CN212464079U

CN212464079U - Pneumatic picking manipulator

Info

Publication number: CN212464079U
Application number: CN202020394111.6U
Authority: CN
Inventors: 王洪刚
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-03-25
Filing date: 2020-03-25
Publication date: 2021-02-05
Anticipated expiration: 2030-03-25

Abstract

The utility model discloses a pneumatic picking manipulator, pneumatic picking manipulator includes that the vacuum inhales claw, fuselage, harmless pneumatic means and pneumatic clamping device of picking, the vacuum is inhaled and is connected through hex bolts between claw and the fuselage, pneumatic clamping device includes that rotatory centre gripping cylinder, pressure sensor, telescopic link, arm, pneumatic picking indicate. The utility model uses the cooperation of the nondestructive picking pneumatic device, the vacuum suction claw, the flexible gasket and the pressure sensor, so that the damage and even breakage of fruits can be reduced when picking fruits and vegetables, and the buffer force can be reduced by the arranged buffer spring and the buffer channel; through the cooperation use of the nondestructive picking system, the motor, the pneumatic picking finger and the vacuum suction claw, the picking manipulator can realize a plurality of actions such as fruit adsorption and fruit clamping under various power devices, and the fruit clamping on different sizes can be realized at the same time.

Description

Pneumatic picking manipulator

Technical Field

The utility model relates to a pneumatic picking manipulator specifically belongs to robotechnology equipment technical field.

Background

The current mechanization development degree of agriculture in China is low, and wide application prospects still exist in the aspects of technology and selection. Therefore, the development mechanization reasonably can promote the development process of agriculture according to local conditions. In addition, the agricultural development and popularization of new technology and new variety can reduce agricultural production cost and improve production benefit. It follows that mechanization and technologization of agricultural development will be a necessary trend of agricultural development. In agriculture in China, regardless of the planting area of an orchard or the yield of fruits, China is the first in the world, and therefore, fruits and vegetables are seen to be an important part of agricultural development in China, the development of modern orchards towards mechanized times also becomes a trend, machines can gradually replace original labor tools and original labor methods of people, fruit and vegetable picking robots become an important part of social development, most of traditional fruit and vegetable picking robots are driven by electricity and hydraulic pressure, but the cost of the electricity and the hydraulic pressure is too high for farmers, and the damage rate of fruit and vegetable picking is high due to the traditional mechanical picking mode, so that the quality is uneven.

Disclosure of Invention

An object of the utility model is to provide a pneumatic picking manipulator to electric drive picking robot who proposes in solving above-mentioned background art picks the robot with hydraulic drive with too high costs, and traditional machinery has picked the mode and has caused the fruit vegetables to pick the breakage rate height, and the quality is uneven and picks the scheduling problem to the not fruit vegetables of equidimension.

In order to achieve the above object, the utility model provides a following technical scheme:

a pneumatic picking manipulator comprises a vacuum suction claw, a machine body, a nondestructive picking pneumatic device and a pneumatic clamping device. The vacuum suction claw is connected with the machine body through a hexagon bolt, and the pneumatic clamping device comprises a rotary clamping cylinder, a pressure sensor, a telescopic rod, a mechanical arm and a pneumatic picking finger. The utility model discloses a pneumatic picking machine, including fuselage, arm, step motor, arm, step motor, mechanical arm, pneumatic device downside is equipped with pneumatic clamping device, the upside of fuselage is provided with the motor, the fuselage top is provided with the fuselage end cover, the inside bearing assembly that is provided with of fuselage, the right side of bearing assembly is provided with the telescopic link, the top on telescopic link right side is provided with step motor, the right side of telescopic link is provided with the arm, be provided with the bearing assembly between step motor and the arm.

Preferably, the motor and the telescopic rod are fixedly connected through a bearing assembly, and the bearing connecting units are fixedly connected through bolts.

Preferably, the stepping motor is connected with the box body through a set screw, and the bearing assembly comprises a shaft, a tapered roller bearing, a sleeve coupling, a gear shaft and a gear.

Preferably, the shaft, the tapered roller bearing and the sleeve coupler are matched, and a gear shaft arranged in the mechanical arm need to be matched for use.

Preferably, the top of the mechanical arm is provided with a nondestructive picking pneumatic device, and the nondestructive picking pneumatic device comprises a piston, a piston rod, a rotary clamping cylinder, a set screw and a sealing protective layer.

Preferably, the rotary clamping cylinder is connected with the mechanical arm through a set screw, a piston and a piston rod are arranged inside the rotary clamping cylinder, and a sealing protective layer is arranged on the outer side of the nondestructive picking pneumatic device.

Preferably, the pneumatic clamping device comprises pneumatic picking fingers, a pressure sensor, a buffer spring, a compression spring and a connecting plate, and the pneumatic picking fingers are arranged on the left side and the right side of the pneumatic clamping device.

