CN211440053U - Liftable potato grabbing device - Google Patents
Liftable potato grabbing device Download PDFInfo
- Publication number
- CN211440053U CN211440053U CN201922223095.4U CN201922223095U CN211440053U CN 211440053 U CN211440053 U CN 211440053U CN 201922223095 U CN201922223095 U CN 201922223095U CN 211440053 U CN211440053 U CN 211440053U
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- flexible
- potato
- clamping jaw
- flexible clamping
- slide
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Abstract
A lifting potato grabbing device comprises a support, wherein at least two sides of the support are vertically provided with slide rails, slide blocks slide up and down along the slide rails, one side of each slide block is connected with a belt of a belt conveying mechanism, the other side of each slide block is hinged with a pull rod, and the other end of each pull rod is uniformly distributed on a flexible gripper; the flexible tongs comprise an upper push plate and a lower bottom plate, wherein a linear lead screw stepping motor is mounted on the lower bottom plate, a lead screw of the linear lead screw stepping motor is in threaded connection with the upper push plate and drives the upper push plate to lift up and down, at least two connecting rods are hinged to the circumferential direction of the upper push plate, the other end of each connecting rod is hinged to a flexible clamping jaw, and the flexible clamping jaw is hinged to the lower bottom plate. The utility model provides a pair of potato liftable grabbing device can realize that the flexible clamp of potato is got and is sorted work.
Description
Technical Field
The utility model relates to a manipulator, especially a flexible manipulator suitable for potato snatchs also is applicable to the flexibility of irregular spheroid materials such as tomato, egg and snatchs.
Background
At present, with the research and popularization of foreign agricultural product quality grading devices, most of domestic agricultural product quality grading work is still realized manually, so that the research related to the agricultural product quality grading devices is urgent, and particularly, the end actuating mechanism of the grading device is a problem which is difficult to solve as a quality detection and sorting device of agricultural product potatoes. Generally, the sorting work is realized by clamping of the end mechanical claws, and due to the irregularity and uncertainty of the shapes of the potatoes, and in order to avoid secondary mechanical damage to the potatoes in the sorting process, an end actuator cannot adopt a rigid structure, but adopts a flexible structure which can adapt to the appearance characteristics of the potatoes.
Disclosure of Invention
The utility model aims to solve the technical problem that a potato liftable grabbing device is provided, grab the potato with flexible clamping jaw, press from both sides the in-process, produce the parcel effect to the fruit through the deformation of flexible clamping jaw to the realization snatchs and improves the snatching reliability to the flexibility of potato.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:
a lifting potato grabbing device comprises a support, wherein at least two sides of the support are vertically provided with slide rails, slide blocks slide up and down along the slide rails, one side of each slide block is connected with a belt of a belt conveying mechanism, the other side of each slide block is hinged with a pull rod, and the other end of each pull rod is uniformly distributed on a flexible gripper; the flexible tongs comprise an upper push plate and a lower bottom plate, wherein a linear lead screw stepping motor is mounted on the lower bottom plate, a lead screw of the linear lead screw stepping motor is in threaded connection with the upper push plate and drives the upper push plate to lift up and down, at least two connecting rods are hinged to the circumferential direction of the upper push plate, the other end of each connecting rod is hinged to a flexible clamping jaw, and the flexible clamping jaw is hinged to the lower bottom plate.
The flexible clamping jaw comprises a flexible clamping jaw connecting rod, and a flexible clamping plate is installed at the lower end of the flexible clamping jaw connecting rod.
The flexible clamping plate is made of elastic rubber.
The utility model relates to a potato liftable grabbing device has following technological effect:
1) the opening degree of the flexible tongs can be adjusted and controlled through the rotating steps of the linear screw rod stepping motor, the flexible tongs are made of elastic rubber, so that the mechanical arm can grab the potatoes under certain deformation, and the maximum deformation threshold is different for the potatoes with different sizes, and the detection can be carried out through an experimental method. The application scope of the utility model is enlarged by the characteristics.
2) The device can be used as an end effector of the sorting device, the size is small, flexible grabbing can be safely achieved for the potatoes, the design of the clamping jaw can reduce the positioning precision of the potatoes, and the grabbing reliability is improved.
3) In the device, the support can cooperate corresponding drive device to use, accomplishes the letter sorting of different quality potatoes jointly.
Drawings
The invention will be further explained with reference to the following figures and examples:
fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the middle flexible gripper of the present invention.
Fig. 3 is a schematic structural view of the middle flexible gripper of the present invention.
Fig. 4 is a partially enlarged schematic view of fig. 1.
Fig. 5 is a cross-sectional view of the slide rail and the slide block of the present invention.
In the figure: the device comprises a support 1, a sliding rail 2, a sliding block 3, a belt conveying mechanism 4, a pull rod 5, a flexible gripper 6, an upper push plate 7, a lower bottom plate 8, a linear screw rod stepping motor 9, a screw rod 10, a connecting rod 11, a flexible clamping jaw 12, a pin shaft 13 and a threaded flange 14.
Detailed Description
As shown in figure 1, a liftable potato grabbing device comprises a support 1, wherein the support 1 comprises a rectangular support frame at the bottom, three vertical support rods are uniformly arranged on the support frame, and the tops of the three support rods are fixed through a connecting rod and a triangular plate. Vertical slide rails 2 are arranged on the inner sides of the three support rods of the support 1, a slide block 3 is arranged on each slide rail 2 in a sliding mode, and the slide blocks 3 can slide up and down along the slide rails 2. One side of each sliding block 3 is connected with a belt of a belt conveying mechanism 4, and the belt conveying mechanism 4 is driven by a motor to move up and down. The other side of each sliding block 3 is hinged with a pull rod 5, and the other end of each pull rod 5 is uniformly distributed on the flexible hand grip 6 and hinged with the flexible hand grip 6. However, when the three motors drive the three belt conveying mechanisms 4 to synchronously ascend or descend, the flexible grippers 6 can be driven to ascend or descend to a proper position. The flexible hand grip 6 is matched with a positioning device or other conveying devices to complete the grabbing of potatoes or other fruit trees.
The flexible hand grip 6 comprises an upper push plate 7 and a lower bottom plate 8, wherein the upper push plate 7 is connected with the parallel pull rod 5 through a ball head connecting rod and a screw, and the ball head connecting rod can rotate around the screw, so that the upper push plate is always kept parallel to the ground. A linear screw rod stepping motor 9 is installed on the lower bottom plate 8, a screw rod of the linear screw rod stepping motor 9 is in threaded connection with a threaded flange 14 on the upper push plate 7, and when the linear screw rod stepping motor 9 drives the screw rod to rotate, the upper push plate 7 can move up and down.
The upper pushing plate 7 is circumferentially hinged with three connecting rods 11 through a pin shaft, the width of a notch of the mounting pin shaft on the upper pushing plate 7 is 1-2 mm larger than the diameter of the pin shaft, and the upper pushing plate is movably connected with the connecting rods. The other end of each connecting rod 11 is hinged with a flexible clamping jaw 12, each flexible clamping jaw 12 comprises a flexible clamping jaw connecting rod 12-1, the outer end of each flexible clamping jaw connecting rod 12-1 is hinged with the corresponding connecting rod 11, and the inner end of each flexible clamping jaw connecting rod 12-1 is hinged with an ear plate on the lower bottom plate 8. The lower end of the flexible clamping jaw connecting rod 12-1 is fixed with a flexible clamping plate 12-2, and the flexible clamping plate 12-2 is deformable elastic rubber. The flexible jaws are able to return to their previous shape when the potatoes are laid down.
Working process and principle
1) The belt conveying mechanism 4 is driven to move by the three motors, so that the flexible gripper 6 is lifted up and down to a proper position, and the gripping is convenient.
2) And starting the linear screw rod stepping motor 9, so that the upper push plate 7 descends relative to the lower bottom plate 8, and the three flexible clamping jaws 12 are opened.
3) When treating that the potato reachs flexible tongs 6 below, start sharp lead screw step motor 9 again for push-up plate 7 rises for bottom plate 8, and the potato is got to three flexible clamping jaw 12 clamp, presss from both sides the in-process, and flexible clamping jaw 12 produces corresponding deformation according to the external shape of potato, forms the parcel to the fruit.
Claims (3)
1. The utility model provides a potato liftable grabbing device which characterized in that: the automatic belt conveyor comprises a support (1), at least two sides of the support (1) are vertically provided with slide rails (2), slide blocks (3) slide up and down along the slide rails (2), one side of each slide block (3) is connected with a belt of a belt conveying mechanism (4), the other side of each slide block (3) is hinged with a pull rod (5), and the other end of each pull rod (5) is uniformly distributed on a flexible handle (6); flexible tongs (6) include push pedal (7), lower plate (8), wherein install sharp lead screw step motor (9) on lower plate (8), lead screw (10) and push pedal (7) threaded connection of sharp lead screw step motor (9) drive push pedal (7) oscilaltion, push pedal (7) circumference articulates at least has two connecting rods (11), and the other end and flexible clamping jaw (12) of connecting rod (11) are articulated, and flexible clamping jaw (12) are articulated with lower plate (8).
2. The liftable potato grabbing device of claim 1, characterized in that: the flexible clamping jaw (12) comprises a flexible clamping jaw connecting rod (12-1), and a flexible clamping plate (12-2) is installed at the lower end of the flexible clamping jaw connecting rod (12-1).
3. The liftable potato grabbing device of claim 2, characterized in that: the flexible clamping plate (12-2) is made of elastic rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922223095.4U CN211440053U (en) | 2019-12-12 | 2019-12-12 | Liftable potato grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922223095.4U CN211440053U (en) | 2019-12-12 | 2019-12-12 | Liftable potato grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211440053U true CN211440053U (en) | 2020-09-08 |
Family
ID=72306709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922223095.4U Expired - Fee Related CN211440053U (en) | 2019-12-12 | 2019-12-12 | Liftable potato grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211440053U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113997311A (en) * | 2021-11-30 | 2022-02-01 | 哈尔滨工业大学（深圳） | Flexible manipulator of perception integrated design is snatched in self-adaptation |
| CN114161469A (en) * | 2021-10-20 | 2022-03-11 | 华中农业大学 | Harmless fruit jack catch based on grab and feel integration |
| CN114851230A (en) * | 2022-04-19 | 2022-08-05 | 浙江大学 | Flexible manipulator with fin-shaped structure |
| CN117325204A (en) * | 2023-11-01 | 2024-01-02 | 宁波明禾新能源科技有限公司 | Flexible manipulator and detection method thereof |
-
2019
- 2019-12-12 CN CN201922223095.4U patent/CN211440053U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114161469A (en) * | 2021-10-20 | 2022-03-11 | 华中农业大学 | Harmless fruit jack catch based on grab and feel integration |
| CN114161469B (en) * | 2021-10-20 | 2024-03-26 | 华中农业大学 | Nondestructive fruit claw based on grabbing sense integration |
| CN113997311A (en) * | 2021-11-30 | 2022-02-01 | 哈尔滨工业大学（深圳） | Flexible manipulator of perception integrated design is snatched in self-adaptation |
| CN113997311B (en) * | 2021-11-30 | 2022-12-27 | 哈尔滨工业大学（深圳） | Flexible manipulator of perception integrated design is snatched in self-adaptation |
| CN114851230A (en) * | 2022-04-19 | 2022-08-05 | 浙江大学 | Flexible manipulator with fin-shaped structure |
| CN114851230B (en) * | 2022-04-19 | 2024-03-29 | 浙江大学 | Flexible manipulator of fin structure |
| CN117325204A (en) * | 2023-11-01 | 2024-01-02 | 宁波明禾新能源科技有限公司 | Flexible manipulator and detection method thereof |
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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: 20211212 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |