CN219961392U - Picking manipulator and picking robot - Google Patents
Picking manipulator and picking robot Download PDFInfo
- Publication number
- CN219961392U CN219961392U CN202321218445.8U CN202321218445U CN219961392U CN 219961392 U CN219961392 U CN 219961392U CN 202321218445 U CN202321218445 U CN 202321218445U CN 219961392 U CN219961392 U CN 219961392U
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- support frame
- screw thread
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- motor
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- 238000005520 cutting process Methods 0.000 claims abstract description 33
- 235000013399 edible fruits Nutrition 0.000 abstract description 27
- 230000005540 biological transmission Effects 0.000 abstract description 14
- 238000003860 storage Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a picking manipulator and a picking robot, which comprise a base, a support frame, an angle adjusting mechanism, a cutting mechanism and a storage bag, wherein the support frame is rotationally connected to the front side of the base, the support frame is rotationally connected with the base through a rotating shaft, the angle adjusting mechanism for driving the support frame to rotate is arranged on the base, the cutting mechanism is arranged on the support frame, and the cutting mechanism comprises: the cutting device comprises a transmission rod, a first thread, a second thread, a first thread sleeve, a second thread sleeve, a cutting blade, a limiting rod and a second motor, wherein a storage bag is arranged on a support frame at the lower side of the cutting mechanism. The utility model has the advantages of convenient angle adjustment, convenient picking of fruits and convenient collection of fruits.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a picking manipulator and a picking robot.
Background
The mechanical fingers can simulate certain action functions of hands and arms, and are used for grabbing and carrying objects or operating the automatic operating device of the tool according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, and other departments.
With the development of technology, picking manipulator pair fruit pair picking is used in many farms. The existing picking manipulator directly clamps fruits when in use and then tears the fruits off from fruit trees, but the outer skin of the fruits can be damaged when the manipulator clamps the fruits and pulls the fruits to influence the appearance of the fruits, so that the picking manipulator and the picking robot which are convenient to pick the fruits, good in protection to the fruits and capable of preventing the outer surfaces of the fruits from being damaged are urgently required to be developed according to the current situation, so that the defects in the current practical application are overcome, and the current requirements are met.
Disclosure of Invention
The utility model aims to provide a picking manipulator and a picking robot, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
the utility model provides a picking manipulator, includes base, support frame, angle adjustment mechanism, cuts mechanism and apotheca, the front side of base rotates and is connected with the support frame, the support frame rotates through rotation axis and base to be connected, install on the base and be used for driving support frame pivoted angle adjustment mechanism, install on the support frame and cut the mechanism, cut the mechanism and include: the cutting device comprises a transmission rod, a first thread, a second thread, a first thread sleeve, a second thread sleeve, a cutting blade, a limit rod and a second motor, wherein the transmission rod is rotationally connected in a support frame, the second motor is fixed on the outer side of the support frame, an output shaft of the second motor is connected with the transmission rod, a first thread is arranged on the left half section of the transmission rod, a first thread sleeve matched with the first thread is arranged on the outer side of the first thread, a second thread sleeve matched with the right half section of the transmission rod is arranged on the outer side of the second thread, a limit rod inserted in the support frame is arranged on each of the first thread sleeve and the second thread sleeve, the rotation directions of the first thread sleeve and the second thread sleeve are opposite, a cutting blade is arranged on each of the first thread sleeve and the second thread sleeve, and a storage bag is arranged on the support frame on the lower side of the cutting mechanism.
Preferably: the angle adjusting mechanism includes: the device comprises a first motor, a first gear and a second gear, wherein the first motor is fixed on a base, the first gear is installed on an output shaft of the first motor, a second gear in running fit with the first gear is installed on one side of the first gear, and the second gear is installed on a rotating shaft.
Preferably: the two cutting blades are oppositely arranged.
Preferably: the limiting rod is in sliding connection with the supporting frame, and a limiting chute for the movement of the limiting rod is arranged on the supporting frame.
The picking robot comprises a robot connecting plate, wherein the robot connecting plate is fixed with a base, and a plurality of mounting holes are formed in the robot connecting plate.
The beneficial effects of the utility model are as follows: this picking manipulator and picking robot, during the use, drive first gear through first motor and rotate, drive the second gear through first gear and rotate, drive the rotation axis through the second gear and rotate, drive the support frame through the rotation axis and rotate, and then adjust the angle of cutting mechanism and reservoir bag, then, make the stem rod of fruit insert in cutting mechanism, drive the transfer line through the second motor and rotate, drive first thread bush and second thread bush through the transfer line and remove in opposite directions, drive two cutting blade and remove in opposite directions through first thread bush and second thread bush, cut the stem rod of fruit through two cutting blade cooperations for the fruit falls into the reservoir bag can. In conclusion, the fruit picking machine is convenient for picking fruits, has good protection performance on the fruits, prevents the outer surfaces of the fruits from being damaged, and is convenient for collecting the fruits.
Drawings
Fig. 1 is a schematic perspective view of the present utility model.
Fig. 2 is a schematic diagram of a portion of the structure of the present utility model.
Fig. 3 is a schematic diagram of a portion of the structure of the present utility model.
Legend description:
1. a base; 2. a support frame; 201. a rotation shaft; 202. limiting sliding grooves; 3. an angle adjusting mechanism; 301. a first motor; 302. a first gear; 303. a second gear; 4. a cutting mechanism; 401. a transmission rod; 402. a first thread; 403. a second thread; 404. a first threaded sleeve; 405. a second threaded sleeve; 406. a cutting blade; 407. a limit rod; 408. a second motor; 5. a storage bag; 6. a robot connecting plate; 601. and (5) mounting holes.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Specific examples are given below.
Example 1
Referring to fig. 1 to 3, in the embodiment of the utility model, a picking manipulator comprises a base 1, a support frame 2, an angle adjusting mechanism 3, a cutting mechanism 4 and a storage bag 5, wherein the support frame 2 is rotationally connected to the front side of the base 1, the support frame 2 is rotationally connected with the base 1 through a rotating shaft 201, the angle adjusting mechanism 3 for driving the support frame 2 to rotate is installed on the base 1, the cutting mechanism 4 is installed on the support frame 2, the storage bag 5 is installed on the lower side of the cutting mechanism 4 on the support frame 2, and when the picking manipulator is used, the support frame 2 is driven to rotate through the angle adjusting mechanism 3, the cutting mechanism 4 and the storage bag 5 are driven to rotate through the support frame 2, so that the angle of the cutting mechanism 4 is adjusted, and then, stems of fruits are cut through the cutting mechanism 4, so that the fruits fall into the storage bag 5.
The angle adjustment mechanism 3 includes: the device comprises a first motor 301, a first gear 302 and a second gear 303, wherein the first motor 301 is fixed on a base 1, the first gear 302 is installed on an output shaft of the first motor 301, a second gear 303 in running fit with the first gear 302 is installed on one side of the first gear 302, and the second gear 303 is installed on a rotating shaft 201.
The cutting mechanism 4 includes: the fruit cutting device comprises a transmission rod 401, a first thread 402, a second thread 403, a first thread sleeve 404, a second thread sleeve 405, a cutting blade 406, a limit rod 407 and a second motor 408, wherein the transmission rod 401 is rotationally connected in a support frame 2, the second motor 408 is fixed on the outer side of the support frame 2, an output shaft of the second motor 408 is connected with the transmission rod 401, a first thread 402 is arranged on the left half section of the transmission rod 401, a first thread sleeve 404 matched with the first thread 402 is arranged on the outer side of the first thread 402, a second thread 403 is arranged on the right half section of the transmission rod 401, the second thread sleeve 405 matched with the second thread sleeve 404 is arranged on the outer side of the second thread 403, a limit rod 407 is arranged on the first thread sleeve 404 and the second thread sleeve 405, the limit rod 407 is in sliding connection with the support frame 2, a limit chute 202 used for limiting the movement of the limit rod 407, the first thread sleeve 404 and the second thread sleeve 405 can not rotate so as to move linearly, when the first thread 402 and the second thread 403 are matched with the first thread sleeve 404, the second thread sleeve 403 rotates oppositely, the first thread sleeve 404 and the second thread sleeve 405 is driven by the two opposite threads to move, and the cutting blade 405 is driven by the two threads of the second thread sleeve 405 to move oppositely, and the second thread sleeve 405 is driven by the second thread sleeve 405 and the second thread sleeve 405 is driven by the second thread sleeve 404 to move.
Example 2
Referring to fig. 1, in the embodiment of the present utility model, a picking robot includes a robot connecting plate 6, the robot connecting plate 6 is fixed with a base 1, a plurality of mounting holes 601 are provided on the robot connecting plate 6, and in use, bolts are fixed to a robot body through the mounting holes 601, thereby fixing the base 1 and the robot body together.
Working principle: when the picking manipulator and the picking robot are used, the first motor 301 drives the first gear 302 to rotate, the first gear 302 drives the second gear 303 to rotate, the second gear 303 drives the rotating shaft 201 to rotate, the rotating shaft 201 drives the support frame 2 to rotate, the angle of the cutting mechanism 4 and the storage bag 5 is further adjusted, then, the stem of the fruit is inserted into the cutting mechanism 4, the second motor 408 drives the transmission rod 401 to rotate, the transmission rod 401 drives the first thread sleeve 404 and the second thread sleeve 405 to move in opposite directions, the first thread sleeve 404 and the second thread sleeve 405 drive the two cutting blades 406 to move in opposite directions, and the stem of the fruit is cut through the cooperation of the two cutting blades 406, so that the fruit falls into the storage bag 5.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (5)
1. The utility model provides a picking manipulator, its characterized in that includes base (1), support frame (2), angle adjustment mechanism (3), cuts mechanism (4) and apotheca (5), the front side rotation of base (1) is connected with support frame (2), support frame (2) are connected with base (1) rotation through rotation axis (201), install on base (1) and be used for driving support frame (2) pivoted angle adjustment mechanism (3), install on support frame (2) and cut mechanism (4), cut mechanism (4) include: the utility model provides a drive rod (401), first screw thread (402), second screw thread (403), first screw thread cover (404), second screw thread cover (405), cutting blade (406), gag lever post (407) and second motor (408), drive rod (401) rotate and connect in support frame (2), the outside of support frame (2) is fixed in to second motor (408), the output shaft of second motor (408) links to each other with drive rod (401), the left half section of drive rod (401) is provided with first screw thread (402), first screw thread cover (404) with it matched with is installed in the outside of first screw thread (402), the right half section of drive rod (401) is provided with second screw thread (403), second screw thread cover (405) with it is installed in the outside of second screw thread (403), all install a gag lever post (407) of inserting on support frame (2) on first screw thread cover (404) and second screw thread cover (405), first screw thread (402) and second screw thread (403) are installed on opposite to first screw thread (4) and second screw thread cover (405) are installed on the side of cut bag (4).
2. Picking manipulator according to claim 1, characterized in that the angle adjustment mechanism (3) comprises: the novel electric motor comprises a first motor (301), a first gear (302) and a second gear (303), wherein the first motor (301) is fixed on a base (1), the first gear (302) is installed on an output shaft of the first motor (301), the second gear (303) in running fit with the first gear (302) is installed on one side of the first gear (302), and the second gear (303) is installed on a rotating shaft (201).
3. Picking manipulator according to claim 1, characterized in that two of the cutting blades (406) are arranged opposite each other.
4. The picking manipulator according to claim 1, wherein the limit lever (407) is slidably connected with the support frame (2), and a limit chute (202) for moving the limit lever (407) is arranged on the support frame (2).
5. Picking robot, characterized by comprising the picking manipulator according to claims 1-4, and further comprising a robot connecting plate (6), wherein the robot connecting plate (6) is fixed with the base (1), and a plurality of mounting holes (601) are formed in the robot connecting plate (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321218445.8U CN219961392U (en) | 2023-05-18 | 2023-05-18 | Picking manipulator and picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321218445.8U CN219961392U (en) | 2023-05-18 | 2023-05-18 | Picking manipulator and picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219961392U true CN219961392U (en) | 2023-11-07 |
Family
ID=88595067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321218445.8U Active CN219961392U (en) | 2023-05-18 | 2023-05-18 | Picking manipulator and picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219961392U (en) |
-
2023
- 2023-05-18 CN CN202321218445.8U patent/CN219961392U/en active Active
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