Preferably, a buffer spring is arranged between the connecting plate and the speed reducing motor, a vacuum suction claw is arranged on the lower side of the speed reducing motor, and a buffer channel is arranged on the outer side of the vacuum suction claw.

Preferably, the vacuum suction claw is made of rubber materials, a flexible gasket and a pressure sensor are arranged on the clamping surface of the inner side of the pneumatic picking finger, and the vacuum suction claw is located on the upper side of the pneumatic picking finger.

Compared with the prior art, the utility model provides a pneumatic manipulator of picking possesses following beneficial effect: the vacuum suction claw arranged on the inner side of the pneumatic picking finger and the flexible gasket arranged on the inner side of the pneumatic picking finger are matched with the pressure sensor for use through the arranged nondestructive picking pneumatic device and the pneumatic clamping device, so that the damage and even breakage of fruits are reduced when the fruits and the vegetables are picked, the buffer force can be reduced through the buffer spring and the buffer channel, the nondestructive picking system is matched with the multiple motors and the pneumatic picking finger and the vacuum suction claw for use, the nondestructive picking system can adsorb multiple actions such as fruits and clamping fruits under multiple power devices, and the fruits with different sizes can be clamped simultaneously.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:

fig. 1 is a schematic structural view of a pneumatic picking manipulator device provided by the utility model;

FIG. 2 is a schematic structural view of a nondestructive picking pneumatic device of the pneumatic picking machine of the present invention;

fig. 3 is a schematic structural view of a pneumatic picking manipulator pneumatic clamping device provided by the utility model;

fig. 4 is a schematic structural diagram of a part of a pneumatic picking manipulator provided by the present invention;

fig. 5 is a schematic structural view of a base of a pneumatic picking manipulator according to the present invention;

in the figure: 1. a motor; 2. a reduction motor; 3. vacuum suction claws; 4. a fuselage end cover; 5. connecting by bolts; 6. a box body; 7. a telescopic rod; 8. a tapered roller bearing; 9. a bearing assembly; 10. a sleeve coupling; 11. a stepping motor; 12. a gear shaft; 13. a compression spring 14, a gear; 16. a mechanical arm; 18. connecting by bolts; 19. a nondestructive picking pneumatic device; 20. a piston; 21. a piston rod; 22. rotating the clamping cylinder; 23. tightening the screw; 24. a pneumatic clamping device; 25. sealing the protective layer; 28. a connecting plate; 29. a buffer spring; 30. a buffer channel; 31. pneumatic picking fingers; 32. a pressure sensor; 37. a base; 38. a hexagon bolt; 39. a body; 41. a shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides the following technical solutions:

the utility model relates to a pneumatic picking manipulator, including vacuum suction claw 3, fuselage 39, harmless pneumatic means 19 and pneumatic clamping device 24 of picking. The vacuum suction claw 3 is connected with the machine body 39 through a hexagon bolt 38, and the pneumatic clamping device 24 comprises a rotary clamping cylinder 22, a pressure sensor 32, an expansion link 7, a mechanical arm 16 and a pneumatic picking finger 31. The utility model discloses a pneumatic picking machine, including fuselage 39, telescopic link 7, step motor 11, arm 16, bearing assembly 9, pneumatic device 19 is picked to the arm 16 top is provided with the harmless, the upside of fuselage 39 is provided with motor 1, fuselage 39 top is provided with fuselage end cover 4, fuselage 39 right side is provided with telescopic link 7, the top on telescopic link 7 right side is provided with step motor 11, the right side of telescopic link 7 is provided with arm 16, be provided with bearing assembly 9 between step motor 11 and the arm 16, arm 16 top is provided with the harmless pneumatic.

The utility model discloses a theory of operation and use flow:

as shown in fig. 1, the present embodiment provides a pneumatic picking manipulator, wherein the motor 1 and the telescopic rod 7 are fixedly connected through a bearing assembly 9, and the bearing assembly 9 is fixedly connected through a bolt.

As shown in fig. 2, the present embodiment provides a pneumatic picking manipulator, the stepping motor 11 is connected with the box 6 through a set screw 23, and the bearing assembly 9 includes a shaft 41, a tapered roller bearing 8, a sleeve coupling 10, a gear shaft 12, and a gear 14.

As shown in fig. 2, in the present embodiment, a pneumatic picking manipulator is provided, the shaft 41, the tapered roller bearing 8 and the sleeve coupling 10 are used in cooperation, and the gear 14 and the gear shaft 12 arranged inside the mechanical arm 16 need to be used in cooperation.

As shown in fig. 1, the present embodiment provides a pneumatic picking manipulator, the top of the mechanical arm 16 is provided with a nondestructive picking pneumatic device 19, and the nondestructive picking pneumatic device 19 comprises a piston 20, a piston rod 21, a rotary clamping cylinder 22, a set screw 23 and a sealing protection layer 25.

As shown in fig. 3, the present embodiment provides a pneumatic picking manipulator, the pneumatic clamping device 24 includes pneumatic picking fingers 31, a pressure sensor 32, a buffer spring 29, a pressing spring 13, a connecting plate 28, and pneumatic picking fingers 31 are disposed on the left and right sides of the pneumatic clamping device 24.

As shown in fig. 3, the present embodiment provides a pneumatic picking manipulator, a buffer spring 29 is arranged between the connecting plate 28 and the speed reducing motor 2, the vacuum suction claw 3 is arranged at the lower side of the speed reducing motor 2, and a buffer channel 30 is arranged at the outer side of the vacuum suction claw 3.

As shown in fig. 3, the vacuum claw 3 is made of rubber material, a flexible gasket and a pressure sensor 32 are arranged on the inner clamping surface of the pneumatic picking finger 31, and the vacuum claw 3 is located on the upper side of the pneumatic picking finger 31.

The working principle is as follows: the utility model relates to a pneumatic picking manipulator is mainly through the removal about motor 1 drives telescopic link 7 realization during picking to the uneven problem of fruit height distribution can be solved to telescopic link 7. The pneumatic clamping device 24 is driven by the mechanical arm 16 to move to the position of the fruits and vegetables, the pneumatic picking fingers 31 are driven by the rotary clamping cylinder 22 to align the fruits and vegetables with the vacuum suction claw 3, the piston rod 21 is arranged in the rotary clamping cylinder 22 to drive the piston 20 to move so as to close the pneumatic picking fingers 31, the fruits and vegetables are clamped by the cooperation of the compression spring 13, the vacuum suction claw 3 brings the fruits and vegetables to the buffer channel 30, and the buffer force can be reduced by the buffer spring 29.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a pneumatic picking manipulator which characterized in that: comprises a vacuum suction claw (3), a machine body (39), a lossless picking pneumatic device (19) and a pneumatic clamping device, wherein the vacuum suction claw (3) is connected with the machine body (39) through a hexagon bolt (38), the pneumatic clamping device (24) comprises a rotary clamping cylinder (22), a pressure sensor (32), a telescopic rod (7), a mechanical arm (16) and a pneumatic picking finger (31), a motor (1) is arranged on the upper side of the machine body (39), a machine body end cover (4) is arranged on the top of the machine body (39), a telescopic rod (7) is arranged on the right side of the machine body, a stepping motor (11) is arranged on the top of the right side of the telescopic rod (7), a mechanical arm (16) is arranged on the right side of the telescopic rod (7), a bearing assembly (9) is arranged between the stepping motor (11) and the mechanical arm (16), the lossless picking pneumatic device (19) is, a pneumatic clamping device (24) is arranged at the lower side of the nondestructive picking pneumatic device (19); the top of the mechanical arm (16) is provided with a nondestructive picking pneumatic device (19), and the nondestructive picking pneumatic device (19) comprises a piston (20), a piston rod (21), a rotary clamping cylinder (22), a set screw (23) and a sealing protective layer (25); the rotary clamping cylinder (22) is connected with the mechanical arm (16) through a set screw (23), a piston (20) and a piston rod (21) are arranged inside the rotary clamping cylinder (22), and a sealing protective layer (25) is arranged on the outer side of the nondestructive picking pneumatic device (19); the pneumatic clamping device (24) comprises pneumatic picking fingers (31), a pressure sensor (32), a buffer spring (29), a pressing spring (13) and a connecting plate (28), and the pneumatic picking fingers (31) are arranged on the left side and the right side of the pneumatic clamping device (24); be provided with buffer spring (29) between connecting plate (28) and gear motor (2), gear motor (2) downside is provided with the vacuum and inhales claw (3), the vacuum is inhaled the claw (3) outside and is provided with buffering passageway (30), the vacuum is inhaled claw (3) and is rubber materials, pneumatic picking is provided with flexible gasket and pressure sensor (32) on the inboard clamping face that indicates (31), the vacuum is inhaled claw (3) and is located pneumatic picking and indicates (31) upside.

2. A pneumatic picking manipulator according to claim 1, characterised in that the motor (1) and the telescopic rod (7) are connected and fixed by a bearing assembly (9), and the bearing assembly (9) is fixed by a bolt connection.

3. A pneumatic picking manipulator as claimed in claim 2, in which: the stepping motor (11) is connected with the box body (6) through a set screw (23), and the bearing assembly (9) comprises a shaft (41), a tapered roller bearing (8), a sleeve coupling (10), a gear shaft (12) and a gear (14).

4. A pneumatic picking manipulator as claimed in claim 3, in which: the shaft (41), the tapered roller bearing (8) and the sleeve coupling (10) are matched for use, and a gear (14) and a gear shaft (12) which are arranged in the mechanical arm (16) need to be matched for use.