently preferred embodiments of the invention are shown. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for completeness and fully convey the scope of the invention to the skilled person.
First embodiment
Please refer to fig. 1 and 3, the present application provides a manipulator for sorting fruits, comprising an inclined plane circular frame 1, a sliding suspension rod 3 and a mounting plate 4, wherein the bottom of the inclined plane circular frame 1 is an inclined plane and the inclined plane is circular, the inclined plane at the bottom of the inclined plane circular frame 1 is provided with an annular sliding chute 2, the sliding suspension rod 3 is matched with the annular sliding chute 2 in a sliding manner, the bottom end of the sliding suspension rod 3 is connected with the mounting plate 4, the mounting plate 4 is parallel to the top of the inclined plane circular frame 1, the manipulator further comprises a rotary lifting device 5 for rotating and lifting the mounting plate 4 and a clamping device 6 for clamping fruits, the rotary lifting device 5 is arranged between the inclined plane circular frame 1 and the mounting plate 4, and the clamping device 6 is arranged at the side surface.
Fix this robotic arm on the roof in workshop through inclined plane circular frame 1 earlier, make this equipment be located the top of the letter sorting point of assembly line, operation clamping device 6 is cliied fruit, then rotatory elevating gear 5 drives mounting panel 4 and rotates, and make mounting panel 4 rise through the cooperation of slip jib 3 and annular chute 2, transfer on fruit to the top of another assembly line, control clamping device 6 loosens fruit, fruit falls into on the assembly line of another letter sorting, so, it can carry out big batch letter sorting to fruit in batches to repeat above-mentioned operation.
Referring to fig. 1 and 3, the rotary lifting device 5 includes a motor 51, a diamond-shaped sleeve 52 and a diamond-shaped rod 53, the motor 51 is disposed at the center of the bottom of the inclined circular frame 1, the diamond-shaped sleeve 52 is disposed at the middle of the mounting plate 4, the diamond-shaped sleeve 52 is embedded in the mounting plate 4, the mounting plate 4 and the diamond-shaped sleeve 52 are connected by welding, the diamond-shaped rod 53 is fitted in the diamond-shaped sleeve 52, the diamond-shaped sleeve 52 and the diamond-shaped rod 53 are both in a hexagonal diamond shape, and the top end of the diamond-shaped rod 53 is connected with an output shaft of the motor 51.
When the clamping device 6 clamps fruits, the motor 51 is started to rotate, the output shaft of the motor 51 rotates to drive the diamond-shaped rod 53 to rotate, the diamond-shaped rod 53 drives the mounting plate 4 to rotate through the diamond-shaped sleeve 52, meanwhile, the sliding suspension rod 3 moves to a high point from a low point at the bottom of the inclined plane circular frame 1 along the annular sliding groove 2, the clamping device 6 moves upwards while the mounting plate 4 rotates, and therefore the fruits can be lifted and transferred.
Referring to fig. 1 and 2, the clamping device 6 includes an air cylinder 61, an L-shaped rod 62, a linear hole plate 63, a gear 64, a connecting rod 65, a rack 66, a swing rod 67 and an arc-shaped clamp plate 68, the air cylinder 61 and the L-shaped rod 62 are installed at the bottom of one end of the mounting plate 4, the air cylinder 61 and the L-shaped rod 62 are both connected with the mounting plate 4 through a bolt connection manner, the linear hole plate 63 is connected to an expansion rod of the air cylinder 61, the gears 64 are symmetrically installed at the middle portions of both sides of the linear hole plate 63, the circle center position of the gear 64 is rotatably connected with the linear hole plate 63 through a rotating shaft, the connecting rod 65 is connected to the bottom of the L-shaped rod 62, the connecting rod 65 is located inside the linear hole plate 63, the connecting rod 65 is slidably matched with a sliding hole of the linear hole plate 63, the connecting rod 65 is initially located at the lower portion inside the linear hole plate 63, the, the gear 64 is connected with the swinging rod 67 through a bolt connection mode, and the left swinging rod 67 and the right swinging rod 67 are symmetrically connected with arc-shaped clamping plates 68.
Start cylinder 61 earlier, cylinder 61 telescopic link extension drives a word orifice plate 63 downstream, it is rotatory to make rack 66 drive gear 64, the rotatory swing rod 67 towards the direction in opposite directions that drives of gear 64 of the two sides about, thereby make arc splint 68 downstream, and two arc splint 68 draw close each other and clip fruit, with this can clip fruit, when needs put fruit down, start cylinder 61 resets, thereby make arc splint 68 rotate and reset, the fruit of centre gripping falls.
Second embodiment
Referring to fig. 2, the clamping device further comprises a supporting plate 7 and a spring 8, the supporting plate 7 is rotatably arranged at the bottom of the left and right arc-shaped clamping plates 68, the supporting plate 7 is riveted with the arc-shaped clamping plates 68 in a rivet connection mode, and the spring 8 is connected between the supporting plate 7 and the arc-shaped clamping plates 68.
When the arc clamping plates 68 move downwards to clamp the fruit, the supporting plates 7 block the bottom of the fruit to prevent the fruit from falling off after clamping, and the springs 8 are stretched after being extruded to play a buffering role to effectively protect the fruit from being clamped.
The above-described embodiments are provided to enable persons skilled in the art to make or use the invention, and many modifications and variations may be made to the above-described embodiments by persons skilled in the art without departing from the inventive concept of the present invention, so that the scope of the invention is not limited by the above-described embodiments, but should be accorded the widest scope consistent with the innovative features set forth in the claims.
Claims (4)
1. The utility model provides a manipulator is used in fruit letter sorting, including inclined plane circular frame, slip jib and mounting panel, the inclined plane circular frame inclined plane is opened there is annular spout, and the cooperation of annular spout internal sliding formula has the slip jib, is connected with the mounting panel on the slip jib, and characterized by still includes the rotary lifting device who is used for rotating and goes up and down the mounting panel and the clamping device who is used for centre gripping fruit, installs rotary lifting device between inclined plane circular frame and the mounting panel, and mounting panel bottom side-mounting has clamping device.
2. The manipulator for sorting the fruits according to claim 1, wherein the rotary elevating means comprises a motor, a diamond-shaped sleeve and a diamond-shaped rod, the motor is provided in the middle of the inclined circular frame, the diamond-shaped sleeve is provided in the middle of the mounting plate, the diamond-shaped rod is fitted in the diamond-shaped sleeve, and the top end of the diamond-shaped rod is connected with the output shaft of the motor.
3. The fruit sorting manipulator according to claim 2, wherein the holding device comprises an air cylinder, an L-shaped rod, a linear orifice plate, gears, a connecting rod, a rack, a swing rod and arc-shaped clamping plates, the air cylinder and the L-shaped rod are mounted at the bottom of one end of the mounting plate, the linear orifice plate is connected to an expansion rod of the air cylinder, the gears are symmetrically arranged in the middle of two sides of the linear orifice plate, the connecting rod is connected to the L-shaped rod and is slidably matched with a sliding hole of the linear orifice plate, the connecting rod is initially positioned at the lower part in the linear orifice plate, the rack is connected to the connecting rod and is meshed with the gears on two sides, the swing rod is connected to the gears, and the arc-shaped clamping plates.
4. The fruit sorting manipulator according to claim 3, further comprising a support plate and an elastic member, wherein the support plate is rotatably provided at the bottom of each of the left and right arc-shaped clamp plates, and the elastic member is connected between the support plate and the arc-shaped clamp plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921457648.6U CN211440015U (en) | 2019-09-04 | 2019-09-04 | Manipulator for fruit sorting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921457648.6U CN211440015U (en) | 2019-09-04 | 2019-09-04 | Manipulator for fruit sorting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211440015U true CN211440015U (en) | 2020-09-08 |
Family
ID=72307609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921457648.6U Expired - Fee Related CN211440015U (en) | 2019-09-04 | 2019-09-04 | Manipulator for fruit sorting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211440015U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043514A (en) * | 2021-12-10 | 2022-02-15 | 浙江海洋大学 | Surrounding type clamp for power-assisted manipulator |
-
2019
- 2019-09-04 CN CN201921457648.6U patent/CN211440015U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043514A (en) * | 2021-12-10 | 2022-02-15 | 浙江海洋大学 | Surrounding type clamp for power-assisted manipulator |
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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: 20200908 Termination date: 20210904 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |