CN220840243U - Manipulator capable of realizing rotary grabbing - Google Patents
Manipulator capable of realizing rotary grabbing Download PDFInfo
- Publication number
- CN220840243U CN220840243U CN202322280467.3U CN202322280467U CN220840243U CN 220840243 U CN220840243 U CN 220840243U CN 202322280467 U CN202322280467 U CN 202322280467U CN 220840243 U CN220840243 U CN 220840243U
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- elastic
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- shell
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- 235000013399 edible fruits Nutrition 0.000 description 30
- 238000000034 method Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 244000144730 Amygdalus persica Species 0.000 description 1
- 244000141359 Malus pumila Species 0.000 description 1
- 235000006040 Prunus persica var persica Nutrition 0.000 description 1
- 241000220324 Pyrus Species 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 235000021017 pears Nutrition 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a manipulator capable of realizing rotary grabbing, which is characterized in that: the manipulator include center support (1), center support (1) outer rotation is connected with rotary housing (2), center support (1) and the casing part fixed connection of steering wheel (3), the output of steering wheel (3) then links to each other with rotary housing (2), be provided with three elastic connection rod (4) of evenly distributed in circumferencial direction on one terminal surface of rotary housing (2), the tip of elastic connection rod (4) then is provided with clamping jaw body (5), the tip of center support (1) is connected with guide disc (7) through connecting axle (6), three arc guide way (8) of evenly distributed equally in circumferencial direction have then been seted up on guide disc (7), the middle part swing joint of three arc guide way (8) and three elastic connection rod (4) is in arc guide way (8).
Description
Technical Field
The utility model relates to the field of automatic fruit picking, in particular to a manipulator capable of achieving rotary grabbing.
Background
After the fruits such as apples, pears and peaches are ripe, the fruits need to be picked from the tree, and the traditional manual picking mode is generally adopted for operation, so that the method has the problems of time and labor consumption, high labor intensity, low working efficiency and the like. The above problems can be solved to some extent if picking can be performed by using a robot with a high degree of automation.
However, the existing manipulators are all manipulators used for industrial production, the grabbed targets are rigid workpieces, and if the manipulators are directly applied to the fruit picking field, damage to target fruits can be caused. Meanwhile, fruits and branches are connected through fruit handles, and if the fruits are picked by adopting actions of pulling the fruits outwards, the connection parts of the fruits and the fruit handles are easily damaged; in the traditional fruit picking process, picking personnel generally rotate and drag at the same time, if the mechanical arm is required to do the motion, the design difficulty and the design cost of the mechanical arm can be increased, and then the picking cost is also greatly increased.
There is thus a need for a method or apparatus that solves the above-mentioned problems.
Disclosure of Invention
The utility model aims to solve the defects in the prior art, and provides the manipulator which has the advantages of simple structure, ingenious design and reasonable layout, and can synchronously realize the rotation action and the grabbing action by only using one set of driving mechanism.
The technical scheme of the utility model is as follows: can realize rotatory manipulator that snatchs, its characterized in that: the manipulator comprises a center support 1, a rotary shell 2 is rotationally connected outside the center support 1, the center support 1 is fixedly connected with a shell part of a steering engine 3, the output end of the steering engine 3 is connected with the rotary shell 2, three elastic connecting rods 4 uniformly distributed in the circumferential direction are arranged on one end face of the rotary shell 2, the end parts of the elastic connecting rods 4 are provided with clamping jaw bodies 5, the end parts of the center support 1 are connected with a guide disc 7 through connecting shafts 6, three arc-shaped guide grooves 8 uniformly distributed in the circumferential direction are formed in the guide disc 7, the three arc-shaped guide grooves 8 are in one-to-one correspondence with the three elastic connecting rods 4, the middle parts of the elastic connecting rods 4 are movably connected in the arc-shaped guide grooves 8,
The distances between the two ends of the arc-shaped guide groove 8 and the circle center of the guide disc 7 are respectively R1 and R2, and R1 is more than R2,
The rear end of the center support 1 is provided with a flange connection structure.
The clamping jaw body 5 comprises an outer arc-shaped shell 9, an elastic grabbing surface 10 is arranged in the arc-shaped shell 9, a plurality of elastic supporting strips 11 are further arranged between the arc-shaped shell 9 and the elastic grabbing surface 10, the plurality of elastic supporting strips 11 are parallel to each other and distributed at equal intervals, and meanwhile all the elastic supporting strips 11 are perpendicular to the elastic grabbing surface 10 in a non-clamping state.
The elastic grabbing surface 10 is a rubber surface, and the elastic supporting strips 11 are rubber strips.
Compared with the prior art, the utility model has the following advantages:
The manipulator capable of achieving rotary grabbing in the structural form is simple in structure, ingenious in design and reasonable in layout, and aims at the problems of low working efficiency, large labor capacity and the like existing in the traditional manual fruit picking process. The steering engine is utilized to drive the shell positioned on the outer side to rotate relative to the support positioned in the center, and in the rotating process, the three elastic connecting rods connected to the shell can elastically deform under the action of the arc-shaped guide grooves, so that the target fruit is clamped on one side, the target fruit is driven to rotate, the operation can be realized only by the steering engine, and the production cost of the manipulator is relatively low. The device has the advantages of simple manufacturing process and low manufacturing cost, so that the device is particularly suitable for popularization and application in the field and has very broad market prospect.
Drawings
Fig. 1 is a cross-sectional view of an embodiment of the present utility model.
Fig. 2 is a schematic perspective view of an embodiment of the present utility model.
The steering engine comprises a center support 1, a rotary shell 2, a steering engine 3, an elastic connecting rod 4, a clamping jaw body 5, a connecting shaft 6, a guide disc 7, an arc-shaped guide groove 8, an arc-shaped shell 9, an elastic grabbing surface 10 and an elastic supporting bar 11.
Detailed Description
The following description of the embodiments of the utility model refers to the accompanying drawings, in which: as shown in fig. 1 and 2, the manipulator capable of realizing rotary grabbing comprises a center support 1, a rotary shell 2 is connected to the outside of the center support 1 in a rotating manner, the center support 1 is fixedly connected with a shell part of a steering engine 3, an output end of the steering engine 3 is connected with the rotary shell 2, three elastic connecting rods 4 uniformly distributed in the circumferential direction are arranged on one end face of the rotary shell 2, a clamping jaw body 5 is arranged at the end part of each elastic connecting rod 4, the end part of the center support 1 is connected with a guide disc 7 through a connecting shaft 6, three arc-shaped guide grooves 8 uniformly distributed in the circumferential direction are formed in the guide disc 7, the three arc-shaped guide grooves 8 are in one-to-one correspondence with the three elastic connecting rods 4, the middle parts of the elastic connecting rods 4 are movably connected in the arc-shaped guide grooves 8,
The distances between the two ends of the arc-shaped guide groove 8 and the circle center of the guide disc 7 are respectively R1 and R2, and R1 is more than R2,
The rear end of the center support 1 is provided with a flange connection structure.
The clamping jaw body 5 comprises an outer arc-shaped shell 9, an elastic grabbing surface 10 is arranged in the arc-shaped shell 9, a plurality of elastic supporting strips 11 are further arranged between the arc-shaped shell 9 and the elastic grabbing surface 10, the plurality of elastic supporting strips 11 are parallel to each other and distributed at equal intervals, and meanwhile all the elastic supporting strips 11 are perpendicular to the elastic grabbing surface 10 in a non-clamping state.
The elastic grabbing surface 10 is a rubber surface, and the elastic supporting strips 11 are rubber strips.
The working process of the manipulator capable of realizing rotary grabbing is as follows: the manipulator is connected to the tail end of the supporting rod/extending arm, then the supporting rod/extending arm is held, the clamping jaw bodies 5 on the manipulator are close to fruits to be picked, the fruits are guaranteed to be positioned in the space between the three clamping jaw bodies 5, instructions are sent to the steering engine 3 in the manipulator in a wired or wireless data transmission mode, the steering engine 3 works to drive the rotary shell 2 to rotate relative to the central support 1, when the rotary shell 2 rotates, the three elastic connecting rods 4 on the rotary shell 2 rotate relative to the guide disc 7 due to the fact that the guide disc 7 is fixedly connected with the central support 1 through the connecting shaft 6, in the process of moving the elastic connecting rods 4, the elastic connecting rods 4 are elastically deformed under the action of the arc-shaped guide grooves 8 due to the fact that the distances between the two ends of the arc-shaped guide grooves 8 and the circle centers of the guide disc 7 are different, namely, the clamping jaw bodies 5 at the front ends of the elastic connecting rods 4 are folded towards the circle centers of the guide disc 7 along with the movement, the three clamping jaw bodies 5 synchronously make the actions synchronously, and draw the three clamping jaw bodies 5 towards the circle centers of the fruit fixed in space at the moment,
The fruit is clamped by the inward folding action, the clamped fruit rotates for a certain angle under the drive of the clamping jaw body 5, and the fruit is taken off from the branches by the rotating action;
After picking up fruits, the fruit is conveyed to the position above a container for containing the fruits by using the device, the steering engine 3 is controlled to reversely rotate, the actions are reversely carried out, the fruits fall off from the positions between the three clamping jaw bodies 5, and naturally fall into the collecting container;
The automatic collection of fruits can be realized by repeating the above operation.
When the elastic grabbing surface 10 on the inner side of the clamping jaw body 5 is in contact with the surface of the fruit, the elastic grabbing surface 10 and the elastic supporting strips 11 inside the elastic grabbing surface are elastically deformed so as to adapt to the approximately spherical surface of the fruit, and the structure can ensure that the clamping jaw body 5 can firmly fix and clamp the fruit without damaging the surface of the fruit.
Claims (3)
1. Can realize rotatory manipulator that snatchs, its characterized in that: the manipulator comprises a center support (1), a rotary shell (2) is rotationally connected outside the center support (1), the center support (1) is fixedly connected with a shell part of a steering engine (3), the output end of the steering engine (3) is connected with the rotary shell (2), three elastic connecting rods (4) which are uniformly distributed in the circumferential direction are arranged on one end face of the rotary shell (2), clamping jaw bodies (5) are arranged at the end parts of the elastic connecting rods (4), the end parts of the center support (1) are connected with a guide disc (7) through connecting shafts (6), three arc guide grooves (8) which are uniformly distributed in the circumferential direction are formed in the guide disc (7), the three arc guide grooves (8) are in one-to-one correspondence with the three elastic connecting rods (4), the middle parts of the elastic connecting rods (4) are movably connected in the arc guide grooves (8),
The distances between the two ends of the arc-shaped guide groove (8) and the circle center of the guide disc (7) are respectively R1 and R2, and R1 is more than R2,
The rear end of the center support (1) is provided with a flange connection structure.
2. The manipulator of claim 1, wherein the manipulator is configured to perform a rotary gripping operation, wherein: the clamping jaw body (5) comprises an outer arc-shaped shell (9), an elastic grabbing surface (10) is arranged in the arc-shaped shell (9), a plurality of elastic supporting bars (11) are further arranged between the arc-shaped shell (9) and the elastic grabbing surface (10), the elastic supporting bars (11) are mutually parallel and distributed at equal intervals, and meanwhile all the elastic supporting bars (11) are mutually perpendicular to the elastic grabbing surface (10) in a non-clamping state.
3. The manipulator of claim 2, wherein the manipulator is configured to perform a rotary gripping operation, wherein: the elastic grabbing surface (10) is a rubber surface, and the elastic supporting strips (11) are rubber strips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322280467.3U CN220840243U (en) | 2023-08-24 | 2023-08-24 | Manipulator capable of realizing rotary grabbing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322280467.3U CN220840243U (en) | 2023-08-24 | 2023-08-24 | Manipulator capable of realizing rotary grabbing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220840243U true CN220840243U (en) | 2024-04-26 |
Family
ID=90779991
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322280467.3U Active CN220840243U (en) | 2023-08-24 | 2023-08-24 | Manipulator capable of realizing rotary grabbing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220840243U (en) |
-
2023
- 2023-08-24 CN CN202322280467.3U patent/CN220840243U/en active Active
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