CN214918339U

CN214918339U - Fruit and vegetable sorting manipulator and system

Info

Publication number: CN214918339U
Application number: CN202121531209.2U
Authority: CN
Inventors: 周伟波
Original assignee: Zhuhai Tianyi Automation Equipment Co ltd
Current assignee: Zhuhai Tianyi Automation Equipment Co ltd
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2021-11-30
Anticipated expiration: 2031-07-06

Abstract

The utility model relates to a fruit and vegetable sorting manipulator technical field specifically discloses a fruit and vegetable sorting manipulator and system, including arm, transmission band and gripper, arm output end bottom fixedly connected with fixed case, fixed incasement chamber fixed mounting has driving motor, fixedly connected with mounting panel on the driving motor output shaft, the left and right sides in mounting panel top all has transversely seted up along the level and has adjusted the spout, two adjust the spout and all run through the mounting panel; the utility model discloses manipulator and system are selected separately to fruit vegetables through two sets of gripper cooperation mounting panels and the driving motor that sets up for one of them gripper is after snatching unqualified fruit vegetables, can be through driving motor rapidly with another gripper rotatory transmission band top, the gripper that has snatched the fruit vegetables then rotates the top of retrieving the basket, puts into the retrieval basket with unqualified fruit vegetables in, the time that can furthest's reduction electron eye leaves the transmission band top.

Description

Fruit and vegetable sorting manipulator and system

Technical Field

The utility model relates to a fruit vegetables sorting mechanical hand technical field specifically is a fruit vegetables sorting mechanical hand and system.

Background

The fruit and vegetable sorting is that the fruits and vegetables are conveyed to the other end through one end of a conveying belt, the damaged or unqualified fruits and vegetables are grabbed out through an electronic eye matched with a manipulator in the conveying process and are placed in a centralized way, however, most of the existing manipulators have a problem in use, the transmission belt is used for transmitting fruits and vegetables all the time, when an electronic eye on the manipulator detects unqualified fruits and vegetables, will extend out to grab it out and rotate to one side, then put the unqualified fruits and vegetables into the containing basket, rotate back to the upper part of the conveyer belt to continue the detection, however, in the next round, the conveyor belt is transported continuously, so that when the existing manipulator is used, the detection and the grabbing cannot be effectively combined, so that the mechanical claw cannot detect when grabbing, a part of unqualified fruits and vegetables are mixed into qualified fruits and vegetables, therefore, the manipulator and the system for sorting the fruits and the vegetables are required to be designed, wherein the manipulator and the system are used for detecting, screening and grabbing the fruits and the vegetables without mutual influence.

SUMMERY OF THE UTILITY MODEL

The utility model provides a not enough to prior art, the utility model provides a manipulator and system are selected separately to fruit vegetables possesses to detect the screening and snatchs advantage such as each other does not influence, has solved traditional manipulator and can't continue the problem that detects when snatching.

The utility model discloses a fruit and vegetable sorting manipulator and system, including arm, transmission band and gripper, arm output end bottom fixedly connected with fixed case, fixed incasement chamber fixed mounting has driving motor, fixedly connected with mounting panel on the driving motor output shaft, the left and right sides of mounting panel top all has transversely seted up along the level and has adjusted the spout, two adjust the spout and all run through the mounting panel; threaded rods are connected in the two adjusting chutes in a sliding manner, the bottom ends of the threaded rods are fixedly connected with a fixed disc, the central position of the bottom of the fixed disc is fixedly connected with a fixed column, and the outer surface of the fixed disc is hinged with three electric telescopic rods in an annular equidistant manner; the position, close to the bottom, of the outer surface of the fixed column is hinged with three mechanical claws at equal intervals in a surrounding mode, one sides, far away from the top ends of the three mechanical claws, of the three mechanical claws are hinged with the output ends of the three electric telescopic rods respectively, and an electronic eye is fixedly mounted in the center of the bottom of the fixed column.

Through the design of the technical scheme, the electronic eye can better detect fruits and vegetables on a transmission belt, and meanwhile, the electric telescopic rod is utilized to better control the mechanical claw to fold and unfold.

As a further improvement, the gripper has two sets and one of them top that is located the transmission band, the recovery basket has been placed between transmission band and the arm, another group the gripper is located the top of recovery basket.

Through the design of the technical scheme, the mechanical gripper can better place unqualified fruits and vegetables into the recovery basket after grabbing the fruits and vegetables.

As the utility model discloses a further improvement, it is three the arc wall of indent is all seted up to one side that the gripper is close to each other, the equal fixedly connected with rubber cushion in one side that the inner wall of this arc wall and three gripper are close to each other.

Through the design of the technical scheme, the mechanical claw cannot damage the surface of the fruit and vegetable when the fruit and vegetable are grabbed.

As a further improvement, the threaded rod surface is located the position threaded connection at mounting panel top and has solid fixed ring, fixedly connected with handle between the solid fixed ring top left and right sides.

Through the design of the technical scheme, the threaded rod can be fixed better through the fixing ring after the sliding adjustment is finished, and the handle is utilized to rotate the fixing ring better.

As a further improvement, the handle outer surface is fixedly connected with an anti-skid rubber pad, and the diameter of the fixing ring is larger than that of the threaded rod.

Through the design of the technical scheme, the handle is more comfortable to grasp.

Compared with the prior art, the beneficial effects of the utility model are as follows:

the fruit and vegetable sorting manipulator and the system thereof can lead one of the mechanical claws to pick unqualified fruits and vegetables after the two sets of mechanical claws are matched with the mounting plate and the driving motor, the other mechanical claw can be rapidly rotated above the conveying belt through the driving motor, the mechanical claw which grabs the fruits and vegetables is rotated above the recovery basket, the unqualified fruits and vegetables are placed in the recovery basket, the time for the electronic eye to leave the upper part of the conveying belt can be reduced to the maximum extent, thereby reducing the probability of unqualified fruits and vegetables being mixed into qualified fruits and vegetables, and simultaneously utilizing the structures of the threaded rod, the fixed ring, the handle, the adjusting chute and the like, can quickly and effectively adjust the positions of the two mechanical claws, is convenient to adapt to transmission belts with different sizes, and utilize the arc wall that the gripper inboard was seted up, effectually prevent to press from both sides the fruit vegetables epidermis when getting brokenly, solved traditional manipulator and can't continue the problem that detects when snatching.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic view of the overall front view structure of the present invention;

fig. 2 is a schematic top view of the mounting plate of the present invention;

fig. 3 is an enlarged schematic view of a portion a of fig. 1 according to the present invention.

In the figure: 01. a mechanical arm; 02. a conveyor belt; 03. a recovery basket; 04. a fixed box; 05. a drive motor; 06. mounting a plate; 07. adjusting the sliding chute; 08. a fixing ring; 09. a threaded rod; 10. a handle; 11. fixing the disc; 12. fixing a column; 13. an electric telescopic rod; 14. a gripper; 15. an electronic eye.

Detailed Description

In the following description, numerous implementation details are set forth in order to provide a more thorough understanding of the present invention. It should be understood, however, that these implementation details should not be used to limit the invention. That is, in some embodiments of the invention, details of these implementations are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for description purposes, not specifically referring to the order or sequence, and are not intended to limit the present invention, but only to distinguish the components or operations described in the same technical terms, and are not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1, the fruit and vegetable sorting manipulator and system of the present invention includes a mechanical arm 01, a transmission belt 02 and a gripper 14, wherein the bottom of the output end of the mechanical arm 01 is fixedly connected with a fixing box 04, a driving motor 05 is fixedly installed in the inner cavity of the fixing box 04, an output shaft of the driving motor 05 is fixedly connected with a mounting plate 06, the left and right sides of the top of the mounting plate 06 are horizontally and transversely provided with adjusting chutes 07, and the two adjusting chutes 07 all penetrate through the mounting plate 06; threaded rods 09 are connected into the two adjusting chutes 07 in a sliding manner, the bottom ends of the threaded rods 09 are fixedly connected with a fixed disc 11, a fixed column 12 is fixedly connected at the center of the bottom of the fixed disc 11, and three electric telescopic rods 13 are hinged to the outer surface of the fixed disc 11 at equal intervals in a ring shape; the position that the fixed column 12 surface is close to the bottom has three gripper 14 around the equidistant articulated three that has of annular, and one side that three gripper 14 tops kept away from each other is articulated with three electric telescopic handle 13's output end respectively, and the central point fixed mounting of fixed column 12 bottom has electron eye 15, and this structure setting for electron eye 15 can be better detect the fruit vegetables on the transmission band 02, utilizes the better control gripper 14 of electric telescopic handle 13 to receive and open simultaneously.

Referring to fig. 1, two sets of mechanical claws 14 are provided, one set of the mechanical claws 14 is located above the conveying belt 02, a recovery basket 03 is placed between the conveying belt 02 and the robot arm 01, and the other set of the mechanical claws 14 is located above the recovery basket 03.

Referring to fig. 3, the side of the three gripper 14 close to each other is provided with an inward concave arc-shaped groove, the inner wall of the arc-shaped groove and the side of the three gripper 14 close to each other are fixedly connected with a rubber cushion, and the structure is arranged so that the gripper 14 does not damage the surface of the fruit and vegetable when gripping the fruit and vegetable.

Referring to fig. 2, the outer surface of the threaded rod 09 is connected with a fixing ring 08 through threads at the top of the mounting plate 06, and a handle 10 is fixedly connected between the left side and the right side of the top of the fixing ring 08.

Referring to fig. 1, an anti-slip rubber pad is fixedly connected to the outer surface of the handle 10, and the diameter of the fixing ring 08 is larger than that of the threaded rod 09, so that the handle 10 is more comfortable to grasp.

When using the utility model discloses the time: firstly, the distance between two mechanical claws 14 is adjusted according to the size of a transmission belt 02, during adjustment, a handle 10 is grabbed to drive a fixing ring 08 to rotate reversely, so that a threaded rod 09 can slide in an adjusting sliding groove 07, the fixing ring 08 is screwed to a proper position, the bottom of the fixing ring 08 is abutted against the top of a mounting plate 06 to fix the threaded rod 09, and then adjustment can be completed, at the moment, fruits and vegetables are conveyed from the transmission belt 02, a group of mechanical claws 14 and an electronic eye 15 are positioned above the transmission belt 02 to detect and screen the passing fruits and vegetables, when the electronic eye 15 detects unqualified fruits and vegetables, a mechanical arm 01 drives a fixing box 04, a mounting plate 06 and a long belt 14 to move downwards, an electric telescopic rod 13 is lifted to fold the three mechanical claws 14 to grab the unqualified fruits and vegetables, after the unqualified fruits and vegetables are grabbed, a driving motor 05 drives the mounting plate 06 to rotate by one hundred eighty degrees, so that the positions of the two groups of mechanical claws 14 are interchanged, the electric telescopic rod 13 retracts to drive the three mechanical claws 14 to open outwards, so that unqualified fruits and vegetables fall into the recovery basket 03.

The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. The utility model provides a manipulator and system are selected separately to fruit vegetables, includes arm (01), transmission band (02) and gripper (14), its characterized in that: the bottom of the output end of the mechanical arm (01) is fixedly connected with a fixed box (04), a driving motor (05) is fixedly installed in an inner cavity of the fixed box (04), an output shaft of the driving motor (05) is fixedly connected with an installation plate (06), the left side and the right side of the top of the installation plate (06) are horizontally and transversely provided with adjusting sliding grooves (07), and the two adjusting sliding grooves (07) penetrate through the installation plate (06);

threaded rods (09) are connected into the two adjusting chutes (07) in a sliding manner, the bottom ends of the threaded rods (09) are fixedly connected with a fixed disc (11), a fixed column (12) is fixedly connected to the center of the bottom of the fixed disc (11), and three electric telescopic rods (13) are hinged to the outer surface of the fixed disc (11) in an annular equidistant manner;

the position, close to the bottom, of the outer surface of the fixed column (12) is hinged with three mechanical claws (14) in a surrounding mode at equal intervals, one sides, far away from the top ends of the three mechanical claws (14), are hinged with the output ends of the three electric telescopic rods (13) respectively, and an electronic eye (15) is fixedly installed in the center of the bottom of the fixed column (12).

2. The fruit and vegetable sorting manipulator and system according to claim 1, wherein: two groups of mechanical claws (14) are arranged, one group of mechanical claws is arranged above the conveying belt (02), a recovery basket (03) is arranged between the conveying belt (02) and the mechanical arm (01), and the other group of mechanical claws (14) is arranged above the recovery basket (03).

3. The fruit and vegetable sorting manipulator and system according to claim 1, wherein: the arc-shaped groove of indent is all seted up to three one side that gripper (14) are close to each other, and the equal fixedly connected with rubber cushion in one side that the inner wall of this arc-shaped groove and three gripper (14) are close to each other.

4. The fruit and vegetable sorting manipulator and system according to claim 1, wherein: threaded rod (09) surface is located the position threaded connection at mounting panel (06) top and has solid fixed ring (08), gu fixed ring (08) fixedly connected with handle (10) between the top left and right sides.

5. The fruit and vegetable sorting manipulator and system according to claim 4, wherein: the outer surface of the handle (10) is fixedly connected with an anti-skidding rubber pad, and the diameter of the fixing ring (08) is larger than that of the threaded rod (09).